98 lines
3.1 KiB
Go
98 lines
3.1 KiB
Go
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package station
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import (
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"context"
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"errors"
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)
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// Station 封装设备特定的机器人取放操作。
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// RobotWorker 委托给 Station 而非 switch machineID。
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type Station interface {
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// Load 将工件放入该工站设备。
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Load(ctx context.Context, wt int, machineSlot int) error
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// Unload 从该工站设备取出工件。返回调整后的暂存台目标槽位号。
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Unload(ctx context.Context, wt int, machineSlot int, dstTempSlot int) (adjustedTempSlot int, err error)
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// Exchange 换料：取出卸料工件同时放入上料工件。
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Exchange(ctx context.Context, wt int, machineSlot int) error
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}
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// PreLoadStation 需要上料前 PLC 握手的工站（清洗线）。
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type PreLoadStation interface {
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Station
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PreLoad(ctx context.Context) error // Load 前调用（请求料盘→等待就绪→检查Done）
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PostLoad(ctx context.Context) error // Load 后 defer 调用（关闭请求信号）
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}
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// StartupStation 需要启动命令的工站（高压清洗机）。
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type StartupStation interface {
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Station
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Startup(ctx context.Context) error
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}
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// BatchUnloadStation 支持批量卸料的工站（高压清洗机多槽位同时 Done）。
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type BatchUnloadStation interface {
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Station
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BatchUnload(ctx context.Context, wt int, slots []BatchSlot, releaser SlotReleaser) error
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}
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// SlotReleaser 槽位释放窄接口（由 actor.MachineActor 满足）。
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type SlotReleaser interface {
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ReleaseSlot(slotNo int)
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}
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// BatchSlot 批量卸料的单个槽位参数。
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type BatchSlot struct {
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JobID int
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SlotNo int
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TempSlot int
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}
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// ErrActionCancelled 清洗线检测到 Done 工件，需重新调度为 Exchange。
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var ErrActionCancelled = errors.New("action cancelled: re-schedule")
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// --- robotController 窄接口子集 ---
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// RobotPlacer 机器人放料操作。
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type RobotPlacer interface {
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PlaceWorkpieceToMachine(ctx context.Context, wt int, machineID int, slot ...int) error
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PlaceWorkpieceToRollingLine(ctx context.Context, wt int) error
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PlaceWorkpieceToSamplingStation(ctx context.Context, wt int) error
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PlaceWorkpieceToTempStation(ctx context.Context, wt int, slot int) error
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}
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// RobotFetcher 机器人取料操作。
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type RobotFetcher interface {
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FetchWorkpieceFromMachine(ctx context.Context, wt int, machineID int, slot ...int) error
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FetchWorkpieceFromRollingLine(ctx context.Context, wt int) error
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FetchWorkpieceFromSamplingStation(ctx context.Context, wt int) error
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}
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// RobotExchanger 机器人换料操作。
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type RobotExchanger interface {
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ExchangeWorkpieceToMachine(ctx context.Context, wt int, machineID int, slot ...int) error
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}
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// RobotPlacerFetcher 组合接口。
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type RobotPlacerFetcher interface {
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RobotPlacer
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RobotFetcher
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RobotExchanger
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}
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// RobotCleanLineController 清洗线 PLC 操作。
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type RobotCleanLineController interface {
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RobotPlacerFetcher
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RequestCleaningLoading(ctx context.Context) error
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WaitCleaningReady(ctx context.Context) error
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IsCleanLineDone(ctx context.Context) (bool, error)
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CloseRequestCleaningLoading(ctx context.Context) error
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}
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// RobotWasherController 清洗机 PLC 操作。
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type RobotWasherController interface {
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RobotPlacerFetcher
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StartupWasher(ctx context.Context) error
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}
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