75 lines
2.4 KiB
Go
75 lines
2.4 KiB
Go
/*
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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: dock.go
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* Last: 2025-01-13 20:04:51
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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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"context"
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)
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// PlaceWorkpieceToMachine 放料到设备
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// @param ctx 上下文
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// @param workpieceType 工件类型
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// @param machineId 设备id (包括 CNC机床、高压清洗机、去毛刺机、除锈清洗线，其它设备使用专用放置接口)
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// @param machineSlot 设备槽位
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// @return error 错误
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func (c *Controller) PlaceWorkpieceToMachine(ctx context.Context, workpieceType int, machineId int, machineSlot ...int) error {
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slotNo := 0
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if len(machineSlot) > 0 {
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slotNo = machineSlot[0]
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}
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return c.executeAction(ctx, "PlaceWorkpieceToMachine",
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newArg(int8(workpieceType), "workpieceType"), //工件类型
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newArg(int8(machineId), "machineId"), //设备id
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newArg(int8(slotNo), "slotNo"),
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newArg(int8(0)),
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newArg(int32(0)),
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)
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}
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// FetchWorkpieceFromMachine 从设备取料
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// @param ctx 上下文
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// @param workpieceType 工件类型
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// @param machineId 设备id (包括 CNC机床、高压清洗机、内窥镜滚筒线、去毛刺机、除锈清洗线，其它设备使用专用取走接口)
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// @param slot 设备槽位
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// @return error 错误
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func (c *Controller) FetchWorkpieceFromMachine(ctx context.Context, workpieceType, machineId int, slot ...int) error {
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slotNo := 0
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if len(slot) > 0 {
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slotNo = slot[0]
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}
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return c.executeAction(ctx, "FetchWorkpieceFromMachine",
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newArg(int8(workpieceType), "workpieceType"), //工件类型
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newArg(int8(machineId), "machineId"), //设备id
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newArg(int8(slotNo), "slotNo"),
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newArg(int8(0)),
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newArg(int32(0)),
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)
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}
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// ExchangeWorkpieceToMachine 换料到设备
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// @param ctx 上下文
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// @param workpieceType 工件类型
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// @param machineId 设备id (包括 CNC机床、高压清洗机、除锈清洗线，其它设备不支持换料)
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// @param slot 设备槽位
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// @return error 错误
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func (c *Controller) ExchangeWorkpieceToMachine(ctx context.Context, workpieceType, machineId int, slot ...int) error {
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slotNo := 0
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if len(slot) > 0 {
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slotNo = slot[0]
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}
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return c.executeAction(ctx, "ExchangeWorkpieceToMachine",
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newArg(int8(workpieceType), "workpieceType"), //工件类型
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newArg(int8(machineId), "machineId"), //设备id
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newArg(int8(slotNo), "slotNo"),
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newArg(int8(0)),
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newArg(int32(0)),
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)
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}
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