feat: 实现 Axis 核心属性与 MC_Power 功能块

- Axis: 新增运动学/功率/错误管理属性（_position 等 10+ 项）
- Axis: 新增 doPower()/readState()/cycle() 接口骨架
- MC_Power: 实现功率使能功能块（边沿检测 + 状态输出）
- GlobalResource: 新增 CreateAxis/GetAxisRefById 全局轴管理
- App/CMakeLists.txt: 添加 GlobalResource.cpp 源文件
- docs: 更新 Axis 属性清单与 MC_Power 设计文档

MotionLib/Inc/Axis.h

@@ -59,12 +59,38 @@ public:
     explicit Axis(UINT axisNo = 1, std::string name = "Axis1");
 
     void cycle();
+    MC_AXIS_STATE readState();
 
+    void doPower(bool en);
+
+    /** \brief 获取轴编号 */
+    UINT axisNo() const { return _ref.axisNo; }
+
+    /** \brief 获取内部 AXIS_REF（供全局注册表使用） */
+    AXIS_REF& ref() { return _ref; }
 
 private:
-    AXIS_REF ref_;
-    MC_AXIS_STATE state_ = MC_AXIS_STATE::Disabled;
+    AXIS_REF _ref;
+    MC_AXIS_STATE _state = MC_AXIS_STATE::Disabled;
+    MC_AXIS_STATE _resultingSstate = MC_AXIS_STATE::Disabled;
+    
+    MotionCommand _activeCommand;
 
+    // 运动学属性
+    REAL _position;
+    REAL _actualPosition;
+    REAL _velocity;
+    REAL _actualVelocity;
+    REAL _acceleration;
+    REAL _actualAcceleration;
+
+    // 功率与使能
+    BOOL _powerEnabled;
+    BOOL _homed;
+
+    // 错误管理
+    MC_ERROR_ID _errorId;
+    BOOL _errorStop;
 };
 
 }

MotionLib/Inc/FunctionBlocks.h

@@ -0,0 +1,13 @@
+/**
+ * @file FunctionBlocks.h
+ * @author 
+ * @brief 
+ * @version 0.1
+ * @date 2026-07-03
+ * 
+ * @copyright Copyright (c) 2026
+ * 
+ */
+
+
+#include "MC_Power.h"

MotionLib/Inc/MC_Power.h

@@ -0,0 +1,44 @@
+/**
+ * @file MC_Power.h
+ * @author 
+ * @brief 
+ * @version 0.1
+ * @date 2026-07-03
+ * 
+ * @copyright Copyright (c) 2026
+ * 
+ */
+
+#pragma once
+
+#include "Axis.h"
+#include "Types.h"
+
+namespace plcopen {
+class MC_Power{
+public:
+
+    explicit MC_Power(AXIS_REF& axisRef);
+
+    void cycle();
+
+    // --- 输入参数 (VAR_INPUT) ---
+    BOOL Enable          = false;
+    BOOL Enable_Positive = true;
+    BOOL Enable_Negative = true;
+
+    // --- 输出参数 (VAR_OUTPUT) ---
+    BOOL Status          = false;
+    BOOL Busy            = false;
+    BOOL Error           = false;
+    MC_ERROR_ID ErrorID  = MC_ERROR_ID::mcNoError;
+
+private:
+    AXIS_REF& _axisRef;             // 轴引用，不持有所有权
+    bool _prevEnable = false;       // 上一周期的 Enable 值（边沿检测）
+};
+
+
+}
+
+

MotionLib/Src/Axis.cpp

@@ -14,14 +14,83 @@
 
 namespace plcopen {
 Axis::Axis(UINT axisNo, std::string name) {
-    ref_.axisNo = axisNo;
-    ref_.axisName = std::move(name);
-    ref_.axis = this;
+    _ref.axisNo = axisNo;
+    _ref.axisName = std::move(name);
+    _ref.axis = this;
 }
 
 void Axis::cycle()
 {
-    
+    if (_errorStop) return;
+
+    if (!_powerEnabled) return;
+
+    switch (_state) {
+        case MC_AXIS_STATE::Disabled :
+        {
+            break;
+        }
+
+        case MC_AXIS_STATE::Standstill :
+        {
+            break;
+        }
+
+        case MC_AXIS_STATE::Stopping :
+        {
+            break;
+        }
+
+        // 独立运动
+        case MC_AXIS_STATE::DiscreteMotion :
+        {
+            break;
+        }
+
+        // 持续运动
+        case MC_AXIS_STATE::ContinuousMotion :
+        {
+            break;
+        }
+
+        // 同步运动
+        case MC_AXIS_STATE::SynchronizedMotion :
+        {
+            break;
+        }
+
+        // 回零
+        case MC_AXIS_STATE::Homing :
+        {
+            break;
+        }
+
+        default:
+        {
+            break;
+        }
+    }
+}
+
+void Axis::doPower(bool en)
+{
+    if(en)
+    {
+        _powerEnabled = true;
+    }
+    else {
+        _powerEnabled = false;
+        _activeCommand.type = MotionCommandType::None;
+        _velocity = 0.0;
+        _acceleration = 0.0;
+        _errorStop = false;
+        _state = MC_AXIS_STATE::Disabled;
+    }
+}
+
+MC_AXIS_STATE Axis::readState()
+{
+    return _state;
 }
 
 }

MotionLib/Src/MC_Power.cpp

@@ -0,0 +1,84 @@
+/**
+ * @file MC_Power.cpp
+ * @author 
+ * @brief 
+ * @version 0.1
+ * @date 2026-07-03
+ * 
+ * @copyright Copyright (c) 2026
+ * 
+ */
+
+#include "MC_Power.h"
+#include "Types.h"
+
+namespace plcopen {
+
+    MC_Power::MC_Power(AXIS_REF& axisRef)
+        : _axisRef(axisRef) { }
+
+    void MC_Power::cycle()
+    {
+        if(_axisRef.axis == nullptr)
+        {
+            Error = true;
+            ErrorID = MC_ERROR_ID::mcInvalidParameter;
+            Status = false;
+            Busy = false;
+            return;
+        }
+
+        Axis* axis = _axisRef.axis;
+        Error = false;
+        ErrorID = MC_ERROR_ID::mcNoError;
+
+        // 上升沿
+        if(Enable && !_prevEnable)
+        {
+            axis->doPower(true);
+        }
+
+        // 下降沿
+        if(!Enable && _prevEnable)
+        {
+            axis->doPower(false);
+        }
+
+        // 在使能状态下持续更新轴状态
+        if(Enable)
+        {
+            auto state = axis->readState();
+            if(state == MC_AXIS_STATE::Standstill)
+            {
+                Busy = false;
+                Status = true;
+            }
+            else if(state == MC_AXIS_STATE::ErrorStop)
+            {
+                Busy = false;
+                Status = false;
+                Error = true;
+                ErrorID = MC_ERROR_ID::mcPowerFailure;
+            }
+            else
+            {
+                Status = false;
+                Busy = false;
+            }
+
+        }
+
+        // 保存前置状态
+        _prevEnable = Enable;
+
+    }
+
+
+}
+
+
+
+
+
+
+