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
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SunYF
@@ -0,0 +1,19 @@
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package tool
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// extractWorkpieceType 从参数中提取工件类型 ID
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func extractWorkpieceType(params map[string]any) int {
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return extractIntParam(params, "workpieceType")
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}
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// extractIntParam 从参数 map 中提取 int 类型值，支持 int/float64 转换
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func extractIntParam(params map[string]any, key string) int {
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if v, ok := params[key]; ok {
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if n, ok := v.(int); ok {
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return n
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}
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if f, ok := v.(float64); ok {
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return int(f)
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}
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}
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return 0
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}
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@@ -0,0 +1,20 @@
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package tool
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import (
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"context"
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)
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// ToolCommand 手持工具命令
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type ToolCommand struct {
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Action string // 操作类型（SCAN/MARK）
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JobID int // 关联工件 ID
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Params map[string]any // 操作参数
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}
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// HandheldTool 手持工具接口
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type HandheldTool interface {
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ID() string
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Type() string
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Name() string
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Execute(ctx context.Context, cmd ToolCommand) error
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}
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@@ -0,0 +1,44 @@
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package tool
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import (
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"context"
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"testing"
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"bj_power_mes/constants"
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"github.com/stretchr/testify/assert"
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)
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func TestStationStatusValuesMatchPhase1Design(t *testing.T) {
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assert.Equal(t, []string{"IDLE", "BUSY", "WAITING", "FAULT", "OFFLINE"}, constants.StationStatus("").Values())
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}
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func TestPositionTypeValuesIncludeBasicPositions(t *testing.T) {
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values := constants.PositionType("").Values()
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assert.Contains(t, values, "ON_EQUIPMENT")
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assert.Contains(t, values, "ON_BUFFER")
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assert.Contains(t, values, "ON_DOCK")
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}
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type fakeTool struct {
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id string
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typ string
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name string
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}
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func (f *fakeTool) ID() string { return f.id }
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func (f *fakeTool) Type() string { return f.typ }
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func (f *fakeTool) Name() string { return f.name }
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func (f *fakeTool) Execute(ctx context.Context, cmd ToolCommand) error { return nil }
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func TestHandheldToolInterface(t *testing.T) {
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tool := &fakeTool{
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id: "scanner-1",
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typ: "SCANNER",
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name: "扫码器",
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}
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assert.Equal(t, "scanner-1", tool.ID())
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assert.Equal(t, "SCANNER", tool.Type())
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assert.Equal(t, "扫码器", tool.Name())
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}
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@@ -0,0 +1,139 @@
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package tool
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import (
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"context"
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"fmt"
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"log/slog"
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"net"
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"sync"
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"bj_power_mes/internal/robot"
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)
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// MarkerTool 激光打标机，实现 HandheldTool 接口。
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// 通过 TCP 服务器接收激光打标机的文本请求，Execute 触发 PLC 信号后等待 TCP 交换完成。
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type MarkerTool struct {
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robotMgr *robot.Manager
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mu sync.Mutex
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markingText string
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listener net.Listener
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cancel context.CancelFunc
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}
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const defaultMarkerPort = 1000
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// NewMarkerTool 创建激光打标机工具
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func NewMarkerTool(robotMgr *robot.Manager) *MarkerTool {
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ctx, cancel := context.WithCancel(context.Background())
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t := &MarkerTool{
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robotMgr: robotMgr,
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cancel: cancel,
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}
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go t.startTCPServer(ctx, defaultMarkerPort)
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return t
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}
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// ID 返回打标机唯一标识
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func (t *MarkerTool) ID() string { return "laser-marker-1" }
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// Type 返回工具类型编码
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func (t *MarkerTool) Type() string { return "LASER" }
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// Name 返回工具显示名称
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func (t *MarkerTool) Name() string { return "激光打标机" }
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// Execute 执行激光打标：设置标记文本 → 触发 PLC 信号 → 等待 TCP 交换完成（超时 10s）
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func (t *MarkerTool) Execute(ctx context.Context, cmd ToolCommand) error {
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wt := extractWorkpieceType(cmd.Params)
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text, _ := cmd.Params["text"].(string)
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if text == "" {
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return fmt.Errorf("marking text is empty")
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}
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rc, exist := t.robotMgr.GetRobot()
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if !exist || rc == nil {
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return fmt.Errorf("robot controller not available")
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}
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t.mu.Lock()
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t.markingText = text
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t.mu.Unlock()
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slog.Info("marker: start marking", "text", text)
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if err := rc.StartMarking(ctx, wt); err != nil {
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return fmt.Errorf("laser mark: %w", err)
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}
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slog.Info("marker: marking complete", "text", text)
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return nil
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}
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// Close 关闭 TCP 服务器，释放资源
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func (t *MarkerTool) Close() {
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t.cancel()
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if t.listener != nil {
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t.listener.Close()
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}
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}
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func (t *MarkerTool) startTCPServer(ctx context.Context, port int) {
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ls, err := net.Listen("tcp", fmt.Sprintf(":%d", port))
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if err != nil {
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slog.Error("laser marker tcp listen failed", "err", err, "port", port)
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return
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}
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t.listener = ls
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slog.Info("laser marker tcp listen success", "port", port)
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// 监听 ctx 取消，关闭 listener 使 Accept 返回
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go func() {
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<-ctx.Done()
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ls.Close()
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}()
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for {
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conn, err := ls.Accept()
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if err != nil {
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select {
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case <-ctx.Done():
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slog.Info("laser marker tcp server stopped")
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return
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default:
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slog.Error("laser marker tcp accept failed", "err", err)
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continue
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}
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}
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slog.Info("laser marker tcp accept success", "port", port)
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t.handleConn(conn)
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}
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}
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func (t *MarkerTool) handleConn(conn net.Conn) {
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defer conn.Close()
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buf := make([]byte, 100)
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n, err := conn.Read(buf)
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if err != nil {
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slog.Error("laser marker tcp read failed", "err", err)
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return
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}
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receiveStr := string(buf[:n])
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slog.Info("marker station receive tcp request", "request", receiveStr)
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if receiveStr == "TCP:Give me string" {
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t.mu.Lock()
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text := t.markingText
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t.markingText = ""
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t.mu.Unlock()
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if _, err := conn.Write([]byte(text)); err != nil {
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slog.Error("laser marker tcp write failed", "err", err)
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} else {
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slog.Info("laser marker tcp write success", "text", text)
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}
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}
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}
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@@ -0,0 +1,17 @@
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package tool
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import (
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"testing"
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)
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func TestNewMarkerTool(t *testing.T) {
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tool := NewMarkerTool(nil)
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defer tool.Close()
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if tool.ID() != "laser-marker-1" {
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t.Errorf("expected laser-marker-1, got %s", tool.ID())
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}
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if tool.Type() != "LASER" {
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t.Errorf("expected LASER, got %s", tool.Type())
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}
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}
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@@ -0,0 +1,63 @@
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package tool
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import (
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"context"
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"fmt"
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"log/slog"
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"bj_power_mes/internal/robot"
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)
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// ScannerTool 扫码器，实现 HandheldTool 接口
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// 通过 RobotManager 控制机器人执行扫码动作并读取扫码结果
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type ScannerTool struct {
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robotMgr *robot.Manager // 机器人管理器，用于控制扫码动作
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}
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// NewScannerTool 创建扫码器工具
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func NewScannerTool(robotMgr *robot.Manager) *ScannerTool {
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return &ScannerTool{robotMgr: robotMgr}
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}
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// ID 返回扫码器唯一标识
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func (t *ScannerTool) ID() string { return "scanner-1" }
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// Type 返回工具类型编码
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func (t *ScannerTool) Type() string { return "SCANNER" }
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// Name 返回工具显示名称
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func (t *ScannerTool) Name() string { return "扫码器" }
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// Execute 执行扫码操作：启动扫码→读取结果→清除数据
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func (t *ScannerTool) Execute(ctx context.Context, cmd ToolCommand) error {
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wt := extractWorkpieceType(cmd.Params)
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round := 1
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if v, ok := cmd.Params["round"]; ok {
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if n, ok := v.(int); ok {
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round = n
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}
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}
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rc, exist := t.robotMgr.GetRobot()
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if !exist || rc == nil {
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return fmt.Errorf("robot controller not available")
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}
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slog.Info("scanner: start scan", "workpieceType", wt, "round", round)
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if err := rc.StartScanCode(ctx, wt, round); err != nil {
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return fmt.Errorf("start scan code: %w", err)
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}
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code, err := t.robotMgr.ReadScanCodeData(ctx)
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if err != nil {
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return fmt.Errorf("read scan code: %w", err)
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}
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if clearErr := t.robotMgr.ClearScanCodeData(ctx); clearErr != nil {
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slog.Warn("scanner: failed to clear scan data", "error", clearErr)
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}
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slog.Info("scanner: scan complete", "code", code)
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cmd.Params["scanCode"] = code
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return nil
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}
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