bj_power/bj_power_mes/internal/robot/controller.go

package robot

import (
	"sync"
	"time"

	"bj_power_mes/internal/alarm"
	"bj_power_mes/internal/sse"

	"bj_power_mes/ent"

	goplc "bjhardman.cn/bjhardman/goplc"
)

type Controller struct {
	plcClient           goplc.Client
	entClient           *ent.Client
	sseHandler          *sse.Handler
	alarmSvc            *alarm.Service
	maxRetries          int
	checkSignalDuration time.Duration
	mtx                 sync.Mutex
	activity            string     // 当前持有锁的Action名称
	waitingQueue        []string   // 等待队列
	queueLock           sync.Mutex // 保护等待队列的锁
}

func NewRobotController(plcClient goplc.Client, entClient *ent.Client, sseHandler *sse.Handler, alarmSvc *alarm.Service) *Controller {
	return &Controller{
		plcClient:           plcClient,
		entClient:           entClient,
		sseHandler:          sseHandler,
		alarmSvc:            alarmSvc,
		maxRetries:          3,
		checkSignalDuration: 1 * time.Second,
	}
}

func (c *Controller) Lock(activity string) {
	c.queueLock.Lock()
	c.waitingQueue = append(c.waitingQueue, activity)
	c.queueLock.Unlock()

	c.mtx.Lock()

	c.queueLock.Lock()
	defer c.queueLock.Unlock()
	// 从等待队列移除
	for i, name := range c.waitingQueue {
		if name == activity {
			c.waitingQueue = append(c.waitingQueue[:i], c.waitingQueue[i+1:]...)
			break
		}
	}
	c.activity = activity
}

func (c *Controller) UnLock() {
	c.queueLock.Lock()
	defer c.queueLock.Unlock()
	c.activity = ""
	c.mtx.Unlock()
}

// Status 获取当前锁状态
func (c *Controller) Status() (current string, queue []string) {
	c.queueLock.Lock()
	defer c.queueLock.Unlock()
	return c.activity, append([]string(nil), c.waitingQueue...) // 返回副本
}

func (c *Controller) SetAction(activity string) {
	c.activity = activity
}

func (c *Controller) ClearAction() {
	c.activity = ""
}