58 lines
1.3 KiB
Go
58 lines
1.3 KiB
Go
package robot
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import (
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"context"
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"strings"
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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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// StartScanCode 启动扫码
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// workpieceType 工件类型
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// round 扫码轮次
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func (c *Controller) StartScanCode(ctx context.Context, workpieceType int, round int) error {
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return c.executeAction(ctx, "StartScanCode",
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newArg(int8(workpieceType)),
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newArg(int8(round)),
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newArg(int16(round)),
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newArg(int32(0)),
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)
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}
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// ReadScanCodeData 读取扫码数据
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// 返回PLC中32字节的扫码内容，按ASCII字符串解释；读取失败返回错误
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func (m *Manager) ReadScanCodeData(ctx context.Context) (string, error) {
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pc := m.plcManager.GetPlc()
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if pc == nil {
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return "", plc.ErrNotConnect
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}
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addr := preload.GetMAddress("ScanCodeData")
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bs, err := pc.Read(addr.Address(), 32)
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if err != nil {
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return "", err
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}
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// 去除尾部的\x00
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i := len(bs)
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for i > 0 && bs[i-1] == 0 {
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i--
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}
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result := string(bs[:i])
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return strings.TrimSpace(result), nil
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}
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// ClearScanCodeData 清除扫码数据
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func (m *Manager) ClearScanCodeData(ctx context.Context) error {
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pc := m.plcManager.GetPlc()
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if pc == nil {
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return plc.ErrNotConnect
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}
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addr := preload.GetMAddress("ScanCodeData")
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if err := pc.Write(addr.Address(), make([]byte, 32)); err != nil {
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return err
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}
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return nil
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}
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