1 扫托盘 上料 测试

zhmes-agecal-system/src/main/java/com/zehong/system/service/impl/RobotArmCommandServiceImpl.java

@@ -104,10 +104,11 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
                 robotArmCommandMapper.selectPendingUnloadingCommands();
         if (!unloadingCommands.isEmpty()) {
 
-            boolean[] roboticArmExitConveyorData = Modbus4jUtils.getRoboticArmExitConveyorData();
-            if(roboticArmExitConveyorData[1]) {
+//            boolean[] roboticArmExitConveyorData = Modbus4jUtils.getRoboticArmExitConveyorData();
+//            if(roboticArmExitConveyorData[1]) {
+                log.info("开始处理上料指令: {}", loadingCommands.get(0));
                 sendCommand(unloadingCommands.get(0), "UNLOAD");
-            }
+//            }
         }
     }
 

zhmes-agecal-system/src/main/java/com/zehong/system/task/FinalExecutionJob.java

@@ -12,6 +12,7 @@ import com.zehong.system.mapper.TStoreyInfoMapper;
 import com.zehong.system.modbus.util.Modbus4jUtils;
 import com.zehong.system.service.ITEquipmentAlarmDataService;
 import com.zehong.system.service.ITStoreyInfoService;
+import com.zehong.system.service.websocket.RobotArmWebSocketHandler;
 import org.quartz.*;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
@@ -29,6 +30,8 @@ import java.util.Date;
 public class FinalExecutionJob implements Job {
     private static final Logger log = LoggerFactory.getLogger(FinalExecutionJob.class);
 
+    @Resource
+    private RobotArmWebSocketHandler robotArmWebSocketHandler;
     @Resource
     private ITEquipmentAlarmDataService alarmDataService;
     @Resource
@@ -75,7 +78,7 @@ public class FinalExecutionJob implements Job {
                 cleanUpJobs(fStoreyId,context);
 
                 // 4. 发送 下料指令
-                createRoboticArm(tStoreyInfo.getfTrayCode(),tStoreyInfo.getfStoreyCode());
+                createRoboticArm(tStoreyInfo.getfTrayCode(),tStoreyInfo.getfStoreyCode(),tStoreyInfo.getBlankingCommand());
 
                 log.info("设备[{}]最终业务逻辑执行完成", fStoreyId);
             } catch (Exception e) {
@@ -89,7 +92,7 @@ public class FinalExecutionJob implements Job {
         }
     }
 
-    private void createRoboticArm(String trayCode,String storeyCode) {
+    private void createRoboticArm(String trayCode,String storeyCode,String command) {
         // 创建机械臂任务
         RobotArmCommand robotArmCommand = new RobotArmCommand();
         robotArmCommand.setType("1");
@@ -97,7 +100,9 @@ public class FinalExecutionJob implements Job {
         robotArmCommand.setTrayCode(trayCode);
         robotArmCommand.setStoreyCode(storeyCode);
         robotArmCommand.setCreateTime(new Date());
+        robotArmCommand.setCommand(command);
         robotArmCommandMapper.insertRobotArmCommand(robotArmCommand);
+        notifyCommandsUpdate();
     }
 
     private void cleanUpJobs(String deviceId,JobExecutionContext context) throws SchedulerException {
@@ -120,4 +125,7 @@ public class FinalExecutionJob implements Job {
             throw new RuntimeException(e);
         }
     }
+    private void notifyCommandsUpdate() {
+        robotArmWebSocketHandler.broadcastCommandUpdate();
+    }
 }