105 lines
2.7 KiB
Markdown
105 lines
2.7 KiB
Markdown
---
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applyTo: "MainShell/Motion/**/*.cs,**/*MotionController*.cs,**/*SafeAxisMotion*.cs,**/*AxisSpeedManager*.cs"
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---
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# Motion Control Instructions
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## Motion Architecture
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Motion control uses layered design:
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- SafeAxisMotion as business entry
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- MotionController as single-axis controller
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- IAxis / IAxisFunc as platform abstraction
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Keep this layering intact.
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## 中文说明
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运动控制采用固定分层：
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- `SafeAxisMotion`：业务层入口
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- `MotionController`：单轴控制器
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- `IAxis / IAxisFunc`：平台抽象接口
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不要破坏现有分层关系。
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## MotionController Rules
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- Constructor should receive `IAxis`
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- Convert to `IAxisFunc` when motion command capability is needed
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- Use `SemaphoreSlim` to serialize motion commands per axis
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- Motion methods should support async/await and CancellationToken
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- Perform status validation before motion:
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- servo/power status
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- alarm status
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- soft limit state
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- Support timeout handling
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- Raise motion lifecycle events such as MotionStarted / MotionFinished
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## 中文说明
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`MotionController` 设计规则：
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- 构造函数接收 `IAxis`
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- 需要运动控制能力时转换为 `IAxisFunc`
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- 使用 `SemaphoreSlim` 保证单轴指令串行
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- 运动方法支持 `async/await` 和 `CancellationToken`
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- 运动前要检查伺服状态、报警状态、软限位状态
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- 支持超时处理
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- 可提供 `MotionStarted` / `MotionFinished` 事件
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## Common Axis Properties
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Prefer existing property patterns such as:
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- AxisName
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- CurrentPos
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- IsBusy
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- IsAlarm
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- InPos
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## 中文说明
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常用属性保持与现有模式一致，例如：
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- `AxisName`
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- `CurrentPos`
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- `IsBusy`
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- `IsAlarm`
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- `InPos`
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## Motion Method Signatures
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Keep compatibility with existing motion API patterns:
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- MoveAbsAsync
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- MoveRelAsync
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- JogAsync
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- StopAsync
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- HomeAsync
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## 中文说明
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运动方法尽量保持现有签名风格兼容：
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- `MoveAbsAsync`
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- `MoveRelAsync`
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- `JogAsync`
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- `StopAsync`
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- `HomeAsync`
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## SafeAxisMotion Rules
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- Prefer SafeAxisMotion for batch-safe movement
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- Resolve axis name to IAxis and MotionController through existing repository mechanisms
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- Preserve alarm integration and timeout behavior
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## 中文说明
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批量安全移动优先通过 `SafeAxisMotion` 实现：
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- 通过现有机制把轴名解析为 `IAxis` 和 `MotionController`
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- 保留报警集成和超时控制能力
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## MotionResult Rules
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- Use structured MotionResult
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- Distinguish success, timeout, cancellation, and fault
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- Use EnsureSuccess when caller expects exception-on-failure semantics
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## 中文说明
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`MotionResult` 应为结构化结果：
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- 区分成功、超时、取消、异常
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- 调用方需要"失败即抛异常"时，使用 `EnsureSuccess()`
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## Speed Management
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Use AxisSpeedManager for speed control where applicable.
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Do not hardcode inconsistent speed logic if a unified speed manager already exists.
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## 中文说明
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速度管理优先通过 `AxisSpeedManager` 统一处理。
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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。
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