1 老化柜层 加上 上料 和 下料操作

2 设置 回零 和 停止操作 机械臂

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

@@ -80,6 +80,22 @@ public class TStoreyInfoController extends BaseController
         return tStoreyInfoService.powerOutage(tStoreyInfo);
     }
 
+    /**
+     * 处理喂食
+     */
+    @GetMapping(value = "/handleFeeding")
+    public AjaxResult handleFeeding(String command) {
+        return tStoreyInfoService.handleFeeding(command);
+    }
+
+    /**
+     * 处理消 blanking
+     */
+    @GetMapping(value = "/handleBlanking")
+    public AjaxResult handleBlanking(String command) {
+        return tStoreyInfoService.handleBlanking(command);
+    }
+
     /**
      * 批量读取老化柜状态
      */

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

@@ -70,6 +70,8 @@ public interface IRobotArmCommandService
 
     void sendStopCommand();
 
+    void sendCommand(String command);
+
     void markCommandTimeout(Long commandId);
     public void processPendingCommands();
 }

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

@@ -49,6 +49,10 @@ public interface ITStoreyInfoService
 
     public AjaxResult powerOnAllStore();
 
+    public AjaxResult handleFeeding(String command);
+
+    public AjaxResult handleBlanking(String command);
+
     /**
      * 新增老化层信息
      * 

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

@@ -157,6 +157,19 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
         );
     }
 
+    /**
+     * 发送指令
+     * @param command c
+     */
+    @Override
+    public void sendCommand(String command) {
+        SocketAddress robotAddress = getRobotAddress();
+        udpCommandSender.sendCommandWithId(
+                robotAddress,
+                command
+        );
+    }
+
     @Override
     @Transactional
     public void completeCommand(Long commandId) {

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

 package com.zehong.system.service.impl;
 
+import java.net.SocketAddress;
 import java.util.*;
 import java.util.concurrent.CompletableFuture;
 import java.util.concurrent.ExecutorService;
@@ -16,6 +17,7 @@ import com.zehong.common.utils.StringUtils;
 import com.zehong.system.domain.TEquipmentInfo;
 import com.zehong.system.mapper.TEquipmentInfoMapper;
 import com.zehong.system.modbus.util.Modbus4jUtils;
+import com.zehong.system.service.IRobotArmCommandService;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 import com.zehong.system.mapper.TStoreyInfoMapper;
@@ -39,6 +41,9 @@ public class TStoreyInfoServiceImpl implements ITStoreyInfoService
     @Resource
     private TEquipmentInfoMapper equipmentInfoMapper;
 
+    @Resource
+    private IRobotArmCommandService robotArmCommandService;
+
     private final ExecutorService executorService = Executors.newFixedThreadPool(10);
 
     /**
@@ -227,6 +232,30 @@ public class TStoreyInfoServiceImpl implements ITStoreyInfoService
         return AjaxResult.success();
     }
 
+    /**
+     * 批量处理
+     * @param command c
+     * @return r
+     */
+    @Override
+    public AjaxResult handleFeeding(String command) {
+
+        // 发送UDP指令
+        robotArmCommandService.sendCommand(command);
+        return AjaxResult.success();
+    }
+
+    /**
+     * 批量关灯
+     * @return r
+     */
+    @Override
+    public AjaxResult handleBlanking(String command) {
+        // 发送UDP指令
+        robotArmCommandService.sendCommand(command);
+        return AjaxResult.success();
+    }
+
     /**
      * 批量开灯
      * @return r

zhmes-agecal-web/src/api/storey/storey.js

@@ -77,6 +77,19 @@ export function PowerOutage( query) {
   })
 }
 
+export  function feeding(command) {
+  return request({
+    url: '/storey/handleFeeding/' + command,
+    method: 'get'
+  })
+}
+export  function blanking(command) {
+  return request({
+    url: '/storey/handleBlanking/' + command,
+    method: 'get'
+  })
+}
+
 export function batchReadingCabinetStatus(fEquipmentCode) {
   return request({
     url: '/storey/batchReadingCabinetStatus/' + fEquipmentCode,

zhmes-agecal-web/src/views/storey/index.vue

@@ -56,7 +56,7 @@
       </el-col>
       <el-col :span="1.5">
         <el-button
-          type="warning"
+          type="info"
           plain
           icon="el-icon-reading"
           size="mini"
@@ -65,22 +65,42 @@
       </el-col>
       <el-col :span="1.5">
         <el-button
-          type="warning"
+          type="danger"
           plain
-          icon="el-icon-reading"
+          icon="el-icon-circle-plus"
           size="mini"
           @click="handleAllPowerOn"
         >所有设备上电</el-button>
       </el-col>
       <el-col :span="1.5">
         <el-button
-          type="warning"
+          type="danger"
           plain
-          icon="el-icon-reading"
+          icon="el-icon-remove"
           size="mini"
           @click="handleAllPowerOff"
         >所有设备断电</el-button>
       </el-col>
+
+      <el-col :span="1.5">
+        <el-button
+          type="danger"
+          plain
+          icon="el-icon-refresh"
+          size="mini"
+          @click="handleHome"
+        >机械臂回零</el-button>
+      </el-col>
+
+      <el-col :span="1.5">
+        <el-button
+          type="danger"
+          plain
+          icon="el-icon-circle-close"
+          size="mini"
+          @click="handleStop"
+        >机械臂停止</el-button>
+      </el-col>
       <right-toolbar :showSearch.sync="showSearch" @queryTable="getList"></right-toolbar>
     </el-row>
 
@@ -127,20 +147,31 @@
             icon="el-icon-delete"
             @click="handleDelete(scope.row)"
           >删除</el-button>
-
           <el-button
             size="mini"
             type="text"
             icon="el-icon-delete"
             @click="handlePowerOn(scope.row)"
           >上电</el-button>
-
           <el-button
             size="mini"
             type="text"
             icon="el-icon-delete"
             @click="handlePowerOutage(scope.row)"
           >断电</el-button>
+
+          <el-button
+            size="mini"
+            type="text"
+            icon="el-icon-delete"
+            @click="handleFeeding(scope.row)"
+          >上料</el-button>
+          <el-button
+            size="mini"
+            type="text"
+            icon="el-icon-delete"
+            @click="handleBlanking(scope.row)"
+          >下料</el-button>
         </template>
       </el-table-column>
     </el-table>
@@ -202,7 +233,11 @@
 </template>
 
 <script>
-import { listStorey, getStorey, delStorey, addStorey, updateStorey, exportStorey,PowerOn,PowerOutage ,batchReadingCabinetStatus,powerOnAllStore,powerOffAllStore} from "@/api/storey/storey";
+import { listStorey, getStorey, delStorey, addStorey, updateStorey,
+  exportStorey,PowerOn,PowerOutage ,
+  batchReadingCabinetStatus,powerOnAllStore,powerOffAllStore,
+  feeding, blanking} from "@/api/storey/storey";
+import {sendHomeCommand, sendStopCommand} from "@/api/robotArm/robotArmCommand";
 
 export default {
   name: "Info",
@@ -365,6 +400,34 @@ export default {
         this.msgSuccess("上电成功");
       }).catch(() => {});
     },
+    // 上料
+    handleFeeding(row) {
+      const fIp = row.fIp;
+      this.$confirm('是否确认给设备IP为"' + fIp + '"的设备上料?', "警告", {
+        confirmButtonText: "确定",
+        cancelButtonText: "取消",
+        type: "warning"
+      }).then(function() {
+        return feeding(row.feedingCommand);
+      }).then(() => {
+        this.getList();
+        this.msgSuccess("上电成功");
+      }).catch(() => {});
+    },
+    // 下料
+    handleBlanking(row) {
+      const fIp = row.fIp;
+      this.$confirm('是否确认给设备IP为"' + fIp + '"的设备下料?', "警告", {
+        confirmButtonText: "确定",
+        cancelButtonText: "取消",
+        type: "warning"
+      }).then(function() {
+        return blanking(row.blankingCommand);
+      }).then(() => {
+        this.getList();
+        this.msgSuccess("上电成功");
+      }).catch(() => {});
+    },
     // 断电
     handlePowerOutage(row) {
       const fIp = row.fIp;
@@ -430,6 +493,20 @@ export default {
         this.msgSuccess("上电成功");
       }).catch(() => {});
     },
+
+    // 回零
+    handleHome() {
+      sendHomeCommand().then( response => {
+        this.$message.success("已发送");
+      })
+    },
+
+    // 停止
+    handleStop() {
+      sendStopCommand().then( response => {
+        this.$message.success("已发送");
+      })
+    },
     /** 导出按钮操作 */
     handleExport() {
       const queryParams = this.queryParams;