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

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

namespace XP.Hardware.MotionControl.Implementations
{
    /// <summary>
    /// 基于 PLC 的安全门实现 | PLC-based Safety Door Implementation
    /// 信号名称硬编码在 MotionSignalNames 中 | Signal names hardcoded in MotionSignalNames
    /// </summary>
    public class PlcSafetyDoor : SafetyDoorBase
    {
        private readonly ISignalDataService _signalService;
        private bool _isInterlocked;

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

        /// <inheritdoc/>
        public override bool IsInterlocked => _isInterlocked;

        /// <inheritdoc/>
        public override MotionResult Open()
        {
            if (IsInterlocked)
                return MotionResult.Fail("联锁信号有效，禁止开门 | Interlock active, door open blocked");
            _signalService.EnqueueWrite(MotionSignalNames.Door_Open, true);
            _status = DoorStatus.Opening;
            return MotionResult.Ok();
        }

        /// <inheritdoc/>
        public override MotionResult Close()
        {
            _signalService.EnqueueWrite(MotionSignalNames.Door_Close, true);
            _status = DoorStatus.Closing;
            return MotionResult.Ok();
        }

        /// <inheritdoc/>
        public override MotionResult Stop()
        {
            _signalService.EnqueueWrite(MotionSignalNames.Door_Stop, true);
            return MotionResult.Ok();
        }

        /// <inheritdoc/>
        public override void UpdateStatus()
        {
            _isInterlocked = _signalService.GetValueByName<byte>(MotionSignalNames.Door_Interlock) == 10;
            var statusValue = _signalService.GetValueByName<int>(MotionSignalNames.Door_Status);
            _status = statusValue switch
            {
                1 => DoorStatus.Opening,
                2 => DoorStatus.Open,
                3 => DoorStatus.Closing,
                4 => DoorStatus.Closed,
                5 => DoorStatus.Locked,
                6 => DoorStatus.Error,
                _ => DoorStatus.Unknown
            };
        }
    }
}