1 机械臂 可以 实时设置 有指令时是否执行的操作。

2 下料 时 柜子断电 导致 指令不执行 调整，把 断电的的柜子的 指令 设置成 断电失败的状态，等柜子修好后继续。

zhmes-agecal-admin/src/main/java/com/zehong/web/controller/equipment/RobotArmCommandController.java

@@ -138,6 +138,27 @@ public class RobotArmCommandController extends BaseController
         return toAjax(robotArmCommandService.updateInstructionExecutionPriority(priority));
     }
 
+    /**
+     * 控制机械臂
+     * @param action
+     * @return
+     */
+    @GetMapping("/updateAnimationState/{action}")
+    public AjaxResult updateAnimationState(@PathVariable("action")  String  action) {
+        return toAjax(robotArmCommandService.updateAnimationState(action));
+    }
+
+
+    /**
+     * 短电已修复
+     * @param robotArmCommandId r
+     * @return r
+     */
+    @GetMapping("/powerFailureResolved/{robotArmCommandId}")
+    public AjaxResult powerFailureResolved(@PathVariable("robotArmCommandId") Long robotArmCommandId) {
+        return robotArmCommandService.powerFailureResolved(robotArmCommandId);
+    }
+
     /**
      * 删除机械臂指令
      */

zhmes-agecal-admin/src/main/resources/application-dev.yml

@@ -8,7 +8,7 @@ spring:
       master:
         url: jdbc:mysql://localhost:3306/zh-mes-device-db?useUnicode=true&characterEncoding=utf8&zeroDateTimeBehavior=convertToNull&useSSL=true&serverTimezone=GMT%2B8&allowMultiQueries=true
         username: root
-        password: zh@123456
+        password: Zh@123456
       # 从库数据源
       slave:
         # 从数据源开关/默认关闭
@@ -102,4 +102,4 @@ robot:
   arm:
     udp:
       ip: 127.0.0.1
-      port: 6000
\ No newline at end of file
+      port: 6000

zhmes-agecal-admin/src/main/resources/application.yml

@@ -25,8 +25,8 @@ spring:
   messages:
     # 国际化资源文件路径
     basename: i18n/messages
-  profiles: 
-    active: test
+  profiles:
+    active: dev
   # 文件上传
   servlet:
      multipart:
@@ -48,7 +48,7 @@ token:
     secret: abcdefghijklmnopqrstuvwxyz
     # 令牌有效期（默认30分钟）
     expireTime: 3000000
-  
+
 # MyBatis配置
 mybatis:
     # 搜索指定包别名
@@ -59,11 +59,11 @@ mybatis:
     configLocation: classpath:mybatis/mybatis-config.xml
 
 # PageHelper分页插件
-pagehelper: 
+pagehelper:
   helperDialect: mysql
   reasonable: true
   supportMethodsArguments: true
-  params: count=countSql 
+  params: count=countSql
 
 # Swagger配置
 swagger:
@@ -73,7 +73,7 @@ swagger:
   pathMapping: /dev-api
 
 # 防止XSS攻击
-xss: 
+xss:
   # 过滤开关
   enabled: true
   # 排除链接（多个用逗号分隔）

zhmes-agecal-system/src/main/java/com/zehong/system/domain/RobotArmCommand.java

@@ -36,7 +36,7 @@ public class RobotArmCommand extends BaseEntity
     private String type;
 
     /** 状态：0-待执行；1-执行中；2-执行结束(上料就是绑定托盘，下料就是解绑托盘) */
-    @Excel(name = "状态：0-待分配位置，1-待执行；2-执行中；3-未上电；4-执行结束(上料就是绑定托盘，下料就是解绑托盘)")
+    @Excel(name = "状态：0-待分配位置，1-待执行；2-执行中；3-未上电；4-执行结束(上料就是绑定托盘，下料就是解绑托盘): 5-断电失败")
     private String status;
 
     /** 指令开始执行时间 */

zhmes-agecal-system/src/main/java/com/zehong/system/mapper/RobotArmCommandMapper.java

@@ -43,6 +43,8 @@ public interface RobotArmCommandMapper
 
     public List<RobotArmCommand> selectIsRunningCommandByTrayCode(String trayCode);
 
+    public void updateStatusPowerOffFailed(String storeyCode);
+
     /**
      * 新增机械臂指令
      *

zhmes-agecal-system/src/main/java/com/zehong/system/netty/handler/NettyUdpServerHandler.java

@@ -241,7 +241,9 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
                         // 完成指令
                         robotArmCommandService.completeCommand(commandIdToComplete);
                         log.info("指令完成: {}", commandIdToComplete);
-
+                    } catch (Exception e) {
+                        log.error("指令完成失败: {}", commandIdToComplete, e);
+                    } finally {
                         // 清空当前指令
                         currentCommandId = null;
 
@@ -252,9 +254,6 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
                         synchronized (this) {
                             handleFullyIdleState();
                         }
-                    } catch (Exception e) {
-                        log.error("指令完成失败: {}", commandIdToComplete, e);
-                        commandState.set(CommandState.ERROR);
                     }
                 }
             }

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

@@ -69,6 +69,10 @@ public interface IRobotArmCommandService
 
     public int updateInstructionExecutionPriority(String priority);
 
+    public int updateAnimationState(String action);
+
+    public AjaxResult powerFailureResolved(Long robotArmCommandId);
+
     /**
      * 批量删除机械臂指令
      *

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

@@ -105,52 +105,62 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
         if (cacheObject != null) {
             priority = (String) cacheObject;
         }
-        // 合并查询：同时获取上料、下料各1条待执行指令
-        List<RobotArmCommand> pendingCommands = robotArmCommandMapper.selectPendingLoadUnloadCommands();
-
-        String feedConveyorIpAndPort = iConveyorBeltIpMaintainService.selectConfigByKey(Constants.FEED_CONVEYOR_IP_AND_PORT);
-        String feedIp ;
-        int feedPort ;
-        String outLetBeltIpAndPort = iConveyorBeltIpMaintainService.selectConfigByKey(Constants.OUT_LET_BELT_IP_AND_PORT);
-        String outLetBeltIp;
-        int outLetBeltPort;
-        // 区分上料、下料指令（根据f_type）
-        RobotArmCommand loadingCommand = null;
-        RobotArmCommand unloadingCommand = null;
-        for (RobotArmCommand command : pendingCommands) {
-            if ("0".equals(command.getType())) { // 上料指令（type=0）
-                loadingCommand = command;
-            } else if ("1".equals(command.getType())) { // 下料指令（type=1）
-                unloadingCommand = command;
-            }
+
+        Object cacheObject1 = redisCache.getCacheObject("sys_config:robotAction");
+        String action = "start";
+        if (cacheObject1 != null) {
+            action = (String) cacheObject1;
         }
-        if(StringUtils.isNotBlank(feedConveyorIpAndPort) && StringUtils.isNotBlank(outLetBeltIpAndPort)) {
 
-            String[] splitFeed = feedConveyorIpAndPort.split(":");
-            feedIp = splitFeed[0];
-            feedPort = Integer.parseInt(splitFeed[1]);
+        if("start".equals(action)) {
+
+            // 合并查询：同时获取上料、下料各1条待执行指令
+            List<RobotArmCommand> pendingCommands = robotArmCommandMapper.selectPendingLoadUnloadCommands();
+
+            String feedConveyorIpAndPort = iConveyorBeltIpMaintainService.selectConfigByKey(Constants.FEED_CONVEYOR_IP_AND_PORT);
+            String feedIp ;
+            int feedPort ;
+            String outLetBeltIpAndPort = iConveyorBeltIpMaintainService.selectConfigByKey(Constants.OUT_LET_BELT_IP_AND_PORT);
+            String outLetBeltIp;
+            int outLetBeltPort;
+            // 区分上料、下料指令（根据f_type）
+            RobotArmCommand loadingCommand = null;
+            RobotArmCommand unloadingCommand = null;
+            for (RobotArmCommand command : pendingCommands) {
+                if ("0".equals(command.getType())) { // 上料指令（type=0）
+                    loadingCommand = command;
+                } else if ("1".equals(command.getType())) { // 下料指令（type=1）
+                    unloadingCommand = command;
+                }
+            }
+            if(StringUtils.isNotBlank(feedConveyorIpAndPort) && StringUtils.isNotBlank(outLetBeltIpAndPort)) {
 
-            String[] splitOut = outLetBeltIpAndPort.split(":");
-            outLetBeltIp = splitOut[0];
-            outLetBeltPort = Integer.parseInt(splitOut[1]);
+                String[] splitFeed = feedConveyorIpAndPort.split(":");
+                feedIp = splitFeed[0];
+                feedPort = Integer.parseInt(splitFeed[1]);
 
-            if((loadingCommand != null && "loading".equals(priority)) ||
-                    (unloadingCommand == null && loadingCommand != null && "unloading".equals(priority))) {
-                // 传送带检测先去掉
-                boolean[] roboticArmEntryConveyorData = Modbus4jUtils.getRoboticArmExitConveyorData(feedIp,feedPort);
+                String[] splitOut = outLetBeltIpAndPort.split(":");
+                outLetBeltIp = splitOut[0];
+                outLetBeltPort = Integer.parseInt(splitOut[1]);
 
-                log.info("机械臂入口 conveyor 0状态: " + roboticArmEntryConveyorData[0]);
-                log.info("机械臂入口 conveyor 1状态: " + roboticArmEntryConveyorData[1]);
-                if(roboticArmEntryConveyorData[1]) {
-                    sendCommand(loadingCommand, "LOAD");
-                }
-            } else if(unloadingCommand != null) {
-                boolean[] roboticArmExitConveyorData = Modbus4jUtils.getRoboticArmExitConveyorData(outLetBeltIp,outLetBeltPort);
-                log.info("机械臂出口 conveyor 0状态: " + roboticArmExitConveyorData[0]);
-                log.info("机械臂出口 conveyor 1状态: " + roboticArmExitConveyorData[1]);
-                if(!roboticArmExitConveyorData[0]) {
-                    log.info("开始处理下料指令: {}", unloadingCommand);
-                    sendCommand(unloadingCommand, "UNLOAD");
+                if((loadingCommand != null && "loading".equals(priority)) ||
+                        (unloadingCommand == null && loadingCommand != null && "unloading".equals(priority))) {
+                    // 传送带检测先去掉
+                    boolean[] roboticArmEntryConveyorData = Modbus4jUtils.getRoboticArmExitConveyorData(feedIp,feedPort);
+
+                    log.info("机械臂入口 conveyor 0状态: " + roboticArmEntryConveyorData[0]);
+                    log.info("机械臂入口 conveyor 1状态: " + roboticArmEntryConveyorData[1]);
+                    if(roboticArmEntryConveyorData[1]) {
+                        sendCommand(loadingCommand, "LOAD");
+                    }
+                } else if(unloadingCommand != null) {
+                    boolean[] roboticArmExitConveyorData = Modbus4jUtils.getRoboticArmExitConveyorData(outLetBeltIp,outLetBeltPort);
+                    log.info("机械臂出口 conveyor 0状态: " + roboticArmExitConveyorData[0]);
+                    log.info("机械臂出口 conveyor 1状态: " + roboticArmExitConveyorData[1]);
+                    if(!roboticArmExitConveyorData[0]) {
+                        log.info("开始处理下料指令: {}", unloadingCommand);
+                        sendCommand(unloadingCommand, "UNLOAD");
+                    }
                 }
             }
         }
@@ -659,6 +669,41 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
         return 1;
     }
 
+    /**
+     * 修改动画状态
+     *
+     * @param action 动作
+     * @return 结果
+     */
+    @Override
+    public int updateAnimationState(String action) {
+
+        redisCache.setCacheObject("sys_config:robotAction", action);
+        return 1;
+    }
+
+    /**
+     * 恢复电源故障
+     *
+     * @param robotArmCommandId r
+     * @return r
+     */
+    @Override
+    public AjaxResult powerFailureResolved(Long robotArmCommandId) {
+
+        if(robotArmCommandId == null) {
+            return AjaxResult.error("参数错误");
+        }
+
+        RobotArmCommand robotArmCommand = new RobotArmCommand();
+        robotArmCommand.setRobotArmCommandId(robotArmCommandId);
+        robotArmCommand.setStatus("1");
+        robotArmCommandMapper.updateRobotArmCommand(robotArmCommand);
+
+        notifyCommandsUpdate();
+        return AjaxResult.success();
+    }
+
     /**
      * 批量删除机械臂指令
      *

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

@@ -9,13 +9,12 @@ import com.zehong.system.domain.SysConfig;
 import com.zehong.system.domain.TEquipmentAlarmData;
 import com.zehong.system.domain.TStoreyInfo;
 import com.zehong.system.domain.TTrayInfo;
+import com.zehong.system.mapper.RobotArmCommandMapper;
 import com.zehong.system.mapper.TStoreyInfoMapper;
 import com.zehong.system.mapper.TTrayInfoMapper;
 import com.zehong.system.modbus.util.Modbus4jUtils;
-import com.zehong.system.service.ISysConfigService;
-import com.zehong.system.service.ITEquipmentAlarmDataService;
-import com.zehong.system.service.ITStoreyInfoService;
-import com.zehong.system.service.ITTrayInfoService;
+import com.zehong.system.service.*;
+import com.zehong.system.service.websocket.RobotArmWebSocketHandler;
 import org.apache.commons.collections4.CollectionUtils;
 import org.apache.commons.lang3.StringUtils;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -54,6 +53,11 @@ public class AllCommandHandler {
     @Autowired
     private ISysConfigService configService;
 
+    @Resource
+    private RobotArmCommandMapper robotArmCommandMapper;
+    @Resource
+    private RobotArmWebSocketHandler robotArmWebSocketHandler;
+
     // 使用常量定义索引，避免魔法数字
     private static final int AGING_STAGE_INDEX = 3;
     private static final int DEFAULT_HOURS = 72;
@@ -140,8 +144,8 @@ public class AllCommandHandler {
     @Async  // 异步执行
     @EventListener(PowerOffCommandEvent.class)
     public void handlePowerOffCommand(PowerOffCommandEvent event) {
+        String storeyCode = event.getDeviceCode() + "-" + event.getLayer();
         try {
-            String storeyCode = event.getDeviceCode() + "-" + event.getLayer();
             String ip = event.getIp();
             int port = event.getPort();
             int registerOffset = event.getRegisterOffset();
@@ -169,6 +173,11 @@ public class AllCommandHandler {
         } catch (ModbusInitException | ModbusTransportException e) {
             log.error("断电指令执行失败 - 设备:{} 层:{}", event.getDeviceCode(), event.getLayer(), e);
 
+            //把这个指令状态 改成 断电失败，不影响下面的指令执行
+            robotArmCommandMapper.updateStatusPowerOffFailed(storeyCode);
+            // 通过WebSocket广播更新
+            robotArmWebSocketHandler.broadcastCommandUpdate();
+
             // 记录异常
             TEquipmentAlarmData alarmData = new TEquipmentAlarmData();
             alarmData.setfAlarmType("03"); // 老化层

zhmes-agecal-system/src/main/resources/mapper/system/RobotArmCommandMapper.xml

@@ -37,6 +37,11 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         <include refid="selectRobotArmCommandVo"/>
         where f_tray_code = #{trayCode} and f_status != '4'
     </select>
+    <update id="updateStatusPowerOffFailed" parameterType="string">
+        update t_robot_arm_command
+        set f_status = '5'
+        where f_storey_code = #{storeyCode} and f_status = '2'
+    </update>
 
     <select id="selectRobotArmCommandList" parameterType="RobotArmCommand" resultMap="RobotArmCommandResult">
         <include refid="selectRobotArmCommandVo"/>

zhmes-agecal-web/src/api/robotArm/robotArmCommand.js

@@ -112,6 +112,14 @@ export function delCommand(robotArmCommandId) {
   })
 }
 
+export function powerFailureResolved(robotArmCommandId) {
+  return request({
+    url: '/robotArm/command/powerFailureResolved/' + robotArmCommandId,
+    method: 'get'
+  })
+}
+
+
 // 导出机械臂指令
 export function exportCommand(query) {
   return request({
@@ -120,3 +128,10 @@ export function exportCommand(query) {
     params: query
   })
 }
+
+export function updateAnimationState(action) {
+  return request({
+    url: '/robotArm/command/updateAnimationState/' + action,
+    method: 'get'
+  })
+}