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 +1,272 @@
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/*
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* Copyright (c) 2025 Beijing Hardman Automation Equipment Co., LTD. All rights reserved.
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*
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* Project: adapter
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* File: common.go
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* Last: 2025-05-15 10:57:25
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* Author: wangcheng@bj-hardman.com
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*/
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package robot
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import (
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"bytes"
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"context"
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"encoding/binary"
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"log/slog"
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"sync"
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"time"
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"bj_power_mes/constants"
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"bj_power_mes/internal/plc"
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"bj_power_mes/internal/preload"
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)
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type arg struct {
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name string
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value any
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}
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func newArg(value any, name ...string) arg {
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if len(name) > 0 {
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return arg{
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name: name[0],
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value: value,
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}
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}
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return arg{
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value: value,
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}
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}
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func (c *Controller) executeAction(ctx context.Context, action string, args ...arg) error {
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addr := preload.GetMAddress(action)
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return c.execute(ctx, addr, args, true)
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}
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func (c *Controller) execute(ctx context.Context, addr preload.MAddress, args []arg, autoClear bool) error {
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c.mtx.Lock()
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defer c.mtx.Unlock()
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select {
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case <-ctx.Done():
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return ctx.Err()
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default:
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if err := c.sendSignal(addr, args...); err != nil {
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return err
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}
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return c.waitReply(ctx, addr, autoClear)
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}
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}
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func (c *Controller) sendSignal(addr preload.MAddress, args ...arg) error {
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buf := new(bytes.Buffer)
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//buf.WriteByte(1)
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for _, a := range args {
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_ = binary.Write(buf, binary.BigEndian, a.value)
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}
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//先写参数
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err := c.plcClient.Write(addr.Addr.Add(1, 0).String(), buf.Bytes())
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if err != nil {
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slog.Error("写入PLC信号失败",
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slog.Any("address", addr),
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slog.Any("error", err),
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)
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return err
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}
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time.Sleep(time.Millisecond * 200)
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//再写信号
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err = c.plcClient.WriteByte(addr.Address(), 1)
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if err != nil {
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return err
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}
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attrCount := 0
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for _, a := range args {
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if a.name != "" {
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attrCount++
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}
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}
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attrs := make([]any, 0, attrCount)
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for _, a := range args {
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if a.name == "" {
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continue
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}
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attrs = append(attrs, slog.Any(a.name, a.value))
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}
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slog.Info("已发送PLC信号",
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slog.Any("address", addr),
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slog.Group("params", attrs...), // 使用Group包装属性
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)
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return nil
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}
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func (c *Controller) SendSignalOnly(addr preload.MAddress) error {
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err := c.plcClient.WriteByte(addr.Address(), 1)
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if err != nil {
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slog.Error("写入PLC信号失败",
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slog.Any("address", addr),
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slog.Any("error", err),
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)
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return err
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}
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slog.Info("已发送PLC信号",
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slog.Any("address", addr),
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)
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return nil
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}
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func (c *Controller) WaitSignal(ctx context.Context, addr preload.MAddress, value bool, offsetAddress bool) error {
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replayAddr := addr.Addr.Add(0, 0)
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if offsetAddress {
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replayAddr = addr.Addr.Add(9, 0)
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}
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t := time.NewTicker(c.checkSignalDuration)
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defer t.Stop()
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once := sync.Once{}
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retryCount := 0
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for {
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select {
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case <-ctx.Done():
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return ctx.Err()
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case <-t.C:
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result, err := c.plcClient.ReadBool(replayAddr.String())
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if err != nil {
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slog.Error("读取PLC信号失败",
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slog.String("address", replayAddr.String()),
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slog.Int("retry", retryCount),
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slog.Any("error", err),
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)
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retryCount++
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if retryCount >= c.maxRetries {
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slog.Error("读取PLC完成信号失败",
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slog.Any("address", replayAddr),
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slog.Any("error", err),
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)
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return err
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}
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continue
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}
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if result == value {
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slog.Info("收到PLC完成信号",
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slog.Any("address", replayAddr),
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)
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return nil
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} else {
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if alarmSvc := c.alarmSvc; alarmSvc != nil {
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err = c.GetErrorCode()
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if err != nil {
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once.Do(func() {
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slog.Error("PLC Error", slog.Any("error", err))
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alarmSvc.Raise(ctx,
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"ROBOT_ERROR",
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err.Error(),
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constants.AlarmLevel_ERROR,
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0, 0,
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"robot",
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)
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})
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}
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}
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}
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}
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}
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}
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func (c *Controller) WaitSignal_TwoSignals(ctx context.Context, addr preload.MAddress, value bool, offsetAddress bool, addrResult preload.MAddress, valueResult bool) (bool, error) {
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replayAddr := addr.Addr.Add(0, 0)
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if offsetAddress {
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replayAddr = addr.Addr.Add(9, 0)
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}
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t := time.NewTicker(c.checkSignalDuration)
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defer t.Stop()
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//once := sync.Once{}
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retryCount := 0
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for {
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select {
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case <-ctx.Done():
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return false, ctx.Err()
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case <-t.C:
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//1.Result
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result, err := c.plcClient.ReadBool(addrResult.Addr.Add(9, 0).String())
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if err != nil {
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slog.Error("读取PLC信号失败",
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slog.String("address", addrResult.String()),
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slog.Int("retry", retryCount),
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slog.Any("error", err),
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)
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retryCount++
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if retryCount >= c.maxRetries {
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slog.Error("读取PLC完成信号失败",
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slog.Any("address", addrResult),
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slog.Any("error", err),
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)
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return true, err
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}
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continue
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}
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if result == valueResult {
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slog.Info("收到PLC完成信号",
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slog.Any("address", addrResult),
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)
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return true, nil
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}
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//2.wait
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result, err = c.plcClient.ReadBool(replayAddr.String())
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if err != nil {
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slog.Error("读取PLC信号失败",
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slog.String("address", replayAddr.String()),
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slog.Int("retry", retryCount),
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slog.Any("error", err),
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)
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retryCount++
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if retryCount >= c.maxRetries {
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slog.Error("读取PLC完成信号失败",
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slog.Any("address", replayAddr),
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slog.Any("error", err),
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)
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return false, err
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}
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continue
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}
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if result == value {
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slog.Info("收到PLC完成信号",
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slog.Any("address", replayAddr),
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)
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return false, nil
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}
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}
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}
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}
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func (c *Controller) waitReply(ctx context.Context, addr preload.MAddress, autoClear bool) error {
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if err := c.WaitSignal(ctx, addr, true, true); err != nil {
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return err
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}
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if autoClear {
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_ = c.plcClient.Write(addr.Address(), make([]byte, 9))
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}
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return nil
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}
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func (c *Controller) GetErrorCode() error {
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addr := preload.GetMAddress("ErrorCode")
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bs, err := c.plcClient.Read(addr.Address(), 8)
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if err != nil {
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return err
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}
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v := binary.LittleEndian.Uint64(bs)
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if v == 0 {
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return nil
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}
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e := plc.RobotError(v)
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return &e
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}
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