1 扫码绑定托盘，上料，机械臂整体测试

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

@@ -10,9 +10,9 @@ import com.zehong.system.domain.modbus.ModbusDeviceData;
 import com.zehong.system.modbus.util.Modbus4jUtils;
 import com.zehong.system.service.ITEquipmentAlarmDataService;
 import com.zehong.system.service.ITEquipmentInfoService;
-import com.zehong.web.task.AgingCabinetInspectionAndPowerCheckTask;
-import com.zehong.web.task.CheckPowerOnCommandEvent;
-import com.zehong.web.task.PowerOffCommandEvent;
+import com.zehong.system.task.AgingCabinetInspectionAndPowerCheckTask;
+import com.zehong.system.task.CheckPowerOnCommandEvent;
+import com.zehong.system.task.PowerOffCommandEvent;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.context.ApplicationEventPublisher;

zhmes-agecal-system/pom.xml

@@ -27,6 +27,12 @@
             <artifactId>spring-boot-configuration-processor</artifactId>
             <optional>true</optional>
         </dependency>
+
+        <!-- 定时任务-->
+        <dependency>
+            <groupId>com.zehong</groupId>
+            <artifactId>zhmes-agecal-quartz</artifactId>
+        </dependency>
     </dependencies>
 
 </project>
\ No newline at end of file

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

@@ -20,6 +20,8 @@ public interface TEquipmentInfoMapper
      */
     public TEquipmentInfo selectTEquipmentInfoById(Long fEquipmentId);
 
+    public TEquipmentInfo selectTEquipmentInfoByCode(String fEquipmentCode);
+
     /**
      * 查询生产设备信息列表
      * 

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

@@ -27,6 +27,8 @@ public interface TStoreyInfoMapper
      */
     public TStoreyInfo selectTStoreyInfoByCode(String fStoreyCode);
 
+    public void unbindByCode(TStoreyInfo tStoreyInfo);
+
     // 新增方法：查询离机械臂最近的空闲层
     public TStoreyInfo selectNearestFreeStorey();
     /**

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

@@ -47,6 +47,7 @@ public interface TTrayInfoMapper
      */
     public int updateTTrayInfo(TTrayInfo tTrayInfo);
 
+    public int unbindByCode(TTrayInfo tTrayInfo);
     /**
      * 删除托盘信息
      * 

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

@@ -8,17 +8,21 @@ import java.util.Date;
 import java.util.List;
 import com.zehong.common.utils.DateUtils;
 import com.zehong.common.utils.StringUtils;
+import com.zehong.system.domain.TEquipmentInfo;
 import com.zehong.system.domain.TStoreyInfo;
 import com.zehong.system.domain.TTrayInfo;
+import com.zehong.system.mapper.TEquipmentInfoMapper;
 import com.zehong.system.mapper.TStoreyInfoMapper;
 import com.zehong.system.mapper.TTrayInfoMapper;
 import com.zehong.system.modbus.util.Modbus4jUtils;
 import com.zehong.system.netty.handler.NettyUdpServerHandler;
 import com.zehong.system.service.websocket.RobotArmWebSocketHandler;
+import com.zehong.system.task.CheckPowerOnCommandEvent;
 import com.zehong.system.udp.UdpCommandSender;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.beans.factory.annotation.Value;
+import org.springframework.context.ApplicationEventPublisher;
 import org.springframework.stereotype.Service;
 import com.zehong.system.mapper.RobotArmCommandMapper;
 import com.zehong.system.domain.RobotArmCommand;
@@ -50,6 +54,9 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
     @Resource
     private TStoreyInfoMapper storeyInfoMapper;
 
+    @Resource
+    private TEquipmentInfoMapper equipmentInfoMapper;;
+
     @Resource
     private TTrayInfoMapper tTrayInfoMapper;
 
@@ -61,6 +68,9 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
     @Value("${robot.arm.udp.port}")
     private int robotArmPort;
 
+    @Resource
+    private ApplicationEventPublisher eventPublisher; // 新增事件发布器
+
     private SocketAddress getRobotAddress() {
         try {
             return new InetSocketAddress(
@@ -131,10 +141,46 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
 
             // 发送上电指令
             try {
-                // 发送上电指令给机械臂
-                String udpMessage = String.format("POWER_ON,%s,%s", command.getTrayCode(), command.getStoreyCode());
-                udpCommandSender.sendCommandThrowError(udpMessage);
-
+                // 上料的指令 需要去上电
+                if("0".equals(command.getType())){
+                    // 发送上电指令给机械臂
+                    String storeyCode = command.getStoreyCode();
+                    String equitmentCode = "";
+                    Integer registerOffset = null;
+                    if(storeyCode.contains("-")) {
+                        String[] parts = storeyCode.split("-");
+                        equitmentCode = parts[0];
+                        registerOffset = Integer.parseInt(parts[1]);
+                        TEquipmentInfo tEquipmentInfo = equipmentInfoMapper.selectTEquipmentInfoByCode(equitmentCode);
+
+                        if(tEquipmentInfo != null) {
+                            String powerOutageIp = tEquipmentInfo.getfPowerOutageIp();
+                            Integer powerOutagePort = tEquipmentInfo.getfPowerOutagePort();
+                            if(StringUtils.isNotBlank(powerOutageIp) && powerOutagePort != null) {
+
+                                eventPublisher.publishEvent(new CheckPowerOnCommandEvent(
+                                        this,
+                                        equitmentCode,
+                                        powerOutageIp,
+                                        powerOutagePort,
+                                        registerOffset
+                                ));
+                            }
+                        }
+                    }
+                // 下料的话 得解除 托盘 和 层的绑定关系
+                } else {
+                    TStoreyInfo tStoreyInfo = new TStoreyInfo();
+                    tStoreyInfo.setfStoreyCode(command.getStoreyCode());
+                    tStoreyInfo.setUpdateTime(new Date());
+                    storeyInfoMapper.unbindByCode(tStoreyInfo);
+
+                    TTrayInfo  tTrayInfo = new TTrayInfo();
+                    tTrayInfo.setfTrayCode(command.getTrayCode());
+                    tTrayInfo.setUpdateTime(new Date());
+                    tTrayInfo.setfUnbindingTime(new Date());
+                    tTrayInfoMapper.unbindByCode(tTrayInfo);
+                }
                 command.setStatus("4");
                 log.info("指令执行成功，状态设置为4");
             } catch (Exception e) {

zhmes-agecal-admin/src/main/java/com/zehong/web/task/AgingCabinetInspectionAndPowerCheckTask.java → zhmes-agecal-system/src/main/java/com/zehong/system/task/AgingCabinetInspectionAndPowerCheckTask.java

-package com.zehong.web.task;
+package com.zehong.system.task;
 
 import com.serotonin.modbus4j.ModbusMaster;
 import com.serotonin.modbus4j.exception.ErrorResponseException;
@@ -15,7 +15,6 @@ import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.context.ApplicationEventPublisher;
 import org.springframework.stereotype.Component;
-import org.springframework.web.context.request.async.DeferredResult;
 
 import javax.annotation.Resource;
 import java.util.*;

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

-package com.zehong.web.task;
+package com.zehong.system.task;
 
 import com.serotonin.modbus4j.ModbusMaster;
 import com.serotonin.modbus4j.exception.ErrorResponseException;

zhmes-agecal-admin/src/main/java/com/zehong/web/task/CheckPowerOnCommandEvent.java → zhmes-agecal-system/src/main/java/com/zehong/system/task/CheckPowerOnCommandEvent.java

-package com.zehong.web.task;
+package com.zehong.system.task;
 
 import org.springframework.context.ApplicationEvent;
 

zhmes-agecal-admin/src/main/java/com/zehong/web/task/DeviceCommunicationJob.java → zhmes-agecal-system/src/main/java/com/zehong/system/task/DeviceCommunicationJob.java

-package com.zehong.web.task;
+package com.zehong.system.task;
 import com.zehong.system.domain.TEquipmentAlarmData;
 import com.zehong.system.domain.TStoreyInfo;
 import com.zehong.system.mapper.TStoreyInfoMapper;

zhmes-agecal-admin/src/main/java/com/zehong/web/task/DeviceTaskScheduler.java → zhmes-agecal-system/src/main/java/com/zehong/system/task/DeviceTaskScheduler.java

-package com.zehong.web.task;
+package com.zehong.system.task;
 
 import org.quartz.*;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
-import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 
+import javax.annotation.Resource;
 import java.time.Instant;
 import java.time.temporal.ChronoUnit;
 import java.util.Date;
@@ -19,7 +19,7 @@ import java.util.Date;
 public class DeviceTaskScheduler {
 
     private static final Logger log = LoggerFactory.getLogger(DeviceTaskScheduler.class);
-    @Autowired
+    @Resource
     private Scheduler scheduler;
     /**
      * 创建设备监控任务

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

-package com.zehong.web.task;
+package com.zehong.system.task;
 
 import com.serotonin.modbus4j.ModbusMaster;
 import com.serotonin.modbus4j.exception.ModbusInitException;
 import com.serotonin.modbus4j.exception.ModbusTransportException;
 import com.zehong.common.utils.StringUtils;
+import com.zehong.system.domain.RobotArmCommand;
 import com.zehong.system.domain.TEquipmentAlarmData;
 import com.zehong.system.domain.TStoreyInfo;
+import com.zehong.system.mapper.RobotArmCommandMapper;
 import com.zehong.system.mapper.TStoreyInfoMapper;
 import com.zehong.system.modbus.util.Modbus4jUtils;
 import com.zehong.system.service.ITEquipmentAlarmDataService;
@@ -13,10 +15,10 @@ import com.zehong.system.service.ITStoreyInfoService;
 import org.quartz.*;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
-import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Component;
 
 import javax.annotation.Resource;
+import java.util.Date;
 
 /**
  * @author lenovo
@@ -34,8 +36,11 @@ public class FinalExecutionJob implements Job {
 
     @Resource
     private TStoreyInfoMapper tStoreyInfoMapper;
-    @Autowired
+    @Resource
     private Scheduler scheduler;
+
+    @Resource
+    private RobotArmCommandMapper robotArmCommandMapper;
     @Override
     public void execute(JobExecutionContext context) {
         JobDataMap data = context.getJobDetail().getJobDataMap();
@@ -69,6 +74,9 @@ public class FinalExecutionJob implements Job {
                 // 3. 清理相关任务
                 cleanUpJobs(fStoreyId,context);
 
+                // 4. 发送 下料指令
+                createRoboticArm(tStoreyInfo.getfTrayCode(),tStoreyInfo.getfStoreyCode());
+
                 log.info("设备[{}]最终业务逻辑执行完成", fStoreyId);
             } catch (Exception e) {
                 // 记录异常
@@ -79,7 +87,17 @@ public class FinalExecutionJob implements Job {
                 alarmDataService.insertTEquipmentAlarmData(alarmData);
             }
         }
+    }
 
+    private void createRoboticArm(String trayCode,String storeyCode) {
+        // 创建机械臂任务
+        RobotArmCommand robotArmCommand = new RobotArmCommand();
+        robotArmCommand.setType("1");
+        robotArmCommand.setStatus("1");
+        robotArmCommand.setTrayCode(trayCode);
+        robotArmCommand.setStoreyCode(storeyCode);
+        robotArmCommand.setCreateTime(new Date());
+        robotArmCommandMapper.insertRobotArmCommand(robotArmCommand);
     }
 
     private void cleanUpJobs(String deviceId,JobExecutionContext context) throws SchedulerException {

zhmes-agecal-admin/src/main/java/com/zehong/web/task/PowerOffCommandEvent.java → zhmes-agecal-system/src/main/java/com/zehong/system/task/PowerOffCommandEvent.java

-package com.zehong.web.task;
+package com.zehong.system.task;
 
 import org.springframework.context.ApplicationEvent;
 

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

@@ -66,6 +66,10 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         <include refid="selectTEquipmentInfoVo"/>
         where f_equipment_id = #{fEquipmentId}
     </select>
+    <select id="selectTEquipmentInfoByCode" parameterType="string" resultMap="TEquipmentInfoResult">
+        <include refid="selectTEquipmentInfoVo"/>
+        where f_equipment_code = #{fEquipmentCode}
+    </select>
         
     <insert id="insertTEquipmentInfo" parameterType="TEquipmentInfo" useGeneratedKeys="true" keyProperty="fEquipmentId">
         insert into t_equipment_info

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

@@ -128,6 +128,15 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         where f_storey_id = #{fStoreyId}
     </update>
 
+    <update id="unbindByCode" parameterType="TStoreyInfo">
+        update t_storey_info
+        <trim prefix="SET" suffixOverrides=",">
+            <if test="fStatus != null">f_status = #{fStatus},</if>
+            <if test="fAgingStartTime == null">f_aging_start_time = null,</if>
+            <if test="fUpdateTime != null">f_update_time = #{fUpdateTime},</if>
+        </trim>
+        where f_storey_code = #{fStoreyCode}
+    </update>
     <delete id="deleteTStoreyInfoById" parameterType="Long">
         delete from t_storey_info where f_storey_id = #{fStoreyId}
     </delete>

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

@@ -98,6 +98,13 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         where f_tray_id = #{fTrayId}
     </update>
 
+    <update id="unbindByCode" parameterType="TTrayInfo">
+        update t_tray_info
+        set f_storey_code = null,
+        f_status = 2,
+        f_unbinding_time = #{fUnbindingTime}
+        where f_tray_code = #{fTrayCode}
+    </update>
     <delete id="deleteTTrayInfoById" parameterType="Long">
         delete from t_tray_info where f_tray_id = #{fTrayId}
     </delete>