bj_power/bj_power_mes/internal/robot/common.go

/*
 * Copyright (c) 2025 Beijing Hardman Automation Equipment Co., LTD. All rights reserved.
 *
 *    Project: adapter
 *    File: common.go
 *    Last: 2025-05-15 10:57:25
 *    Author: wangcheng@bj-hardman.com
 */

package robot

import (
	"bytes"
	"context"
	"encoding/binary"
	"log/slog"
	"sync"
	"time"

	"bj_power_mes/constants"
	"bj_power_mes/internal/plc"
	"bj_power_mes/internal/preload"
)

type arg struct {
	name  string
	value any
}

func newArg(value any, name ...string) arg {
	if len(name) > 0 {
		return arg{
			name:  name[0],
			value: value,
		}
	}
	return arg{
		value: value,
	}
}

func (c *Controller) executeAction(ctx context.Context, action string, args ...arg) error {
	addr := preload.GetMAddress(action)
	return c.execute(ctx, addr, args, true)
}

func (c *Controller) execute(ctx context.Context, addr preload.MAddress, args []arg, autoClear bool) error {
	c.mtx.Lock()
	defer c.mtx.Unlock()

	select {
	case <-ctx.Done():
		return ctx.Err()
	default:
		if err := c.sendSignal(addr, args...); err != nil {
			return err
		}
		return c.waitReply(ctx, addr, autoClear)
	}
}

func (c *Controller) sendSignal(addr preload.MAddress, args ...arg) error {
	buf := new(bytes.Buffer)
	//buf.WriteByte(1)
	for _, a := range args {
		_ = binary.Write(buf, binary.BigEndian, a.value)
	}

	//先写参数
	err := c.plcClient.Write(addr.Addr.Add(1, 0).String(), buf.Bytes())
	if err != nil {
		slog.Error("写入PLC信号失败",
			slog.Any("address", addr),
			slog.Any("error", err),
		)
		return err
	}

	time.Sleep(time.Millisecond * 200)
	//再写信号
	err = c.plcClient.WriteByte(addr.Address(), 1)
	if err != nil {
		return err
	}

	attrCount := 0
	for _, a := range args {
		if a.name != "" {
			attrCount++
		}
	}
	attrs := make([]any, 0, attrCount)
	for _, a := range args {
		if a.name == "" {
			continue
		}
		attrs = append(attrs, slog.Any(a.name, a.value))
	}

	slog.Info("已发送PLC信号",
		slog.Any("address", addr),
		slog.Group("params", attrs...), // 使用Group包装属性
	)
	return nil
}

func (c *Controller) SendSignalOnly(addr preload.MAddress) error {
	err := c.plcClient.WriteByte(addr.Address(), 1)
	if err != nil {
		slog.Error("写入PLC信号失败",
			slog.Any("address", addr),
			slog.Any("error", err),
		)
		return err
	}

	slog.Info("已发送PLC信号",
		slog.Any("address", addr),
	)
	return nil
}

func (c *Controller) WaitSignal(ctx context.Context, addr preload.MAddress, value bool, offsetAddress bool) error {
	replayAddr := addr.Addr.Add(0, 0)
	if offsetAddress {
		replayAddr = addr.Addr.Add(9, 0)
	}
	t := time.NewTicker(c.checkSignalDuration)
	defer t.Stop()

	once := sync.Once{}
	retryCount := 0
	for {
		select {
		case <-ctx.Done():
			return ctx.Err()
		case <-t.C:
			result, err := c.plcClient.ReadBool(replayAddr.String())
			if err != nil {
				slog.Error("读取PLC信号失败",
					slog.String("address", replayAddr.String()),
					slog.Int("retry", retryCount),
					slog.Any("error", err),
				)
				retryCount++
				if retryCount >= c.maxRetries {
					slog.Error("读取PLC完成信号失败",
						slog.Any("address", replayAddr),
						slog.Any("error", err),
					)
					return err
				}
				continue
			}
			if result == value {
				slog.Info("收到PLC完成信号",
					slog.Any("address", replayAddr),
				)
				return nil
			} else {
				if alarmSvc := c.alarmSvc; alarmSvc != nil {
					err = c.GetErrorCode()
					if err != nil {
						once.Do(func() {
							slog.Error("PLC Error", slog.Any("error", err))
							alarmSvc.Raise(ctx,
								"ROBOT_ERROR",
								err.Error(),
								constants.AlarmLevel_ERROR,
								0, 0,
								"robot",
							)
						})
					}
				}
			}
		}
	}
}

func (c *Controller) WaitSignal_TwoSignals(ctx context.Context, addr preload.MAddress, value bool, offsetAddress bool, addrResult preload.MAddress, valueResult bool) (bool, error) {
	replayAddr := addr.Addr.Add(0, 0)
	if offsetAddress {
		replayAddr = addr.Addr.Add(9, 0)
	}
	t := time.NewTicker(c.checkSignalDuration)
	defer t.Stop()

	//once := sync.Once{}
	retryCount := 0
	for {
		select {
		case <-ctx.Done():
			return false, ctx.Err()
		case <-t.C:
			//1.Result
			result, err := c.plcClient.ReadBool(addrResult.Addr.Add(9, 0).String())
			if err != nil {
				slog.Error("读取PLC信号失败",
					slog.String("address", addrResult.String()),
					slog.Int("retry", retryCount),
					slog.Any("error", err),
				)
				retryCount++
				if retryCount >= c.maxRetries {
					slog.Error("读取PLC完成信号失败",
						slog.Any("address", addrResult),
						slog.Any("error", err),
					)
					return true, err
				}
				continue
			}
			if result == valueResult {
				slog.Info("收到PLC完成信号",
					slog.Any("address", addrResult),
				)
				return true, nil
			}

			//2.wait
			result, err = c.plcClient.ReadBool(replayAddr.String())
			if err != nil {
				slog.Error("读取PLC信号失败",
					slog.String("address", replayAddr.String()),
					slog.Int("retry", retryCount),
					slog.Any("error", err),
				)
				retryCount++
				if retryCount >= c.maxRetries {
					slog.Error("读取PLC完成信号失败",
						slog.Any("address", replayAddr),
						slog.Any("error", err),
					)
					return false, err
				}
				continue
			}
			if result == value {
				slog.Info("收到PLC完成信号",
					slog.Any("address", replayAddr),
				)
				return false, nil
			}
		}
	}
}

func (c *Controller) waitReply(ctx context.Context, addr preload.MAddress, autoClear bool) error {
	if err := c.WaitSignal(ctx, addr, true, true); err != nil {
		return err
	}

	if autoClear {
		_ = c.plcClient.Write(addr.Address(), make([]byte, 9))
	}
	return nil
}

func (c *Controller) GetErrorCode() error {
	addr := preload.GetMAddress("ErrorCode")
	bs, err := c.plcClient.Read(addr.Address(), 8)
	if err != nil {
		return err
	}
	v := binary.LittleEndian.Uint64(bs)
	if v == 0 {
		return nil
	}
	e := plc.RobotError(v)
	return &e
}