fix: rebuild MES as compilable go-zero+ent backend (renamed bj_power_mes), restore 3 workstation projects from pristine original, align naming; all Go projects go build clean

bj_power_mes/internal/plc/error.go

@@ -1,9 +1,56 @@
+/*
+ * Copyright (c) 2025 Beijing Hardman Automation Equipment Co., LTD. All rights reserved.
+ *
+ *    Project: adapter
+ *    File: error.go
+ *    Last: 2025-05-15 11:52:07
+ *    Author: wangcheng@bj-hardman.com
+ */
+
 package plc
 
-import "errors"
+import (
+	"encoding/binary"
+	"errors"
+	"fmt"
+
+	"bj_power_mes/internal/preload"
+)
 
 // 预定义错误
 var (
 	ErrNotConnect     = errors.New("PLC未连接")
 	ErrInvalidAddress = errors.New("无效的PLC地址")
 )
+
+// GetErrorCode 获取机器人错误代码
+func (m *Manager) GetErrorCode() (int64, error) {
+	addr := preload.GetMAddress("ErrorCode")
+	bs, err := m.GetPlc().Read(addr.Address(), 8)
+	if err != nil {
+		return 0, err
+	}
+
+	return int64(binary.LittleEndian.Uint64(bs)), nil
+}
+
+var (
+	Err_TaskNoError        = RobotError(1 << 0) // 任务号错误
+	Err_RackNoError        = RobotError(1 << 1) // 料架号下发错误
+	Err_RackHasNoWorkpiece = RobotError(1 << 2) // 所取料架号无料
+)
+
+var RobotErrorMap = map[RobotError]string{
+	Err_TaskNoError:        "任务号错误",
+	Err_RackNoError:        "料架号下发错误",
+	Err_RackHasNoWorkpiece: "所取料架号无料",
+}
+
+type RobotError int64
+
+func (r RobotError) Error() string {
+	if s, ok := RobotErrorMap[r]; ok {
+		return s
+	}
+	return fmt.Sprintf("unknown robot error (code: %d)", int64(r))
+}