chen
0587f7ac6c
- 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
96 lines
2.1 KiB
C++
96 lines
2.1 KiB
C++
/**
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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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#pragma once
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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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void cycle();
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MC_AXIS_STATE readState();
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void doPower(bool en);
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/** \brief 获取轴编号 */
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UINT axisNo() const { return _ref.axisNo; }
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/** \brief 获取内部 AXIS_REF（供全局注册表使用） */
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AXIS_REF& ref() { return _ref; }
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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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MC_AXIS_STATE _resultingSstate = MC_AXIS_STATE::Disabled;
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MotionCommand _activeCommand;
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// 运动学属性
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REAL _position;
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REAL _actualPosition;
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REAL _velocity;
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REAL _actualVelocity;
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REAL _acceleration;
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REAL _actualAcceleration;
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// 功率与使能
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BOOL _powerEnabled;
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BOOL _homed;
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// 错误管理
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MC_ERROR_ID _errorId;
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BOOL _errorStop;
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};
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} |