1 管理界面 老化层 下料 去 生成 下料命令；同时 清理 定时任务

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

@@ -37,6 +37,8 @@ public interface RobotArmCommandMapper
 
     public List<RobotArmCommand> selectTopRunningRobotArmCommands();
 
+    public RobotArmCommand findNotCompletedCommand(String command);
+
     public List<RobotArmCommand> findByType(String type);
 
     /**

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

@@ -20,6 +20,8 @@ public interface TStoreyInfoMapper
      */
     public TStoreyInfo selectTStoreyInfoById(Long fStoreyId);
 
+    public TStoreyInfo selectByBlankingCommand(String blankingCommand);
+
     /**
      * 查询老化层信息
      *

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

@@ -77,6 +77,10 @@ public interface IRobotArmCommandService
 
     void completeCommand(Long commandId);
 
+    public int findNotCompletedCommand(String command);
+
+    void generateBlankingCommand(String trayCode,String storeyCode,String command);
+
     void sendHomeCommand();
 
     void sendStopCommand();

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

@@ -56,7 +56,6 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
 
     @Resource
     private TStoreyInfoMapper storeyInfoMapper;
-
     @Resource
     private TEquipmentInfoMapper equipmentInfoMapper;;
 
@@ -146,7 +145,7 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
                     throw new RuntimeException(e);
                 }
             }
-            // 如果是下料，则 先把 t_story_info 设置为 运行中，占上位置，避免此时 再上料 是使用重复位置
+            // 如果是上料，则 先把 t_story_info 设置为 运行中，占上位置，避免此时 再上料 是使用重复位置
         } else {
             TStoreyInfo tStoreyInfo = new TStoreyInfo();
             tStoreyInfo.setfStoreyCode(command.getStoreyCode());
@@ -180,24 +179,7 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
                 address,
                 "HOME"
         );
-
-        List<RobotArmCommand> robotArmCommands = robotArmCommandMapper.selectTopRunningRobotArmCommands();
-
-        if(robotArmCommands.size() > 0) {
-            robotArmCommands.forEach(command -> {
-                command.setStatus("4");
-                command.setEndExecutionTime(new Date());
-                robotArmCommandMapper.updateRobotArmCommand(command);
-            });
-
-            for (RobotArmCommand robotArmCommand : robotArmCommands) {
-
-                String trayCode = robotArmCommand.getTrayCode();
-                String storeyCode = robotArmCommand.getStoreyCode();
-
-
-            }
-        }
+        initializationTrayAndStoreyInfo();
     }
 
     @Override
@@ -209,6 +191,45 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
                 address,
                 "STOP"
         );
+        initializationTrayAndStoreyInfo();
+    }
+
+    /**
+     * 回零 或 停止 时 初始化托盘和层信息
+     */
+    private void initializationTrayAndStoreyInfo() {
+        List<RobotArmCommand> robotArmCommands = robotArmCommandMapper.selectTopRunningRobotArmCommands();
+
+        if(robotArmCommands.size() > 0) {
+
+            RobotArmCommand robotArmCommand = robotArmCommands.get(0);
+            robotArmCommand.setStatus("4");
+            robotArmCommand.setEndExecutionTime(new Date());
+            robotArmCommandMapper.updateRobotArmCommand(robotArmCommand);
+
+            String trayCode = robotArmCommand.getTrayCode();
+            String storeyCode = robotArmCommand.getStoreyCode();
+
+            // 如果是上料的话
+            TStoreyInfo tStoreyInfo = new TStoreyInfo();
+            if("0".equals(robotArmCommand.getType())) {
+                tStoreyInfo.setfStoreyCode(storeyCode);
+                tStoreyInfo.setfStatus("0");
+                tStoreyInfo.setUpdateTime(new Date());
+                storeyInfoMapper.updateStatusByCode(tStoreyInfo);
+            // 如果是下料的话 得把 下料的 流程走完
+            } else {
+                tStoreyInfo.setfStoreyCode(tStoreyInfo.getfStoreyCode());
+                tStoreyInfo.setUpdateTime(new Date());
+                tStoreyInfo.setfStatus("0");
+                tStoreyInfo.setfAgingStartTime(null);
+                tStoreyInfo.setfAgingEndTime(null);
+                storeyInfoMapper.unbindByCode(tStoreyInfo);
+
+                // 清理 托盘 和 层的关联关系
+                tTrayInfoMapper.clearStoreyCodeByStoreyCode(storeyCode);
+            }
+        }
     }
 
     /**
@@ -224,6 +245,33 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
         );
     }
 
+    /**
+     * 生成下料指令
+     * @param command c
+     */
+    @Override
+    public void generateBlankingCommand(String trayCode,String storeyCode,String command) {
+        // 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());
+        robotArmCommand.setCommand(command);
+        robotArmCommandMapper.insertRobotArmCommand(robotArmCommand);
+        notifyCommandsUpdate();
+    }
+
+    @Override
+    public int findNotCompletedCommand(String command) {
+        RobotArmCommand notCompletedCommand = robotArmCommandMapper.findNotCompletedCommand(command);
+        if(notCompletedCommand != null) {
+            return 1;
+        }
+        return 0;
+    }
+
     @Override
     @Transactional
     public void completeCommand(Long commandId) {

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

@@ -9,13 +9,20 @@ 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.business.DeviceStatusReaderAndTimeSetter;
 import com.zehong.system.modbus.handler.ModbusResultHandler;
 import com.zehong.system.modbus.util.Modbus4jUtils;
 import com.zehong.system.service.IRobotArmCommandService;
 import com.zehong.system.service.ITStoreyInfoService;
+import com.zehong.system.service.websocket.RobotArmWebSocketHandler;
+import com.zehong.system.task.DeviceTaskScheduler;
+import org.quartz.JobKey;
+import org.quartz.SchedulerException;
+import org.quartz.TriggerKey;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -41,6 +48,9 @@ public class TStoreyInfoServiceImpl implements ITStoreyInfoService
     @Resource
     private TStoreyInfoMapper tStoreyInfoMapper;
 
+    @Resource
+    private TTrayInfoMapper tTrayInfoMapper;
+
     @Resource
     private TEquipmentInfoMapper equipmentInfoMapper;
 
@@ -48,10 +58,7 @@ public class TStoreyInfoServiceImpl implements ITStoreyInfoService
     private IRobotArmCommandService robotArmCommandService;
 
     @Resource
-    private DeviceStatusReaderAndTimeSetter deviceStatusReaderAndTimeSetter;
-
-    @Autowired
-    private ModbusResultHandler modbusResultHandler;
+    private DeviceTaskScheduler deviceTaskScheduler;
 
     private final ExecutorService executorService = Executors.newFixedThreadPool(10);
 
@@ -256,13 +263,35 @@ public class TStoreyInfoServiceImpl implements ITStoreyInfoService
     }
 
     /**
-     * 批量关灯
+     * 发送下料指令
      * @return r
      */
     @Override
     public AjaxResult handleBlanking(String command) {
         // 发送UDP指令
-        robotArmCommandService.sendCommand(command);
+        // 先不直接发送指令，而是 先生成 下料指令，去 提高 下料指令的效率
+//        robotArmCommandService.sendCommand(command);
+        int notCompletedCommand = robotArmCommandService.findNotCompletedCommand(command);
+        if(notCompletedCommand > 0) {
+            return AjaxResult.error("有未完成指令，请稍后再试");
+        } else {
+
+            // 根据指令 去查 老化层
+            TStoreyInfo tStoreyInfo = tStoreyInfoMapper.selectByBlankingCommand(command);
+
+            TTrayInfo tTrayInfo = tTrayInfoMapper.selectTTrayInfoByStoreyCode(tStoreyInfo.getfStoreyCode());
+
+            //还得去把没执行的 定时任务删掉，否则会导致 再次 发送下料指令
+            try {
+                deviceTaskScheduler.cleanExistingTasks(tStoreyInfo.getfStoreyId());
+            } catch (SchedulerException e) {
+                return AjaxResult.error("定时任务异常,请联系管理员");
+            }
+
+            if(tTrayInfo != null) {
+                robotArmCommandService.generateBlankingCommand(tTrayInfo.getfTrayCode(), tStoreyInfo.getfStoreyCode(), command);
+            }
+        }
         return AjaxResult.success();
     }
 

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

@@ -82,7 +82,7 @@ public class DeviceTaskScheduler {
     /**
      * 清理已存在的任务 - 修复版本
      */
-    private void cleanExistingTasks(Long fStoreyId) throws SchedulerException {
+    public void cleanExistingTasks(Long fStoreyId) throws SchedulerException {
         // 清理所有与这个fStoreyId相关的任务
         Set<JobKey> jobKeys = scheduler.getJobKeys(GroupMatcher.jobGroupEquals(JOB_GROUP));
         for (JobKey jobKey : jobKeys) {

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

@@ -12,6 +12,7 @@ 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.IRobotArmCommandService;
 import com.zehong.system.service.ITEquipmentAlarmDataService;
 import com.zehong.system.service.ITStoreyInfoService;
 import com.zehong.system.service.websocket.RobotArmWebSocketHandler;
@@ -46,7 +47,8 @@ public class FinalExecutionJob implements Job {
     private Scheduler scheduler;
 
     @Resource
-    private RobotArmCommandMapper robotArmCommandMapper;
+    private IRobotArmCommandService robotArmCommandService;
+
     @Override
     public void execute(JobExecutionContext context) {
         // 1. 初始化变量，避免空指针
@@ -127,7 +129,7 @@ public class FinalExecutionJob implements Job {
 //            cleanUpJobs(fStoreyId,context);
             // 8. 发送机械臂指令（单独捕获异常）
             try {
-                createRoboticArm(tStoreyInfo.getfTrayCode(), storeyCode, tStoreyInfo.getBlankingCommand());
+                robotArmCommandService.generateBlankingCommand(tStoreyInfo.getfTrayCode(), storeyCode, tStoreyInfo.getBlankingCommand());
                 log.info("机械臂指令发送完成：fStoreyId={}", fStoreyId);
             } catch (Exception e) {
                 log.error("机械臂指令发送异常：fStoreyId={}", fStoreyId, e);
@@ -175,19 +177,6 @@ public class FinalExecutionJob implements Job {
         }
     }
 
-    private void createRoboticArm(String trayCode,String storeyCode,String command) {
-        // 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());
-        robotArmCommand.setCommand(command);
-        robotArmCommandMapper.insertRobotArmCommand(robotArmCommand);
-        notifyCommandsUpdate();
-    }
-
     private void cleanUpJobs(Long fStoreyId,JobExecutionContext context) throws SchedulerException {
         // 清理通信任务
         JobKey commJobKey = new JobKey("COMM_" + fStoreyId, "DEVICE_TASKS");

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

@@ -50,7 +50,11 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         <include refid="selectRobotArmCommandVo"/>
         where f_status = '2'
     </select>
-    
+
+    <select id="findNotCompletedCommand" resultMap="RobotArmCommandResult">
+        <include refid="selectRobotArmCommandVo"/>
+        where f_command = #{command} and f_status != '4'
+    </select>
     <select id="selectRobotArmCommandById" parameterType="Long" resultMap="RobotArmCommandResult">
         <include refid="selectRobotArmCommandVo"/>
         where f_robot_arm_command_id = #{robotArmCommandId}

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

@@ -76,6 +76,10 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         <include refid="selectTStoreyInfoVo"/>
         where f_storey_id = #{fStoreyId}
     </select>
+    <select id="selectByBlankingCommand" parameterType="string" resultMap="TStoreyInfoResult">
+        <include refid="selectTStoreyInfoVo"/>
+        where storeyInfo.f_blanking_command = #{blankingCommand}
+    </select>
 
     <select id="selectTStoreyInfoByCode" parameterType="String" resultMap="TStoreyInfoResult">
         <include refid="selectTStoreyInfoVo"/>

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

@@ -121,7 +121,7 @@ export default {
     // 初始化WebSocket连接
     initWebSocket() {
       // 从环境变量获取基础URL，默认使用Nginx代理地址
-      const backendUrl = process.env.VUE_APP_API_BASE_URL || 'http://localhost:8082';
+      const backendUrl = process.env.VUE_APP_API_BASE_URL || 'http://localhost:8087';
       // 根据需要切换不同的WebSocket端点
       const wsPath = '/agecal/ws-aging-cabinet'; // 或 '/agecal/ws-aging-cabinet'
 

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

@@ -230,7 +230,7 @@ export default {
   methods: {
     initWebSocket() {
       // 从环境变量获取基础URL，默认使用Nginx代理地址
-      const backendUrl = process.env.VUE_APP_API_BASE_URL || 'http://localhost:8082';
+      const backendUrl = process.env.VUE_APP_API_BASE_URL || 'http://localhost:8087';
       // 根据需要切换不同的WebSocket端点
       const wsPath = '/agecal/ws-robot-arm'; // 或 '/agecal/ws-aging-cabinet'
 

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

@@ -138,6 +138,8 @@
           <el-tag type="danger" v-else-if="scope.row.fStatus === '2'">故障</el-tag>
           <!-- 断电状态 - 橙色（warning） -->
           <el-tag type="warning" v-else-if="scope.row.fStatus === '3'">断电</el-tag>
+          <!-- 老化完成 - 橙色（primary） -->
+          <el-tag type="primary" v-else-if="scope.row.fStatus === '4'">老化完成</el-tag>
         </template>
       </el-table-column>
       <el-table-column label="报警时间" align="center" prop="fAlarmTime" width="180">
@@ -444,7 +446,7 @@ export default {
         return blanking(row.blankingCommand);
       }).then(() => {
         this.getList();
-        this.msgSuccess("上电成功");
+        this.msgSuccess("下料成功");
       }).catch(() => {});
     },
     // 断电