68 lines
2.3 KiB
Go
68 lines
2.3 KiB
Go
package robot
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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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"time"
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"bj_power_mes/internal/preload"
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)
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// RequestCleaningLoading 发送清洗线上料请求（PLC M1146.3 = true）。
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// 清洗线上料前先发送信号
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func (c *Controller) RequestCleaningLoading(ctx context.Context) error {
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addr := preload.GetMAddress("CleaningRequestLoading")
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slog.Info("发送清洗线上料请求", "address", addr.Addr.String())
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err := c.plcClient.WriteBool(addr.Address(), true)
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if err != nil {
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slog.Error("发送清洗线上料请求信号失败", "address", addr.Address(), "error", err)
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return err
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}
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return nil
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}
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// CloseRequestCleaningLoading 关闭清洗线上料请求（PLC M1146.3 = false）。
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// 清洗线上料后关闭信号
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func (c *Controller) CloseRequestCleaningLoading(ctx context.Context) error {
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addr := preload.GetMAddress("CleaningRequestLoading")
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slog.Info("关闭清洗线上料请求", "address", addr.Address())
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err := c.plcClient.WriteBool(addr.Address(), false)
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if err != nil {
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slog.Error("关闭清洗线上料请求信号失败", "address", addr.Addr.String(), "error", err)
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return err
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}
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return nil
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}
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// WaitCleaningReady 等待清洗线就绪信号（PLC M1146.1 = true）。
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// 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。
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func (c *Controller) WaitCleaningReady(ctx context.Context) error {
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addr := preload.GetMAddress("CleaningReady")
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slog.Info("等待清洗线就绪信号", "address", addr.Addr.String())
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if err := c.WaitSignal(ctx, addr, true, false); err != nil {
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return fmt.Errorf("等待清洗线就绪信号失败: %w", err)
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}
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return nil
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}
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func (c *Controller) StartupCleanLine(ctx context.Context) error {
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addr := preload.GetMAddress("CleaningStartup")
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if err := c.plcClient.WriteBool(addr.Addr.String(), true); err != nil {
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return fmt.Errorf("发送启动信号 %s 失败: %w", "CleaningStartup", err)
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}
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time.AfterFunc(2*time.Second, func() {
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_ = c.plcClient.WriteBool(addr.Addr.String(), false)
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})
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return nil
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}
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func (c *Controller) IsCleanLineDone(ctx context.Context) (bool, error) {
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addr := preload.GetMAddress("CleaningDone")
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result, err := c.plcClient.ReadBool(addr.Addr.String())
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if err != nil {
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return false, fmt.Errorf("读取清洗线完成信号 %s 失败: %w", "CleaningDone", err)
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}
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return result, nil
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}
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