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
2026-07-03 10:01:06 +00:00
parent 7f73fb48ef
commit 0587f7ac6c
13 changed files with 685 additions and 94 deletions
@@ -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;
+
+    }
+
+
+}
+
+
+
+
+
+
+