1 调试

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

@@ -71,6 +71,24 @@ public class RobotArmCommandController extends BaseController
         return toAjax(robotArmCommandService.insertBlankingRobotArmCommand(robotArmCommand));
     }
 
+    /**
+     * 发送归位指令
+     */
+    @GetMapping("/sendHomeCommand")
+    public AjaxResult sendHomeCommand() {
+        robotArmCommandService.sendHomeCommand();
+        return AjaxResult.success("发送成功");
+    }
+
+    /**
+     * 停止当前指令
+     */
+    @GetMapping("/sendStopCommand")
+    public AjaxResult sendStopCommand() {
+        robotArmCommandService.sendStopCommand();
+        return AjaxResult.success("发送成功");
+    }
+
     /**
      * 新增机械臂指令
      */

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

@@ -66,6 +66,10 @@ public interface IRobotArmCommandService
 
     void completeCommand(Long commandId);
 
+    void sendHomeCommand();
+
+    void sendStopCommand();
+
     void markCommandTimeout(Long commandId);
     public void processPendingCommands();
 }

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

@@ -133,6 +133,30 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
         nettyUdpServerHandler.registerCommandExecution(address, command.getRobotArmCommandId());
     }
 
+    /**
+     * 发送归位指令
+     */
+    @Override
+    public void sendHomeCommand() {
+        // 发送UDP指令
+        SocketAddress address = getRobotAddress();
+        udpCommandSender.sendCommandWithId(
+                address,
+                "HOME"
+        );
+    }
+
+    @Override
+    public void sendStopCommand() {
+
+        // 发送UDP指令
+        SocketAddress address = getRobotAddress();
+        udpCommandSender.sendCommandWithId(
+                address,
+                "STOP"
+        );
+    }
+
     @Override
     @Transactional
     public void completeCommand(Long commandId) {

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

@@ -35,6 +35,23 @@ export function insertBlankingRobotArmCommand(data) {
   })
 }
 
+// 发送归位指令
+export function sendHomeCommand() {
+  return request({
+    url: '/robotArm/command/sendHomeCommand',
+    method: 'get'
+  })
+}
+
+
+// 停止当前指令
+export function sendStopCommand() {
+  return request({
+    url: '/robotArm/command/sendStopCommand',
+    method: 'get'
+  })
+}
+
 
 // 执行上电操作
 export function powerOnCommand(commandId) {

zhmes-agecal-web/src/views/screen/components/AgingCabinetBoard.vue

@@ -107,7 +107,7 @@ export default {
     // 初始化WebSocket连接
     initWebSocket() {
       // 根据当前页面协议选择ws/wss
-      const backendUrl = process.env.VUE_APP_API_BASE_URL || 'http://localhost:8080';
+      const backendUrl = process.env.VUE_APP_API_BASE_URL || 'http://localhost:8087';
       const wsUrl = backendUrl.replace('http', 'ws') + '/ws-aging-cabinet';
       this.ws = new WebSocket(wsUrl);
 

zhmes-agecal-web/src/views/screen/components/RoboticArm.vue

@@ -21,6 +21,12 @@
         <button class="add-button" @click="showAddDialog = true">
           <i class="el-icon-plus"></i> 上料
         </button>
+        <button class="home-button" @click="handleHome">
+          <i class="el-icon-refresh"></i> 回零
+        </button>
+        <button class="stop-button" @click="handleStop">
+          <i class="el-icon-circle-close"></i> 停止
+        </button>
       </div>
     </div>
 
@@ -146,7 +152,7 @@
 
 <script>
 
-import {addCommand,powerOnCommand} from "@/api/robotArm/robotArmCommand"
+import {addCommand,powerOnCommand,sendHomeCommand,sendStopCommand} from "@/api/robotArm/robotArmCommand"
 
 export default {
   name: 'RoboticArm',
@@ -202,7 +208,7 @@ export default {
   },
   methods: {
     initWebSocket() {
-      const backendUrl = process.env.VUE_APP_API_BASE_URL || 'http://localhost:8080';
+      const backendUrl = process.env.VUE_APP_API_BASE_URL || 'http://localhost:8087';
       const wsUrl = backendUrl.replace('http', 'ws') + '/ws-robot-arm';
 
       try {
@@ -291,6 +297,20 @@ export default {
       this.websocket = null;
     },
 
+    // 回零
+    handleHome() {
+      sendHomeCommand().then( response => {
+        this.$message.success("已发送");
+      })
+    },
+
+    // 停止
+    handleStop() {
+      sendStopCommand().then( response => {
+        this.$message.success("已发送");
+      })
+    },
+
     closeDialog() {
       this.showAddDialog = false;
     },
@@ -471,7 +491,59 @@ export default {
   display: flex;
   align-items: center;
 }
+/* 回零按钮样式 */
+.home-button {
+  background: linear-gradient(to right, #67C23A, #85ce61);
+  color: white;
+  border: none;
+  padding: 8px 16px;
+  border-radius: 4px;
+  cursor: pointer;
+  font-size: 14px;
+  font-weight: bold;
+  display: flex;
+  align-items: center;
+  box-shadow: 0 2px 6px rgba(0, 0, 0, 0.3);
+  transition: all 0.3s;
+  margin-left: 10px; /* 与其他按钮保持间距 */
+}
+
+.home-button:hover {
+  background: linear-gradient(to right, #85ce61, #67C23A);
+  transform: translateY(-2px);
+  box-shadow: 0 4px 8px rgba(0, 0, 0, 0.4);
+}
+
+.home-button i {
+  margin-right: 5px;
+}
+
+/* 停止按钮样式 */
+.stop-button {
+  background: linear-gradient(to right, #F56C6C, #f78989);
+  color: white;
+  border: none;
+  padding: 8px 16px;
+  border-radius: 4px;
+  cursor: pointer;
+  font-size: 14px;
+  font-weight: bold;
+  display: flex;
+  align-items: center;
+  box-shadow: 0 2px 6px rgba(0, 0, 0, 0.3);
+  transition: all 0.3s;
+  margin-left: 10px; /* 与其他按钮保持间距 */
+}
 
+.stop-button:hover {
+  background: linear-gradient(to right, #f78989, #F56C6C);
+  transform: translateY(-2px);
+  box-shadow: 0 4px 8px rgba(0, 0, 0, 0.4);
+}
+
+.stop-button i {
+  margin-right: 5px;
+}
 .add-button {
   background: linear-gradient(to right, #409EFF, #64c8ff);
   color: white;