TeamAAS-2.5/TeamAAS.Plugins/Plugins.Motion/MotionPluginHelper.cs

using System;
using System.Collections.Generic;
using System.Threading;
using TeamAAS.Global.Devices;
using TeamAAS.Motion;

namespace Plugins.Motion
{
    internal static class MotionPluginHelper
    {
        public static IMotionCard GetCard(MotionManager mgr, string name, out string error)
        {
            error = null;
            if (string.IsNullOrWhiteSpace(name))
            {
                error = "未选择运动卡";
                return null;
            }
            if (mgr == null)
            {
                error = "MotionManager 未初始化";
                return null;
            }
            var card = mgr.GetMotion(name);
            if (card == null)
                error = $"找不到运动卡: {name}";
            return card;
        }

        public static string EnsureConnected(IMotionCard card, bool autoConnect)
        {
            if (card.IsConnected) return null;
            if (!autoConnect) return $"运动卡未连接: {card.Name}";
            return card.Open() ? null : $"自动连接失败: {card.Name}";
        }

        public static string EnsureEnabled(IMotionCard card, int axis, bool autoEnable)
        {
            var lockErr = CheckEnableAllowed(card);
            if (lockErr != null) return lockErr;
            if (axis < 0)
            {
                if (!autoEnable) return "未使能且未勾选自动使能";
                return card.SetEnable(-1, true) ? null : "全部轴自动使能失败";
            }

            var st = card.GetAxisStatus(axis);
            if (st == null) return $"轴号超出范围: {axis}";
            if (st.IsEnabled) return null;
            if (!autoEnable) return $"轴 {axis} 未使能（可勾选「未使能时自动使能」，或在流程中加入轴使能节点）";
            return card.SetEnable(axis, true) ? null : $"轴 {axis} 自动使能失败";
        }

        public static string CheckEnableAllowed(IMotionCard card)
        {
            if (card is IMotionSafetyHost s && !s.AllowEnable(out var reason))
                return reason;
            return null;
        }

        public static string CheckMotionAllowed(IMotionCard card)
        {
            if (card is IMotionSafetyHost s && !s.AllowMotion(out var reason))
                return reason;
            return null;
        }

        public static string WaitIdle(IMotionCard card, int axis, int timeoutMs, CancellationToken token)
        {
            token.ThrowIfCancellationRequested();
            // 仿真点到点：按剩余路程一次拨完时钟，与等待超时无关。
            (card as IMotionSimulation)?.FinishDiscreteMoves();

            var start = DateTime.UtcNow;
            while (true)
            {
                token.ThrowIfCancellationRequested();
                var st = card.GetAxisStatus(axis);
                if (st == null) return $"无法读取轴 {axis} 状态";
                if (st.Alarm) return $"轴 {axis} 报警";
                if (!st.IsMoving) return null;
                if (timeoutMs > 0 && (DateTime.UtcNow - start).TotalMilliseconds > timeoutMs)
                    return $"等待到位超时 {timeoutMs}ms（轴 {axis}）";
                Thread.Sleep(20);
            }
        }

        public static void FillStatus(Dictionary<string, object> res, AxisStatus st)
        {
            if (st == null) return;
            res["最终位置"] = st.Position;
            res["使能"] = st.IsEnabled;
            res["已回零"] = st.IsHomed;
            res["运动中"] = st.IsMoving;
        }
    }
}