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

2026-08-27 10:56:41 +08:00
parent 380715f8a9
commit 371b494c54
523 changed files with 67923 additions and 24758 deletions
@@ -0,0 +1,52 @@
+package station
+
+import (
+	"context"
+	"fmt"
+	"time"
+)
+
+// CleaningLineStation 清洗线（machineID=8），实现 PreLoadStation。
+type CleaningLineStation struct {
+	ctrl      RobotCleanLineController
+	machineID int
+}
+
+func NewCleaningLineStation(ctrl RobotCleanLineController, machineID int) *CleaningLineStation {
+	return &CleaningLineStation{ctrl: ctrl, machineID: machineID}
+}
+
+func (s *CleaningLineStation) Load(ctx context.Context, wt int, machineSlot int) error {
+	return s.ctrl.PlaceWorkpieceToMachine(ctx, wt, s.machineID, machineSlot)
+}
+
+func (s *CleaningLineStation) Unload(ctx context.Context, wt int, machineSlot int, dstTempSlot int) (int, error) {
+	return dstTempSlot, s.ctrl.FetchWorkpieceFromMachine(ctx, wt, s.machineID, machineSlot)
+}
+
+func (s *CleaningLineStation) Exchange(ctx context.Context, wt int, machineSlot int) error {
+	return s.ctrl.ExchangeWorkpieceToMachine(ctx, wt, s.machineID, machineSlot)
+}
+
+func (s *CleaningLineStation) PreLoad(ctx context.Context) error {
+	if err := s.ctrl.RequestCleaningLoading(ctx); err != nil {
+		return fmt.Errorf("load_cleaning: request cleaning loading: %w", err)
+	}
+	if err := s.ctrl.WaitCleaningReady(ctx); err != nil {
+		return fmt.Errorf("load_cleaning: wait cleaning ready: %w", err)
+	}
+	time.Sleep(2 * time.Second)
+
+	isDone, err := s.ctrl.IsCleanLineDone(ctx)
+	if err != nil {
+		return err
+	}
+	if isDone {
+		return ErrActionCancelled
+	}
+	return nil
+}
+
+func (s *CleaningLineStation) PostLoad(ctx context.Context) error {
+	return s.ctrl.CloseRequestCleaningLoading(ctx)
+}
@@ -0,0 +1,25 @@
+package station
+
+import "context"
+
+// DeburrStation 去毛刺机（machineID=7），通用 Load/Exchange，下料暂存台+8偏移。
+type DeburrStation struct {
+	ctrl      RobotPlacerFetcher
+	machineID int
+}
+
+func NewDeburrStation(ctrl RobotPlacerFetcher, machineID int) *DeburrStation {
+	return &DeburrStation{ctrl: ctrl, machineID: machineID}
+}
+
+func (s *DeburrStation) Load(ctx context.Context, wt int, machineSlot int) error {
+	return s.ctrl.PlaceWorkpieceToMachine(ctx, wt, s.machineID, machineSlot)
+}
+
+func (s *DeburrStation) Unload(ctx context.Context, wt int, machineSlot int, dstTempSlot int) (int, error) {
+	return dstTempSlot + 8, s.ctrl.FetchWorkpieceFromMachine(ctx, wt, s.machineID, machineSlot)
+}
+
+func (s *DeburrStation) Exchange(ctx context.Context, wt int, machineSlot int) error {
+	return s.ctrl.ExchangeWorkpieceToMachine(ctx, wt, s.machineID, machineSlot)
+}
@@ -0,0 +1,29 @@
+package station
+
+import "bj_power_mes/constants"
+
+// NewByType 根据设备类型码创建对应的 Station 实现。
+// 返回 nil 表示该设备不需要 Station（如 TEMP_STORE、ROBOT）。
+func NewByType(typeCode constants.EquipmentTypeCode, machineID int, ctrl any) Station {
+	if ctrl == nil {
+		return nil
+	}
+	switch typeCode {
+	case constants.EquipmentTypeCode_CleaningLine:
+		return NewCleaningLineStation(ctrl.(RobotCleanLineController), machineID)
+	case constants.EquipmentTypeCode_Deburr:
+		return NewDeburrStation(ctrl.(RobotPlacerFetcher), machineID)
+	case constants.EquipmentTypeCode_Inspection:
+		return NewRollingLineStation(ctrl.(RobotPlacerFetcher), machineID)
+	case constants.EquipmentTypeCode_Sampling:
+		return NewSamplingStation(ctrl.(RobotPlacerFetcher), machineID)
+	case constants.EquipmentTypeCode_WashingMachine:
+		// FANUC 配置由 buildStations 注入（见 processor/factory.go），此处传 nil
+		return NewWasherStation(ctrl.(RobotWasherController), machineID, nil)
+	case constants.EquipmentTypeCode_Marking:
+		return NewGenericStation(ctrl.(RobotPlacerFetcher), machineID)
+	default:
+		// CNC 等其他类型使用通用 Station
+		return NewGenericStation(ctrl.(RobotPlacerFetcher), machineID)
+	}
+}
@@ -0,0 +1,17 @@
+package station
+
+import "context"
+
+// FanucOption FANUC 宏变量写入配置（高压清洗机放料前先写 #666/#888 再发 PLC 命令）。
+type FanucOption struct {
+	// WriteMacro 写宏变量（macroNo: 666 左工位 / 888 右工位，value: 清洗机组号 1~9）
+	WriteMacro func(ctx context.Context, macroNo int, value float64) error
+	// GroupNo 查询工单零件号对应的清洗机组号（jobID → washerGroupNo）
+	GroupNo func(ctx context.Context, jobID int) (int, error)
+}
+
+// PreLoadFanucStation 放料前需先写 FANUC 宏变量的工站（高压清洗机）。
+// 调用时机：AllocateSlot 之后、Station.Load（PLC 放料命令）之前。
+type PreLoadFanucStation interface {
+	PreLoadFanuc(ctx context.Context, jobID, machineSlot int) error
+}
@@ -0,0 +1,25 @@
+package station
+
+import "context"
+
+// GenericStation 通用设备（CNC 等），使用 Place/Fetch/ExchangeWorkpieceToMachine。
+type GenericStation struct {
+	ctrl      RobotPlacerFetcher
+	machineID int
+}
+
+func NewGenericStation(ctrl RobotPlacerFetcher, machineID int) *GenericStation {
+	return &GenericStation{ctrl: ctrl, machineID: machineID}
+}
+
+func (s *GenericStation) Load(ctx context.Context, wt int, machineSlot int) error {
+	return s.ctrl.PlaceWorkpieceToMachine(ctx, wt, s.machineID, machineSlot)
+}
+
+func (s *GenericStation) Unload(ctx context.Context, wt int, machineSlot int, dstTempSlot int) (int, error) {
+	return dstTempSlot, s.ctrl.FetchWorkpieceFromMachine(ctx, wt, s.machineID, machineSlot)
+}
+
+func (s *GenericStation) Exchange(ctx context.Context, wt int, machineSlot int) error {
+	return s.ctrl.ExchangeWorkpieceToMachine(ctx, wt, s.machineID, machineSlot)
+}
@@ -0,0 +1,25 @@
+package station
+
+import "context"
+
+// RollingLineStation 滚轧线/内窥镜检测线（machineID=6），PLC 不接受 slot 参数。
+type RollingLineStation struct {
+	ctrl      RobotPlacerFetcher
+	machineID int
+}
+
+func NewRollingLineStation(ctrl RobotPlacerFetcher, machineID int) *RollingLineStation {
+	return &RollingLineStation{ctrl: ctrl, machineID: machineID}
+}
+
+func (s *RollingLineStation) Load(ctx context.Context, wt int, _ int) error {
+	return s.ctrl.PlaceWorkpieceToRollingLine(ctx, wt)
+}
+
+func (s *RollingLineStation) Unload(ctx context.Context, wt int, _ int, dstTempSlot int) (int, error) {
+	return dstTempSlot, s.ctrl.FetchWorkpieceFromRollingLine(ctx, wt)
+}
+
+func (s *RollingLineStation) Exchange(ctx context.Context, wt int, machineSlot int) error {
+	return s.ctrl.ExchangeWorkpieceToMachine(ctx, wt, s.machineID, machineSlot)
+}
@@ -0,0 +1,25 @@
+package station
+
+import "context"
+
+// SamplingStation 抽检台（machineID=9），PLC 不接受 slot 参数，下料暂存台+8偏移。
+type SamplingStation struct {
+	ctrl      RobotPlacerFetcher
+	machineID int
+}
+
+func NewSamplingStation(ctrl RobotPlacerFetcher, machineID int) *SamplingStation {
+	return &SamplingStation{ctrl: ctrl, machineID: machineID}
+}
+
+func (s *SamplingStation) Load(ctx context.Context, wt int, _ int) error {
+	return s.ctrl.PlaceWorkpieceToSamplingStation(ctx, wt)
+}
+
+func (s *SamplingStation) Unload(ctx context.Context, wt int, _ int, dstTempSlot int) (int, error) {
+	return dstTempSlot + 8, s.ctrl.FetchWorkpieceFromSamplingStation(ctx, wt)
+}
+
+func (s *SamplingStation) Exchange(ctx context.Context, wt int, machineSlot int) error {
+	return s.ctrl.ExchangeWorkpieceToMachine(ctx, wt, s.machineID, machineSlot)
+}
@@ -0,0 +1,97 @@
+package station
+
+import (
+	"context"
+	"errors"
+)
+
+// Station 封装设备特定的机器人取放操作。
+// RobotWorker 委托给 Station 而非 switch machineID。
+type Station interface {
+	// Load 将工件放入该工站设备。
+	Load(ctx context.Context, wt int, machineSlot int) error
+
+	// 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。
+	Unload(ctx context.Context, wt int, machineSlot int, dstTempSlot int) (adjustedTempSlot int, err error)
+
+	// Exchange 换料：取出卸料工件同时放入上料工件。
+	Exchange(ctx context.Context, wt int, machineSlot int) error
+}
+
+// PreLoadStation 需要上料前 PLC 握手的工站（清洗线）。
+type PreLoadStation interface {
+	Station
+	PreLoad(ctx context.Context) error  // Load 前调用（请求料盘→等待就绪→检查Done）
+	PostLoad(ctx context.Context) error // Load 后 defer 调用（关闭请求信号）
+}
+
+// StartupStation 需要启动命令的工站（高压清洗机）。
+type StartupStation interface {
+	Station
+	Startup(ctx context.Context) error
+}
+
+// BatchUnloadStation 支持批量卸料的工站（高压清洗机多槽位同时 Done）。
+type BatchUnloadStation interface {
+	Station
+	BatchUnload(ctx context.Context, wt int, slots []BatchSlot, releaser SlotReleaser) error
+}
+
+// SlotReleaser 槽位释放窄接口（由 actor.MachineActor 满足）。
+type SlotReleaser interface {
+	ReleaseSlot(slotNo int)
+}
+
+// BatchSlot 批量卸料的单个槽位参数。
+type BatchSlot struct {
+	JobID    int
+	SlotNo   int
+	TempSlot int
+}
+
+// ErrActionCancelled 清洗线检测到 Done 工件，需重新调度为 Exchange。
+var ErrActionCancelled = errors.New("action cancelled: re-schedule")
+
+// --- robotController 窄接口子集 ---
+
+// RobotPlacer 机器人放料操作。
+type RobotPlacer interface {
+	PlaceWorkpieceToMachine(ctx context.Context, wt int, machineID int, slot ...int) error
+	PlaceWorkpieceToRollingLine(ctx context.Context, wt int) error
+	PlaceWorkpieceToSamplingStation(ctx context.Context, wt int) error
+	PlaceWorkpieceToTempStation(ctx context.Context, wt int, slot int) error
+}
+
+// RobotFetcher 机器人取料操作。
+type RobotFetcher interface {
+	FetchWorkpieceFromMachine(ctx context.Context, wt int, machineID int, slot ...int) error
+	FetchWorkpieceFromRollingLine(ctx context.Context, wt int) error
+	FetchWorkpieceFromSamplingStation(ctx context.Context, wt int) error
+}
+
+// RobotExchanger 机器人换料操作。
+type RobotExchanger interface {
+	ExchangeWorkpieceToMachine(ctx context.Context, wt int, machineID int, slot ...int) error
+}
+
+// RobotPlacerFetcher 组合接口。
+type RobotPlacerFetcher interface {
+	RobotPlacer
+	RobotFetcher
+	RobotExchanger
+}
+
+// RobotCleanLineController 清洗线 PLC 操作。
+type RobotCleanLineController interface {
+	RobotPlacerFetcher
+	RequestCleaningLoading(ctx context.Context) error
+	WaitCleaningReady(ctx context.Context) error
+	IsCleanLineDone(ctx context.Context) (bool, error)
+	CloseRequestCleaningLoading(ctx context.Context) error
+}
+
+// RobotWasherController 清洗机 PLC 操作。
+type RobotWasherController interface {
+	RobotPlacerFetcher
+	StartupWasher(ctx context.Context) error
+}
@@ -0,0 +1,80 @@
+package station
+
+import (
+	"context"
+	"fmt"
+	"log/slog"
+)
+
+// WasherStation 高压清洗机，实现 StartupStation + BatchUnloadStation + PreLoadFanucStation。
+type WasherStation struct {
+	ctrl      RobotWasherController
+	machineID int
+	fanuc     *FanucOption
+}
+
+func NewWasherStation(ctrl RobotWasherController, machineID int, fanuc *FanucOption) *WasherStation {
+	return &WasherStation{ctrl: ctrl, machineID: machineID, fanuc: fanuc}
+}
+
+// PreLoadFanuc 放料前写 FANUC 宏变量：槽位1 → #666，槽位2 → #888（值=清洗机组号 1~9）。
+// 需求：发送 PLC 放料命令前必须先通过 FANUC 写入组号，清洗机 CNC 按宏变量选择子程序。
+// 未配置 FANUC 写入（设备 ipAddress 为空）或查不到组号时跳过并记录警告，不阻塞流程。
+func (s *WasherStation) PreLoadFanuc(ctx context.Context, jobID, machineSlot int) error {
+	if s.fanuc == nil || s.fanuc.WriteMacro == nil {
+		return nil
+	}
+	var macroNo int
+	switch machineSlot {
+	case 1:
+		macroNo = 666
+	case 2:
+		macroNo = 888
+	default:
+		return fmt.Errorf("washer fanuc: invalid machine slot %d (expected 1 or 2)", machineSlot)
+	}
+	groupNo, err := s.fanuc.GroupNo(ctx, jobID)
+	if err != nil {
+		slog.Warn("washer fanuc: group no lookup failed, skip macro write", "jobId", jobID, "error", err)
+		return nil
+	}
+	if groupNo < 1 || groupNo > 9 {
+		slog.Warn("washer fanuc: group no out of range, skip macro write", "jobId", jobID, "groupNo", groupNo)
+		return nil
+	}
+	if err := s.fanuc.WriteMacro(ctx, macroNo, float64(groupNo)); err != nil {
+		return fmt.Errorf("washer fanuc: write macro #%d=%d for job %d failed: %w", macroNo, groupNo, jobID, err)
+	}
+	return nil
+}
+
+func (s *WasherStation) Load(ctx context.Context, wt int, machineSlot int) error {
+	return s.ctrl.PlaceWorkpieceToMachine(ctx, wt, s.machineID, machineSlot)
+}
+
+func (s *WasherStation) Unload(ctx context.Context, wt int, machineSlot int, dstTempSlot int) (int, error) {
+	return dstTempSlot, s.ctrl.FetchWorkpieceFromMachine(ctx, wt, s.machineID, machineSlot)
+}
+
+func (s *WasherStation) Exchange(ctx context.Context, wt int, machineSlot int) error {
+	return s.ctrl.ExchangeWorkpieceToMachine(ctx, wt, s.machineID, machineSlot)
+}
+
+func (s *WasherStation) Startup(ctx context.Context) error {
+	return s.ctrl.StartupWasher(ctx)
+}
+
+func (s *WasherStation) BatchUnload(ctx context.Context, wt int, slots []BatchSlot, releaser SlotReleaser) error {
+	for _, js := range slots {
+		if err := s.ctrl.FetchWorkpieceFromMachine(ctx, wt, s.machineID, js.SlotNo); err != nil {
+			return fmt.Errorf("batch_unload: fetch from slot %d: %w", js.SlotNo, err)
+		}
+		releaser.ReleaseSlot(js.SlotNo)
+		if js.TempSlot > 0 {
+			if err := s.ctrl.PlaceWorkpieceToTempStation(ctx, wt, js.TempSlot); err != nil {
+				return fmt.Errorf("batch_unload: place to temp slot %d: %w", js.TempSlot, err)
+			}
+		}
+	}
+	return nil
+}