1 定时任务上料指令处理

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

@@ -2,6 +2,7 @@ package com.zehong.system.mapper;
 
 import java.util.List;
 import com.zehong.system.domain.RobotArmCommand;
+import org.apache.ibatis.annotations.Param;
 
 /**
  * 机械臂指令Mapper接口
@@ -21,6 +22,9 @@ public interface RobotArmCommandMapper
 
     public RobotArmCommand findExecutingCommand(String trayCode, String storeyCode);
 
+    public RobotArmCommand selectLatestPendingTray();
+
+        public RobotArmCommand findByTrayAndStatus(@Param("trayCode") String trayCode, @Param("status") String status);
     /**
      * 查询机械臂指令列表
      * 

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

+package com.zehong.system.modbus.service;
+import com.serotonin.modbus4j.ModbusMaster;
+import com.serotonin.modbus4j.exception.ModbusInitException;
+import com.serotonin.modbus4j.exception.ModbusTransportException;
+import com.zehong.system.domain.RobotArmCommand;
+import com.zehong.system.mapper.RobotArmCommandMapper;
+import com.zehong.system.service.IRobotArmCommandService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.scheduling.annotation.Scheduled;
+import org.springframework.stereotype.Service;
+
+import javax.annotation.PostConstruct;
+import javax.annotation.Resource;
+import java.util.Date;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.ConcurrentMap;
+import org.springframework.stereotype.Service;
+
+/**
+ * @author lenovo
+ * @date 2025/8/6
+ * @description TODO
+ */
+
+@Service
+public class ConveyorBeltMonitor {
+    @Value("${modbus.ip:192.168.2.11}")
+    private String modbusIp;
+
+    @Value("${modbus.port:502}")
+    private int modbusPort;
+
+    @Value("${modbus.deviceId:1}")
+    private int deviceId;
+
+    @Resource
+    private IRobotArmCommandService commandService;
+
+    @Resource
+    private RobotArmCommandMapper commandMapper;
+
+    private ModbusMaster modbusMaster;
+    private boolean lastConveyorState = false;
+
+    // 存储已检测到但未处理的托盘
+    private final ConcurrentMap<String, Long> detectedTrays = new ConcurrentHashMap<>();
+
+    @PostConstruct
+    public void init() throws ModbusInitException {
+        modbusMaster = getMaster(modbusIp, modbusPort);
+    }
+
+    //@Scheduled(fixedRate = 5000) // 每5秒执行一次
+    public void monitorConveyorBelt() {
+        try {
+            // 读取Modbus离散输入
+            boolean[] inputs = readDiscreteInputs(modbusMaster, deviceId, 0, 2);
+
+            // inputs[1] 表示传送带上是否有托盘
+            boolean currentState = inputs.length > 1 && inputs[1];
+
+            // 检测到新托盘（状态从false变为true）
+            if (currentState && !lastConveyorState) {
+                handleNewTrayDetected();
+            }
+
+            lastConveyorState = currentState;
+        } catch (Exception e) {
+            e.printStackTrace();
+            // 处理异常，如重新初始化Modbus连接
+            try {
+                modbusMaster = getMaster(modbusIp, modbusPort);
+            } catch (ModbusInitException ex) {
+                ex.printStackTrace();
+            }
+        }
+    }
+
+    private void handleNewTrayDetected() {
+        // 检查是否有待处理的托盘指令
+        if (detectedTrays.isEmpty()) {
+            // 查找最近扫码但未处理的托盘
+            RobotArmCommand pendingCommand = commandMapper.selectLatestPendingTray();
+            if (pendingCommand != null) {
+                detectedTrays.put(pendingCommand.getTrayCode(), System.currentTimeMillis());
+                createLoadingCommand(pendingCommand.getTrayCode());
+            } else {
+                System.out.println("检测到传送带上有托盘，但未找到扫码记录的托盘编号");
+                // 可以添加报警逻辑
+            }
+        }
+    }
+
+    public void createLoadingCommand(String trayCode) {
+        // 检查是否已存在相同托盘的待执行指令
+        RobotArmCommand existingCommand = commandMapper.findByTrayAndStatus(trayCode, "0");
+        if (existingCommand != null) {
+            System.out.println("托盘 " + trayCode + " 的指令已存在，跳过创建");
+            return;
+        }
+
+        // 创建新指令
+        RobotArmCommand command = new RobotArmCommand();
+        command.setTrayCode(trayCode);
+        command.setType("0"); // 待上料
+        command.setStatus("0"); // 待执行
+        command.setCreateTime(new Date());
+
+        commandMapper.insertRobotArmCommand(command);
+        System.out.println("已为托盘 " + trayCode + " 创建上料指令");
+
+        // 通知指令更新
+        commandService.processPendingCommands();
+    }
+
+    // 当指令执行完成时调用
+    public void onCommandCompleted(String trayCode) {
+        detectedTrays.remove(trayCode);
+    }
+
+    // 工具方法
+    private boolean[] readDiscreteInputs(ModbusMaster master, int deviceId, int startAddress, int length)
+            throws ModbusTransportException {
+        // 实现您的离散输入读取逻辑
+        // 这里简化为返回示例数据
+        return new boolean[]{false, true}; // 示例数据
+    }
+
+    private ModbusMaster getMaster(String ip, int port) throws ModbusInitException {
+        // 实现您的Modbus Master创建逻辑
+        return null; // 实际实现
+    }
+}

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

@@ -49,6 +49,20 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         AND f_status = '1'  <!-- 状态为执行中 -->
         LIMIT 1
     </select>
+    <!-- 查找最近扫码但未处理的托盘 -->
+    <select id="selectLatestPendingTray" resultMap="RobotArmCommandResult">
+        <include refid="selectRobotArmCommandVo"/>
+        WHERE f_status = '0' AND f_type = '0'
+        ORDER BY f_create_time DESC
+        LIMIT 1
+    </select>
+
+    <!-- 根据托盘编号和状态查找指令 -->
+    <select id="findByTrayAndStatus" resultMap="RobotArmCommandResult">
+        <include refid="selectRobotArmCommandVo"/>
+        WHERE f_tray_code = #{trayCode} AND f_status = #{status}
+        LIMIT 1
+    </select>
     <insert id="insertRobotArmCommand" parameterType="RobotArmCommand" useGeneratedKeys="true" keyProperty="robotArmCommandId">
         insert into t_robot_arm_command
         <trim prefix="(" suffix=")" suffixOverrides=",">