添加 MX-PD-盘古项目文件

将 MX-PD-盘古 - new 目录下的所有文件添加到主仓库
2026-05-18 11:43:09 +08:00
parent 03632a379d
commit e31d3560bb
739 changed files with 99783 additions and 0 deletions
--- a/new/PanGu.DieBonderApp/.github/instructions/motion.instructions.md
+++ b/new/PanGu.DieBonderApp/.github/instructions/motion.instructions.md
@@ -0,0 +1,104 @@
+---
+applyTo: "MainShell/Motion/**/*.cs,**/*MotionController*.cs,**/*SafeAxisMotion*.cs,**/*AxisSpeedManager*.cs"
+---
+
+# Motion Control Instructions
+
+## Motion Architecture
+Motion control uses layered design:
+
+- SafeAxisMotion as business entry
+- MotionController as single-axis controller
+- IAxis / IAxisFunc as platform abstraction
+
+Keep this layering intact.
+
+## <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5>
+<EFBFBD>˶<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ʋ<EFBFBD><EFBFBD>ù̶<EFBFBD><EFBFBD>ֲ㣺
+- `SafeAxisMotion`<EFBFBD><EFBFBD>ҵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+- `MotionController`<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+- `IAxis / IAxisFunc`<EFBFBD><EFBFBD>ƽ̨<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӿ<EFBFBD>
+
+<EFBFBD><EFBFBD>Ҫ<EFBFBD>ƻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>зֲ<EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
+
+## MotionController Rules
+- Constructor should receive `IAxis`
+- Convert to `IAxisFunc` when motion command capability is needed
+- Use `SemaphoreSlim` to serialize motion commands per axis
+- Motion methods should support async/await and CancellationToken
+- Perform status validation before motion:
+  - servo/power status
+  - alarm status
+  - soft limit state
+- Support timeout handling
+- Raise motion lifecycle events such as MotionStarted / MotionFinished
+
+## <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5>
+`MotionController` <20><><EFBFBD>ƹ<EFBFBD><C6B9><EFBFBD><EFBFBD><EFBFBD>
+- <20><><EFBFBD>캯<EFBFBD><ECBAAF><EFBFBD><EFBFBD><EFBFBD><EFBFBD> `IAxis`
+- <20><>Ҫ<EFBFBD>˶<EFBFBD><CBB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱת<CAB1><D7AA>Ϊ `IAxisFunc`
+- ʹ<><CAB9> `SemaphoreSlim` <20><>֤<EFBFBD><D6A4><EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD><EEB4AE>
+- <20>˶<EFBFBD><CBB6><EFBFBD><EFBFBD><EFBFBD>֧<EFBFBD><D6A7> `async/await` <20><> `CancellationToken`
+- <20>˶<EFBFBD>ǰҪ<C7B0><D2AA><EFBFBD><EFBFBD><EFBFBD>ŷ<EFBFBD>״̬<D7B4><CCAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬<D7B4><CCAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ״̬
+- ֧<>ֳ<EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>
+- <20><><EFBFBD>ṩ `MotionStarted` / `MotionFinished` <20>¼<EFBFBD>
+
+## Common Axis Properties
+Prefer existing property patterns such as:
+- AxisName
+- CurrentPos
+- IsBusy
+- IsAlarm
+- InPos
+
+## <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5>
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽһ<EFBFBD>£<EFBFBD><EFBFBD><EFBFBD><EFBFBD>磺
+- `AxisName`
+- `CurrentPos`
+- `IsBusy`
+- `IsAlarm`
+- `InPos`
+
+## Motion Method Signatures
+Keep compatibility with existing motion API patterns:
+- MoveAbsAsync
+- MoveRelAsync
+- JogAsync
+- StopAsync
+- HomeAsync
+
+## <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5>
+<EFBFBD>˶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǩ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD>
+- `MoveAbsAsync`
+- `MoveRelAsync`
+- `JogAsync`
+- `StopAsync`
+- `HomeAsync`
+
+## SafeAxisMotion Rules
+- Prefer SafeAxisMotion for batch-safe movement
+- Resolve axis name to IAxis and MotionController through existing repository mechanisms
+- Preserve alarm integration and timeout behavior
+
+## <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5>
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȫ<EFBFBD>ƶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD><EFBFBD> `SafeAxisMotion` ʵ<>֣<EFBFBD>
+- ͨ<><CDA8><EFBFBD><EFBFBD><EFBFBD>л<EFBFBD><D0BB>ư<EFBFBD><C6B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ `IAxis` <20><> `MotionController`
+- <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɺͳ<C9BA>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+
+## MotionResult Rules
+- Use structured MotionResult
+- Distinguish success, timeout, cancellation, and fault
+- Use EnsureSuccess when caller expects exception-on-failure semantics
+
+## <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5>
+`MotionResult` ӦΪ<D3A6>ṹ<EFBFBD><E1B9B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+- <20><><EFBFBD>ֳɹ<D6B3><C9B9><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD>쳣
+- <20><><EFBFBD>÷<EFBFBD><C3B7><EFBFBD>Ҫ"ʧ<>ܼ<EFBFBD><DCBC><EFBFBD><EFBFBD>쳣"ʱ<><CAB1>ʹ<EFBFBD><CAB9> `EnsureSuccess()`
+
+## Speed Management
+Use AxisSpeedManager for speed control where applicable.
+Do not hardcode inconsistent speed logic if a unified speed manager already exists.
+
+## <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5>
+<EFBFBD>ٶȹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD><EFBFBD> `AxisSpeedManager` ͳһ<CDB3><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>  
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͳһ<EFBFBD>ٶȹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD>´<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD><EFBFBD>߼<EFBFBD><EFBFBD><EFBFBD>