XplorePlane/XP.Hardware.MotionControl/Implementations/PlcAxisReset.cs

using System;
using XP.Hardware.MotionControl.Abstractions;
using XP.Hardware.MotionControl.Config;
using XP.Hardware.Plc.Abstractions;

namespace XP.Hardware.MotionControl.Implementations
{
    /// <summary>
    /// 基于 PLC 的轴复位实现 | PLC-based Axis Reset Implementation
    /// 写入复位信号，读取复位完成信号 | Writes reset signal, reads reset-done signal
    /// </summary>
    public class PlcAxisReset : IAxisReset
    {
        private readonly ISignalDataService _signalService;
        private bool _isResetDone;

        public PlcAxisReset(ISignalDataService signalService)
        {
            _signalService = signalService ?? throw new ArgumentNullException(nameof(signalService));
        }

        /// <inheritdoc/>
        public bool IsResetDone => _isResetDone;

        /// <inheritdoc/>
        public MotionResult Reset()
        {
            _signalService.EnqueueWrite(MotionSignalNames.Axis_Reset, true);
            return MotionResult.Ok();
        }

        /// <inheritdoc/>
        public void UpdateStatus()
        {
            _isResetDone = _signalService.GetValueByName<bool>(MotionSignalNames.Axis_ResetDone);
        }
    }
}