chen
7f73fb48ef
- 新增 MotionTickThread 线程模块 - main.cpp: 引入双线程架构（UserAppThread + MotionTickThread） - Axis: 新增 cycle() 接口，添加 #pragma once 头文件保护 - App/CMakeLists.txt: 链接 pthread，重组源文件列表 - .gitignore: 排除 docs/html、.vscode、compile_commands.json
70 lines
1.5 KiB
C++
70 lines
1.5 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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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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} |