CMake模块构建工程

2026-07-02 10:24:20 +00:00
parent e606b9e53c
commit d9813ea8fe
8 changed files with 311 additions and 16 deletions
@@ -0,0 +1,63 @@
+/**
+ * @file Axis.h
+ * @author your name (you@domain.com)
+ * @brief 
+ * @version 0.1
+ * @date 2026-07-02
+ * 
+ * @copyright Copyright (c) 2026
+ * 
+ */
+#include "Types.h"
+
+namespace plcopen {
+    /**
+    * \enum MotionCommandType
+    * \brief 内部运动指令类型（功能块 → 轴模型映射）
+    */
+    enum class MotionCommandType {
+        None,         /*!< 无活动指令 */
+        PointToPoint, /*!< MC_MoveAbsolute / MC_MoveRelative */
+        Velocity,     /*!< MC_MoveVelocity */
+        Stop,         /*!< MC_Stop */
+        Halt,         /*!< MC_Halt */
+        Home,         /*!< MC_Home */
+    };
+
+    
+/**
+ * \struct MotionCommand
+ * \brief 当前活动运动指令的参数快照
+ */
+struct MotionCommand {
+    MotionCommandType type = MotionCommandType::None;
+    REAL targetPosition = 0.0;
+    REAL targetVelocity = 0.0;
+    REAL maxVelocity = 0.0;
+    REAL acceleration = 0.0;
+    REAL deceleration = 0.0;
+    REAL homePosition = 0.0;
+    MC_AXIS_STATE resultingState = MC_AXIS_STATE::DiscreteMotion;
+};
+
+/**
+ * \class Axis
+ * \brief 单轴仿真对象，实现 PLCopen 轴状态机与运动学
+ * \note 不要在功能块 cycle() 之外直接修改 Axis 内部状态。
+ */
+
+class Axis {
+public:
+    /**
+     * \brief 构造轴
+     * \param axisNo 轴编号
+     * \param name   轴名称
+     */
+    explicit Axis(UINT axisNo = 1, std::string name = "Axis1");
+private:
+    AXIS_REF ref_;
+    MC_AXIS_STATE state_ = MC_AXIS_STATE::Disabled;
+
+};
+
+}