CMake模块构建工程
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chen
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# 指定 compile_commands.json 所在目录（相对路径）
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CompileFlags:
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# 告诉 clangd：compile_commands.json 在 build 目录下
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CompilationDatabase: build
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# CMake最低版本
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cmake_minimum_required(VERSION 3.21)
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# 工程名、版本号、工程描述
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project(MotionApp
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VERSION 0.1
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DESCRIPTION "Test")
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# C/C++ 标准版本
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set(CMAKE_C_STANDARD 11)
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set(CMAKE_CXX_STANDARD 11)
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# 指定在当前目录或以下目录下通过命令（如 add_executable() ）链接稍后创建的任何目标时要使用的库或标志
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LINK_LIBRARIES(m)
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# 工程源文件
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add_executable(${PROJECT_NAME}
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./Src/main.cpp)
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# 工程包含目录
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include_directories(./Inc)
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# 链接 moduleA，自动继承其 PUBLIC 的头文件路径和编译属性
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target_link_libraries(${PROJECT_NAME}
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PRIVATE # 如果 moduleB 只是内部使用 moduleA，选 PRIVATE
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MotionLib
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)
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@@ -1,5 +1,8 @@
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#include "Axis.h"
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int main()
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{
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plcopen::Axis axis();
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return 0;
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}
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+38
-16
@@ -1,21 +1,43 @@
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# CMake最低版本
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cmake_minimum_required(VERSION 3.21)
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cmake_minimum_required(VERSION 3.22)
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# 工程名、版本号、工程描述
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project(Motion
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VERSION 0.1
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DESCRIPTION "Test")
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project(Motion)
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# C/C++ 标准版本
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set(CMAKE_C_STANDARD 11)
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set(CMAKE_CXX_STANDARD 11)
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# 开启编译数据库导出（强制开启，不被缓存覆盖）
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set(CMAKE_EXPORT_COMPILE_COMMANDS ON CACHE INTERNAL "")
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# 指定在当前目录或以下目录下通过命令（如 add_executable() ）链接稍后创建的任何目标时要使用的库或标志
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LINK_LIBRARIES(m)
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# 针对 GCC 编译器添加 UTF-8 编码选项
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if(CMAKE_CXX_COMPILER_ID MATCHES "GNU") # 仅对 GCC 生效
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# 添加 C++ 编译选项
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add_compile_options(-finput-charset=UTF-8)
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add_compile_options(-fexec-charset=UTF-8)
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# 若需要支持 C 语言，补充 C 编译选项
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add_compile_options($<$<COMPILE_LANGUAGE:C>:-finput-charset=UTF-8>)
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add_compile_options($<$<COMPILE_LANGUAGE:C>:-fexec-charset=UTF-8>)
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endif()
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# 工程源文件
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add_executable(${PROJECT_NAME}
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./App/Src/main.cpp)
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if(WIN32)
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# Windows平台特定的设置
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/build/$<CONFIGURATION>/WIN32")
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set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/build/$<CONFIGURATION>/WIN32")
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set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/build/$<CONFIGURATION>/WIN32/static_lib")
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elseif(APPLE)
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# Apple平台特定的设置
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/build/$<CONFIGURATION>/APPLE")
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set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/build/$<CONFIGURATION>/APPLE")
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set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/build/$<CONFIGURATION>/APPLE/static_lib")
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elseif(UNIX) # 注意：Linux和macOS都满足UNIX为TRUE，所以通常先判断APPLE
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# Linux或其他类Unix系统的设置
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/build/$<CONFIGURATION>/UNIX")
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set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/build/$<CONFIGURATION>/UNIX")
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set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/build/$<CONFIGURATION>/UNIX/static_lib")
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endif()
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# 工程包含目录
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include_directories(./Inc)
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set(CMAKE_C_STANDARD 17)
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set(CMAKE_C_STANDARD_REQUIRED ON)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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add_subdirectory(${CMAKE_SOURCE_DIR}/MotionLib)
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add_subdirectory(${CMAKE_SOURCE_DIR}/App)
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project(MotionLib
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VERSION 0.0.1 # 版本 0.0.1
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LANGUAGES CXX # C++
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DESCRIPTION "运动控制库" # 描述
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)
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set(INC_DIRECTORES
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${CMAKE_CURRENT_SOURCE_DIR}/Inc
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)
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set(LIB_SOURCES
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${CMAKE_CURRENT_SOURCE_DIR}/Src/Axis.cpp
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)
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set(LIB_HEADERS
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${CMAKE_CURRENT_SOURCE_DIR}/Inc/Types.h
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${CMAKE_CURRENT_SOURCE_DIR}/Inc/Axis.h
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)
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add_library(${PROJECT_NAME} SHARED
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${LIB_SOURCES}
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${LIB_HEADERS}
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)
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target_include_directories(${PROJECT_NAME}
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PUBLIC
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${INC_DIRECTORES}
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PRIVATE
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${CMAKE_CURRENT_SOURCE_DIR}/Src
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)
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/**
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* @file Axis.h
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* @author your name (you@domain.com)
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* @brief
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* @version 0.1
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* @date 2026-07-02
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*
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* @copyright Copyright (c) 2026
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*
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*/
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#include "Types.h"
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namespace plcopen {
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/**
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* \enum MotionCommandType
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* \brief 内部运动指令类型（功能块 → 轴模型映射）
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*/
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enum class MotionCommandType {
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None, /*!< 无活动指令 */
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PointToPoint, /*!< MC_MoveAbsolute / MC_MoveRelative */
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Velocity, /*!< MC_MoveVelocity */
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Stop, /*!< MC_Stop */
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Halt, /*!< MC_Halt */
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Home, /*!< MC_Home */
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};
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/**
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* \struct MotionCommand
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* \brief 当前活动运动指令的参数快照
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*/
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struct MotionCommand {
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MotionCommandType type = MotionCommandType::None;
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REAL targetPosition = 0.0;
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REAL targetVelocity = 0.0;
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REAL maxVelocity = 0.0;
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REAL acceleration = 0.0;
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REAL deceleration = 0.0;
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REAL homePosition = 0.0;
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MC_AXIS_STATE resultingState = MC_AXIS_STATE::DiscreteMotion;
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};
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/**
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* \class Axis
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* \brief 单轴仿真对象，实现 PLCopen 轴状态机与运动学
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* \note 不要在功能块 cycle() 之外直接修改 Axis 内部状态。
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*/
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class Axis {
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public:
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/**
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* \brief 构造轴
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* \param axisNo 轴编号
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* \param name 轴名称
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*/
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explicit Axis(UINT axisNo = 1, std::string name = "Axis1");
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private:
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AXIS_REF ref_;
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MC_AXIS_STATE state_ = MC_AXIS_STATE::Disabled;
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};
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}
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/**
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* @file types.h
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* @author
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* @brief
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* @version 0.1
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* @date 2026-07-02
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*
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* @copyright Copyright (c) 2026
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*
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*/
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#include <cstdint>
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#include <string>
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namespace plcopen {
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class Axis;
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/** \typedef BOOL IEC 61131-3 BOOL 类型映射 */
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using BOOL = bool;
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/** \typedef REAL IEC 61131-3 REAL 类型映射（双精度浮点） */
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using REAL = double;
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/** \typedef WORD IEC 61131-3 WORD 类型映射（16 位无符号，常用于 ErrorID） */
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using WORD = std::uint16_t;
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/** \typedef UINT IEC 61131-3 UINT 类型映射（32 位无符号） */
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using UINT = std::uint32_t;
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/**
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* \enum MC_BUFFER_MODE
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* \brief 运动指令缓冲与混合模式 (MC_BUFFER_MODE)
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*
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* 用于带 BufferMode 输入的功能块，决定新指令与当前运动的关系。
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*/
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enum class MC_BUFFER_MODE : std::uint8_t {
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mcAborting = 0, /*!< 默认：立即执行，中断当前运动并清空缓冲 */
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mcBuffered = 1, /*!< 等待前一指令 Done 后顺序执行，无混合 */
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mcBlendingLow = 2, /*!< 混合：在衔接点取两指令速度的较低值 */
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mcBlendingPrevious = 3, /*!< 混合：在衔接点保持前一指令速度 */
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mcBlendingNext = 4, /*!< 混合：在衔接点使用当前指令速度 */
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mcBlendingHigh = 5, /*!< 混合：在衔接点取两指令速度的较高值 */
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};
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/**
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* \enum MC_DIRECTION
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* \brief 定位运动方向 (MC_DIRECTION)
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*/
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enum class MC_DIRECTION : std::uint8_t {
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mcPositiveDirection = 0, /*!< 正向运动 */
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mcShortestWay = 1, /*!< 最短路径（线性轴默认策略） */
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mcNegativeDirection = 2, /*!< 负向运动 */
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mcCurrentDirection = 3, /*!< 保持当前运动方向 */
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};
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/**
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* \enum MC_SOURCE
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* \brief 运动数据读取来源 (MC_SOURCE)
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*/
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enum class MC_SOURCE : std::uint8_t {
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mcCommandedValue = 0, /*!< 指令值 */
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mcSetValue = 1, /*!< 设定值 */
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mcActualValue = 2, /*!< 实际值 */
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};
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/**
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* \enum MC_AXIS_STATE
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* \brief 轴状态机状态 (PLCopen 状态图)
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*
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* \par 典型状态转换
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* - Disabled → Standstill：MC_Power.Enable = TRUE
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* - Standstill → DiscreteMotion：MC_MoveAbsolute / MC_MoveRelative
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* - Standstill → ContinuousMotion：MC_MoveVelocity
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* - Standstill → Homing：MC_Home
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* - 任意 → ErrorStop：轴错误或功率故障
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* - ErrorStop → Standstill：MC_Reset
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*
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* \note 同一时刻仅有一个状态位为 TRUE（由 MC_ReadStatus 反映）。
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*/
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enum class MC_AXIS_STATE : std::uint8_t {
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Disabled = 0, /*!< 初始/下电状态，功率未使能 */
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Standstill, /*!< 静止，功率已使能，可接受运动指令 */
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Homing, /*!< 回零进行中 (MC_Home) */
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DiscreteMotion, /*!< 离散运动（点到点），完成后自动停止 */
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ContinuousMotion, /*!< 连续运动（如 MC_MoveVelocity） */
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Stopping, /*!< MC_Stop 激活，减速中且拒绝新运动 */
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ErrorStop, /*!< 错误停止，需 MC_Reset 恢复 */
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SynchronizedMotion, /*!< 同步运动（Cam/Gear，本库预留） */
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};
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/**
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* \enum MC_ERROR_ID
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* \brief 功能块与轴通用错误码
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*/
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enum class MC_ERROR_ID : WORD {
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mcNoError = 0, /*!< 无错误 */
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mcInvalidParameter = 1, /*!< 参数非法（如速度 ≤ 0） */
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mcInvalidState = 2, /*!< 当前状态不允许该操作 */
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mcActionNotAllowed = 3, /*!< 轴未上电或处于 Stopping/ErrorStop */
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mcAxisNotPowered = 4, /*!< 轴未使能 */
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mcAxisNotHomed = 5, /*!< 轴未完成回零 */
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mcCommandAborted = 6, /*!< 指令被中断 */
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mcStopActive = 7, /*!< MC_Stop 占用轴 */
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mcPowerFailure = 8, /*!< 功率级故障 */
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mcFollowingError = 9, /*!< 跟随误差超限 */
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};
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/**
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* \struct AXIS_REF
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* \brief 轴引用 (VAR_IN_OUT)，所有 MC 功能块的公共轴参数
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*
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* \details
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* 在 IEC 61131-3 程序中作为 VAR_IN_OUT 传递；本 C++ 实现中，
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* `axis` 指针由 Axis 对象构造时自动绑定，应用层无需手动设置。
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*/
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struct AXIS_REF {
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UINT axisNo = 0; /*!< 轴编号（用户定义） */
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std::string axisName; /*!< 轴名称 */
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Axis* axis = nullptr; /*!< 内部绑定指针，指向仿真轴实例 */
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};
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}
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@@ -0,0 +1,20 @@
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/**
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* @file Axis.cpp
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* @author
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* @brief
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* @version 0.1
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* @date 2026-07-02
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*
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* @copyright Copyright (c) 2026
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*
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*/
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#include "Types.h"
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#include "Axis.h"
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namespace plcopen {
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Axis::Axis(UINT axisNo, std::string name) {
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ref_.axisNo = axisNo;
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ref_.axisName = std::move(name);
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ref_.axis = this;
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}
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}
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