42 lines
1.3 KiB
Go
42 lines
1.3 KiB
Go
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/*
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* Copyright (c) 2025 Beijing Hardman Automation Equipment Co., LTD. All rights reserved.
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*
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* Project: adapter
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* File: temp_station.go
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* Last: 2025-01-13 20:04:51
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* Author: wangcheng@bj-hardman.com
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*/
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package robot
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import (
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"context"
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"bj_power_mes/internal/preload"
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)
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// PlaceWorkpieceToTempStation 将工件放置到暂存台
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func (c *Controller) PlaceWorkpieceToTempStation(ctx context.Context, workpieceType int, slot int) error {
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return c.executeAction(ctx, "PlaceWorkpieceToTempStation",
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newArg(int8(workpieceType), "workpieceType"), //工件类型
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newArg(int8(slot), "slot"), //工件位置号
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newArg(int16(0)),
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newArg(int32(0)),
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)
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}
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// FetchWorkpieceFromTempStation 从暂存台取工件
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func (c *Controller) FetchWorkpieceFromTempStation(ctx context.Context, workpieceType int, slot int) error {
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return c.executeAction(ctx, "FetchWorkpieceFromTempStation",
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newArg(int8(workpieceType), "workpieceType"), //工件类型
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newArg(int8(slot), "slot"), //工件位置号
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newArg(int16(0)),
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newArg(int32(0)),
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)
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}
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// TempStates 获取随行暂存台槽位状态
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func (c *Controller) TempStates() ([]bool, error) {
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addr := preload.GetMAddress("TempStates")
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return c.plcClient.ReadBools(addr.Addr.String(), 8)
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}
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