test_demo/MX-PD-盘古 - new/PanGu.DieBonderApp/.github/instructions/motion.instructions.md

applyTo

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.

中文说明

运动控制采用固定分层：

• SafeAxisMotion：业务层入口
• MotionController：单轴控制器
• IAxis / IAxisFunc：平台抽象接口

不要破坏现有分层关系。

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

中文说明

MotionController 设计规则：

• 构造函数接收 IAxis
• 需要运动控制能力时转换为 IAxisFunc
• 使用 SemaphoreSlim 保证单轴指令串行
• 运动方法支持 async/await 和 CancellationToken
• 运动前要检查伺服状态、报警状态、软限位状态
• 支持超时处理
• 可提供 MotionStarted / MotionFinished 事件

Common Axis Properties

Prefer existing property patterns such as:

• AxisName
• CurrentPos
• IsBusy
• IsAlarm
• InPos

中文说明

常用属性保持与现有模式一致，例如：

• AxisName
• CurrentPos
• IsBusy
• IsAlarm
• InPos

Motion Method Signatures

Keep compatibility with existing motion API patterns:

• MoveAbsAsync
• MoveRelAsync
• JogAsync
• StopAsync
• HomeAsync

中文说明

运动方法尽量保持现有签名风格兼容：

• 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

中文说明

批量安全移动优先通过 SafeAxisMotion 实现：

• 通过现有机制把轴名解析为 IAxis 和 MotionController
• 保留报警集成和超时控制能力

MotionResult Rules

• Use structured MotionResult
• Distinguish success, timeout, cancellation, and fault
• Use EnsureSuccess when caller expects exception-on-failure semantics

中文说明

MotionResult 应为结构化结果：

• 区分成功、超时、取消、异常
• 调用方需要"失败即抛异常"时，使用 EnsureSuccess()

Speed Management

Use AxisSpeedManager for speed control where applicable. Do not hardcode inconsistent speed logic if a unified speed manager already exists.

中文说明

速度管理优先通过 AxisSpeedManager 统一处理。
如果已有统一速度管理器，不要在新代码里硬编码另一套速度逻辑。