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/controller.go

@@ -0,0 +1,78 @@
+package robot
+
+import (
+	"sync"
+	"time"
+
+	"bj_power_mes/internal/alarm"
+	"bj_power_mes/internal/sse"
+
+	"bj_power_mes/ent"
+
+	goplc "bjhardman.cn/bjhardman/goplc"
+)
+
+type Controller struct {
+	plcClient           goplc.Client
+	entClient           *ent.Client
+	sseHandler          *sse.Handler
+	alarmSvc            *alarm.Service
+	maxRetries          int
+	checkSignalDuration time.Duration
+	mtx                 sync.Mutex
+	activity            string     // 当前持有锁的Action名称
+	waitingQueue        []string   // 等待队列
+	queueLock           sync.Mutex // 保护等待队列的锁
+}
+
+func NewRobotController(plcClient goplc.Client, entClient *ent.Client, sseHandler *sse.Handler, alarmSvc *alarm.Service) *Controller {
+	return &Controller{
+		plcClient:           plcClient,
+		entClient:           entClient,
+		sseHandler:          sseHandler,
+		alarmSvc:            alarmSvc,
+		maxRetries:          3,
+		checkSignalDuration: 1 * time.Second,
+	}
+}
+
+func (c *Controller) Lock(activity string) {
+	c.queueLock.Lock()
+	c.waitingQueue = append(c.waitingQueue, activity)
+	c.queueLock.Unlock()
+
+	c.mtx.Lock()
+
+	c.queueLock.Lock()
+	defer c.queueLock.Unlock()
+	// 从等待队列移除
+	for i, name := range c.waitingQueue {
+		if name == activity {
+			c.waitingQueue = append(c.waitingQueue[:i], c.waitingQueue[i+1:]...)
+			break
+		}
+	}
+	c.activity = activity
+}
+
+func (c *Controller) UnLock() {
+	c.queueLock.Lock()
+	defer c.queueLock.Unlock()
+	c.activity = ""
+	c.mtx.Unlock()
+}
+
+// Status 获取当前锁状态
+func (c *Controller) Status() (current string, queue []string) {
+	c.queueLock.Lock()
+	defer c.queueLock.Unlock()
+	return c.activity, append([]string(nil), c.waitingQueue...) // 返回副本
+}
+
+func (c *Controller) SetAction(activity string) {
+	c.activity = activity
+}
+
+func (c *Controller) ClearAction() {
+	c.activity = ""
+}