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/robot/clean_line.go

@@ -0,0 +1,67 @@
+package robot
+
+import (
+	"context"
+	"fmt"
+	"log/slog"
+	"time"
+
+	"bj_power_mes/internal/preload"
+)
+
+// RequestCleaningLoading 发送清洗线上料请求（PLC M1146.3 = true）。
+// 清洗线上料前先发送信号
+func (c *Controller) RequestCleaningLoading(ctx context.Context) error {
+	addr := preload.GetMAddress("CleaningRequestLoading")
+	slog.Info("发送清洗线上料请求", "address", addr.Addr.String())
+	err := c.plcClient.WriteBool(addr.Address(), true)
+	if err != nil {
+		slog.Error("发送清洗线上料请求信号失败", "address", addr.Address(), "error", err)
+		return err
+	}
+	return nil
+}
+
+// CloseRequestCleaningLoading 关闭清洗线上料请求（PLC M1146.3 = false）。
+// 清洗线上料后关闭信号
+func (c *Controller) CloseRequestCleaningLoading(ctx context.Context) error {
+	addr := preload.GetMAddress("CleaningRequestLoading")
+	slog.Info("关闭清洗线上料请求", "address", addr.Address())
+	err := c.plcClient.WriteBool(addr.Address(), false)
+	if err != nil {
+		slog.Error("关闭清洗线上料请求信号失败", "address", addr.Addr.String(), "error", err)
+		return err
+	}
+	return nil
+}
+
+// WaitCleaningReady 等待清洗线就绪信号（PLC M1146.1 = true）。
+// 清洗线上料前必须等待此信号，表示流水线有位置可以放入工件。
+func (c *Controller) WaitCleaningReady(ctx context.Context) error {
+	addr := preload.GetMAddress("CleaningReady")
+	slog.Info("等待清洗线就绪信号", "address", addr.Addr.String())
+	if err := c.WaitSignal(ctx, addr, true, false); err != nil {
+		return fmt.Errorf("等待清洗线就绪信号失败: %w", err)
+	}
+	return nil
+}
+
+func (c *Controller) StartupCleanLine(ctx context.Context) error {
+	addr := preload.GetMAddress("CleaningStartup")
+	if err := c.plcClient.WriteBool(addr.Addr.String(), true); err != nil {
+		return fmt.Errorf("发送启动信号 %s 失败: %w", "CleaningStartup", err)
+	}
+	time.AfterFunc(2*time.Second, func() {
+		_ = c.plcClient.WriteBool(addr.Addr.String(), false)
+	})
+	return nil
+}
+
+func (c *Controller) IsCleanLineDone(ctx context.Context) (bool, error) {
+	addr := preload.GetMAddress("CleaningDone")
+	result, err := c.plcClient.ReadBool(addr.Addr.String())
+	if err != nil {
+		return false, fmt.Errorf("读取清洗线完成信号 %s 失败: %w", "CleaningDone", err)
+	}
+	return result, nil
+}