1 上下料优先级调整

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

@@ -111,6 +111,8 @@ public class RobotArmCommandController extends BaseController
     }
 
 
+
+
     /**
      * 修改机械臂指令
      */
@@ -120,6 +122,14 @@ public class RobotArmCommandController extends BaseController
         return toAjax(robotArmCommandService.updateRobotArmCommand(robotArmCommand));
     }
 
+    /**
+     * 修改指令执行优先级
+     */
+    @GetMapping("/updateInstructionExecutionPriority/{priority}")
+    public AjaxResult updateInstructionExecutionPriority(@PathVariable("priority")  String  priority) {
+        return toAjax(robotArmCommandService.updateInstructionExecutionPriority(priority));
+    }
+
     /**
      * 删除机械臂指令
      */

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

@@ -59,6 +59,8 @@ public interface IRobotArmCommandService
      */
     public int updateRobotArmCommand(RobotArmCommand robotArmCommand);
 
+    public int updateInstructionExecutionPriority(String priority);
+
     /**
      * 批量删除机械臂指令
      * 

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

@@ -11,6 +11,7 @@ import com.serotonin.modbus4j.ModbusMaster;
 import com.serotonin.modbus4j.exception.ModbusInitException;
 import com.serotonin.modbus4j.exception.ModbusTransportException;
 import com.zehong.common.core.domain.AjaxResult;
+import com.zehong.common.core.redis.RedisCache;
 import com.zehong.common.utils.DateUtils;
 import com.zehong.common.utils.StringUtils;
 import com.zehong.system.domain.TEquipmentInfo;
@@ -25,6 +26,7 @@ import com.zehong.system.task.PowerOffCommandEvent;
 import com.zehong.system.udp.UdpCommandSender;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
+import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.context.ApplicationEventPublisher;
 import org.springframework.stereotype.Service;
@@ -75,6 +77,8 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
     @Resource
     private PalletDeviceBindingMapper palletDeviceBindingMapper;
 
+    @Resource
+    private RedisCache redisCache;
     private SocketAddress getRobotAddress() {
         try {
             return new InetSocketAddress(
@@ -87,11 +91,17 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
     @Override
     @Transactional
     public void processPendingCommands() {
+
+        Object cacheObject = redisCache.getCacheObject("sys_config:robotArmPriority");
+        String priority = "loading";
+        if (cacheObject != null) {
+            priority = (String) cacheObject;
+        }
         // 1. 处理待执行的上料指令
         List<RobotArmCommand> loadingCommands =
                 robotArmCommandMapper.selectPendingLoadingCommands();
-        if (!loadingCommands.isEmpty()) {
-// 传送带检测先去掉
+        if (!loadingCommands.isEmpty() && "priority".equals(priority)) {
+            // 传送带检测先去掉
             boolean[] roboticArmEntryConveyorData = Modbus4jUtils.getRoboticArmEntryConveyorData();
             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]);
@@ -99,15 +109,12 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
                 sendCommand(loadingCommands.get(0), "LOAD");
                 return;
             }
-//            log.info("开始处理上料指令: {}", loadingCommands.get(0));
-//              sendCommand(loadingCommands.get(0), "LOAD");
         }
 
         // 2. 处理待执行的下料指令
         List<RobotArmCommand> unloadingCommands =
                 robotArmCommandMapper.selectPendingUnloadingCommands();
-        if (!unloadingCommands.isEmpty()) {
-
+        if (!unloadingCommands.isEmpty() && "unloading".equals(priority)) {
             boolean[] roboticArmExitConveyorData = Modbus4jUtils.getRoboticArmExitConveyorData();
             if(roboticArmExitConveyorData[1]) {
                 log.info("开始处理下料指令: {}", unloadingCommands.get(0));
@@ -525,6 +532,20 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
         return i;
     }
 
+    /**
+     * 修改指令执行优先级
+     *
+     * @param priority 优先级
+     * @return 结果
+     */
+    @Override
+    public int updateInstructionExecutionPriority(String priority) {
+
+        redisCache.setCacheObject("sys_config:robotArmPriority", priority);
+
+        return 1;
+    }
+
     /**
      * 批量删除机械臂指令
      * 

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

@@ -80,6 +80,13 @@ export function sureCompletedCommand(commandId) {
   })
 }
 
+export function updateInstructionExecutionPriority(priority) {
+  return request({
+    url: '/robotArm/command/updateInstructionExecutionPriority/' + priority,
+    method: 'get'
+  })
+}
+
 // 修改机械臂指令
 export function updateCommand(data) {
   return request({

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

@@ -79,6 +79,14 @@
 
       <!-- 中间：机械臂主体 -->
       <div class="arm-center-wrapper">
+        <!-- 优先级控制区域 -->
+        <div class="priority-control">
+          <div class="priority-display">{{ priorityDisplayText }}</div>
+          <button class="priority-toggle-btn" @click="togglePriority">
+            {{ priorityToggleText }}
+          </button>
+        </div>
+
         <div class="robotic-arm-container">
           <div class="robotic-arm">
             <!-- 机械臂各部件 -->
@@ -127,7 +135,6 @@
       </div>
     </div>
 
-
     <!-- 上电对话框 -->
     <div class="dialog-mask" v-if="showPowerOnDialog" @click.self="closePowerOnDialog">
       <div class="dialog-container">
@@ -171,8 +178,7 @@
 </template>
 
 <script>
-
-import {addCommand,powerOnCommand,sendHomeCommand,sendStopCommand,sureCompletedCommand} from "@/api/robotArm/robotArmCommand"
+import {addCommand,powerOnCommand,sendHomeCommand,sendStopCommand,sureCompletedCommand,updateInstructionExecutionPriority} from "@/api/robotArm/robotArmCommand"
 
 export default {
   name: 'RoboticArm',
@@ -181,15 +187,14 @@ export default {
       status: 'idle', // idle, running, error
       showAddDialog: false,
       trayCode: '',
-      loadingCommands: [
-      ],
-      unloadingCommands: [
-      ],
+      loadingCommands: [],
+      unloadingCommands: [],
       websocket: null,
       reconnectInterval: null,
       showPowerOnDialog: false,
       showSureCompleteDialog: false,
-      selectedCommand: null
+      selectedCommand: null,
+      priority: 'loading' // loading: 上料优先, unloading: 下料优先
     };
   },
   computed: {
@@ -208,6 +213,12 @@ export default {
         'error': '故障',
         'unknown': '未知'
       }[this.status];
+    },
+    priorityDisplayText() {
+      return this.priority === 'loading' ? '上料优先中' : '下料优先中';
+    },
+    priorityToggleText() {
+      return this.priority === 'loading' ? '下料优先' : '上料优先';
     }
   },
   mounted() {
@@ -432,6 +443,20 @@ export default {
         this.msgError("上电操作失败");
       });
     },
+
+    // 切换优先级
+    togglePriority() {
+      this.priority = this.priority === 'loading' ? 'unloading' : 'loading';
+      updateInstructionExecutionPriority(this.priority).then(res => {
+        if(res.code === 200) {
+          this.msgSuccess("优先级设置成功");
+        } else {
+          this.msgError("优先级设置失败");
+        }
+      })
+      // 这里可以添加发送优先级设置到后端的逻辑
+      console.log(`优先级已切换为: ${this.priorityDisplayText} : this.priority:${this.priority}` );
+    }
   }
 };
 </script>
@@ -457,7 +482,7 @@ export default {
 .title-with-status {
   display: flex;
   align-items: center; /* 垂直居中对齐 */
-  gap: 15px; /* 标题与状态指示灯之间的间距 */
+  gap: 5px; /* 标题与状态指示灯之间的间距 */
 }
 
 .title-left {
@@ -466,7 +491,7 @@ export default {
 }
 
 .title-text {
-  font-size: 22px;
+  font-size: 20px;
   font-weight: bold;
   color: #ffffff;
   letter-spacing: 1px;
@@ -475,7 +500,7 @@ export default {
 
 .title-line {
   height: 3px;
-  width: 100px;
+  width: 70px;
   background: linear-gradient(to right, #409EFF, transparent);
   margin-top: 8px;
   border-radius: 2px;
@@ -752,11 +777,52 @@ export default {
   flex: 1;
   min-width: 0;
   display: flex;
-  justify-content: center;
+  flex-direction: column;
+  justify-content: flex-start;
   align-items: center;
   padding: 10px 0;
 }
 
+/* 优先级控制区域样式 */
+.priority-control {
+  display: flex;
+  flex-direction: column;
+  align-items: center;
+  margin-bottom: 20px;
+  /*background: rgba(0, 30, 60, 0.5);*/
+  /*border-radius: 8px;*/
+  padding: 12px 20px;
+  /*border: 1px solid rgba(64, 158, 255, 0.3);*/
+  min-width: 200px;
+}
+
+.priority-display {
+  font-size: 16px;
+  font-weight: bold;
+  color: #64c8ff;
+  margin-bottom: 8px;
+  text-align: center;
+}
+
+.priority-toggle-btn {
+  background: linear-gradient(to right, #409EFF, #64c8ff);
+  color: white;
+  border: none;
+  padding: 6px 16px;
+  border-radius: 4px;
+  cursor: pointer;
+  font-size: 14px;
+  font-weight: bold;
+  transition: all 0.3s;
+  box-shadow: 0 2px 6px rgba(0, 0, 0, 0.3);
+}
+
+.priority-toggle-btn:hover {
+  background: linear-gradient(to right, #64c8ff, #409EFF);
+  transform: translateY(-2px);
+  box-shadow: 0 4px 8px rgba(0, 0, 0, 0.4);
+}
+
 .robotic-arm-container {
   width: 100%;
   height: 100%;
@@ -1018,6 +1084,7 @@ export default {
   .arm-center-wrapper {
     width: 100%;
     min-height: 350px;
+    order: -1; /* 在移动设备上将机械臂区域放在最上面 */
   }
 
   .loading-command, .unloading-command {
@@ -1072,6 +1139,21 @@ export default {
   .dialog-container {
     width: 90%;
   }
+
+  /* 小屏幕下优先级控制区域调整 */
+  .priority-control {
+    padding: 8px 15px;
+    min-width: 180px;
+  }
+
+  .priority-display {
+    font-size: 14px;
+  }
+
+  .priority-toggle-btn {
+    padding: 5px 12px;
+    font-size: 12px;
+  }
 }
 
 @media (max-width: 300px) {