1 机械臂功能开发

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

+package com.zehong.web.controller.equipment;
+
+import java.util.List;
+import java.util.Map;
+
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.PutMapping;
+import org.springframework.web.bind.annotation.DeleteMapping;
+import org.springframework.web.bind.annotation.PathVariable;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+import com.zehong.common.core.controller.BaseController;
+import com.zehong.common.core.domain.AjaxResult;
+import com.zehong.system.domain.RobotArmCommand;
+import com.zehong.system.service.IRobotArmCommandService;
+import com.zehong.common.utils.poi.ExcelUtil;
+import com.zehong.common.core.page.TableDataInfo;
+
+/**
+ * 机械臂指令Controller
+ * 
+ * @author zehong
+ * @date 2025-08-04
+ */
+@RestController
+@RequestMapping("/robotArm/command")
+public class RobotArmCommandController extends BaseController
+{
+    @Autowired
+    private IRobotArmCommandService robotArmCommandService;
+
+    /**
+     * 查询机械臂指令列表
+     */
+    @GetMapping("/list")
+    public TableDataInfo list(RobotArmCommand robotArmCommand)
+    {
+        startPage();
+        List<RobotArmCommand> list = robotArmCommandService.selectRobotArmCommandList(robotArmCommand);
+        return getDataTable(list);
+    }
+
+    /**
+     * 导出机械臂指令列表
+     */
+    @GetMapping("/export")
+    public AjaxResult export(RobotArmCommand robotArmCommand)
+    {
+        List<RobotArmCommand> list = robotArmCommandService.selectRobotArmCommandList(robotArmCommand);
+        ExcelUtil<RobotArmCommand> util = new ExcelUtil<RobotArmCommand>(RobotArmCommand.class);
+        return util.exportExcel(list, "机械臂指令数据");
+    }
+
+    /**
+     * 获取机械臂指令详细信息
+     */
+    @GetMapping(value = "/{robotArmCommandId}")
+    public AjaxResult getInfo(@PathVariable("robotArmCommandId") Long robotArmCommandId)
+    {
+        return AjaxResult.success(robotArmCommandService.selectRobotArmCommandById(robotArmCommandId));
+    }
+
+    /**
+     * 新增机械臂指令
+     */
+    @PostMapping
+    public AjaxResult add(@RequestBody RobotArmCommand robotArmCommand)
+    {
+        return toAjax(robotArmCommandService.insertRobotArmCommand(robotArmCommand));
+    }
+
+    @PostMapping("/powerOn")
+    public AjaxResult powerOn(@RequestBody Map<String, Object> params) {
+        Long commandId = Long.parseLong(params.get("commandId").toString());
+        robotArmCommandService.powerOnCommand(commandId);
+        return AjaxResult.success("上电操作成功");
+    }
+
+    /**
+     * 修改机械臂指令
+     */
+    @PutMapping
+    public AjaxResult edit(@RequestBody RobotArmCommand robotArmCommand)
+    {
+        return toAjax(robotArmCommandService.updateRobotArmCommand(robotArmCommand));
+    }
+
+    /**
+     * 删除机械臂指令
+     */
+	@DeleteMapping("/{robotArmCommandIds}")
+    public AjaxResult remove(@PathVariable Long[] robotArmCommandIds)
+    {
+        return toAjax(robotArmCommandService.deleteRobotArmCommandByIds(robotArmCommandIds));
+    }
+}

zhmes-agecal-admin/src/main/resources/application-dev.yml

 # 数据源配置
 spring:
-    datasource:
+  datasource:
         type: com.alibaba.druid.pool.DruidDataSource
         driverClassName: com.mysql.cj.jdbc.Driver
         druid:
@@ -56,7 +56,7 @@ spring:
                     config:
                         multi-statement-allow: true
     # redis 配置
-    redis:
+  redis:
       # 地址
       host: localhost
       # 端口，默认为6379
@@ -102,4 +102,11 @@ netty:
   boss-group-thread-count: 1  # 主线程数
   worker-group-thread-count: 8 # 工作线程数
   max-frame-length: 65535     # 最大帧长度
-  heartbeat-timeout: 60       # 心跳超时时间(秒)
\ No newline at end of file
+  heartbeat-timeout: 10      # 心跳超时时间(秒)
+
+# 机械臂UDP配置
+robot:
+  arm:
+    udp:
+      ip: 192.168.2.16
+      port: 6000

zhmes-agecal-admin/src/main/resources/application-prd.yml

@@ -102,4 +102,12 @@ netty:
   boss-group-thread-count: 1  # 主线程数
   worker-group-thread-count: 8 # 工作线程数
   max-frame-length: 65535     # 最大帧长度
-  heartbeat-timeout: 60       # 心跳超时时间(秒)
\ No newline at end of file
+  heartbeat-timeout: 10       # 心跳超时时间(秒)
+
+
+# 机械臂UDP配置
+robot:
+  arm:
+    udp:
+      ip: 192.168.2.16
+      port: 6000
\ No newline at end of file

zhmes-agecal-admin/src/main/resources/application-test.yml

@@ -99,4 +99,12 @@ netty:
   boss-group-thread-count: 1  # 主线程数
   worker-group-thread-count: 8 # 工作线程数
   max-frame-length: 65535     # 最大帧长度
-  heartbeat-timeout: 60       # 心跳超时时间(秒)
\ No newline at end of file
+  heartbeat-timeout: 10       # 心跳超时时间(秒)
+
+
+# 机械臂UDP配置
+robot:
+  arm:
+    udp:
+      ip: 192.168.2.16
+      port: 6000
\ No newline at end of file

zhmes-agecal-common/pom.xml

@@ -130,6 +130,10 @@
             <artifactId>netty-all</artifactId>
             <version>4.1.86.Final</version>
         </dependency>
+        <dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-starter-websocket</artifactId>
+        </dependency>
     </dependencies>
 
 </project>
\ No newline at end of file

zhmes-agecal-framework/src/main/java/com/zehong/framework/config/NettyConfig.java

@@ -35,7 +35,7 @@ public class NettyConfig {
     /**
      * 心跳检测超时时间(秒)
      */
-    private int heartbeatTimeout = 60;
+    private int heartbeatTimeout = 10;
 
     // getter和setter方法
     public int getPort() {

zhmes-agecal-framework/src/main/java/com/zehong/framework/config/SecurityConfig.java

@@ -105,6 +105,10 @@ public class SecurityConfig extends WebSecurityConfigurerAdapter
                         "/**/*.css",
                         "/**/*.js"
                 ).permitAll()
+
+                // 对于 websocket 匿名访问
+                .antMatchers("/ws-robot-arm").permitAll()
+
                 .antMatchers("/profile/**").anonymous()
                 .antMatchers("/common/download**").anonymous()
                 .antMatchers("/common/download/resource**").anonymous()

zhmes-agecal-framework/src/main/java/com/zehong/framework/netty/handler/NettyUdpServerHandler.java

 package com.zehong.framework.netty.handler;
 
+import com.zehong.system.service.IRobotArmCommandService;
+import com.zehong.system.service.websocket.RobotArmWebSocketHandler;
 import io.netty.buffer.ByteBuf;
 import io.netty.channel.ChannelHandler.Sharable;
 import io.netty.channel.ChannelHandlerContext;
@@ -11,6 +13,7 @@ import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.stereotype.Component;
 
+import javax.annotation.Resource;
 import java.nio.charset.StandardCharsets;
 import java.text.SimpleDateFormat;
 import java.util.concurrent.locks.ReentrantLock;
@@ -36,6 +39,12 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
     // 线程安全锁，确保文件写入安全
     private final ReentrantLock fileLock = new ReentrantLock();
 
+    @Resource
+    private RobotArmWebSocketHandler robotArmWebSocketHandler; // 注入WebSocket处理器
+
+    @Resource
+    private IRobotArmCommandService robotArmCommandService;
+
     /**
      * 接收UDP消息
      */
@@ -68,18 +77,36 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
             }
 
             // 保存消息到文件
-            saveMessageToFile(packet.sender().toString(), correctMessage);
+            //saveMessageToFile(packet.sender().toString(), correctMessage);
 
             // 处理消息逻辑
-            String response = "服务器已收到UDP消息：" + correctMessage;
+            String responseSave = "服务器已收到UDP消息：" + correctMessage;
+
+            // 处理机械臂完成消息
+            if (correctMessage.startsWith("COMPLETE,")) {
+                String[] parts = correctMessage.split(",");
+                if (parts.length >= 3) {
+                    String trayCode = parts[1];
+                    String storeyCode = parts[2];
+
+                    // 更新指令状态为已完成
+                    robotArmCommandService.completeCommand(trayCode, storeyCode);
+
+                    // 发送成功响应
+                    String response = "CMD_COMPLETE_ACK";
+                    byte[] responseBytes = response.getBytes(StandardCharsets.UTF_8);
+                    ctx.writeAndFlush(new DatagramPacket(
+                            io.netty.buffer.Unpooled.copiedBuffer(responseBytes),
+                            packet.sender()));
+                }
+            }
 
-            // 回复客户端，明确使用UTF-8编码
-            byte[] responseBytes = response.getBytes(StandardCharsets.UTF_8);
-            ctx.writeAndFlush(new DatagramPacket(
-                    io.netty.buffer.Unpooled.copiedBuffer(responseBytes),
-                    packet.sender()));
+            // 当收到消息时，更新状态为运行中
+            sendStatusToWebSocket("running");
         } catch (Exception e) {
             log.error("处理UDP消息异常", e);
+            // 出现异常时发送故障状态
+            sendStatusToWebSocket("error");
         }
     }
 
@@ -164,9 +191,25 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
             if (event.state() == IdleState.ALL_IDLE) {
                 log.info("UDP服务器超过规定时间未收到数据");
                 // UDP无连接，一般不关闭通道
+                // 通过WebSocket发送空闲状态给前端
+                sendStatusToWebSocket("idle");
+                // 处理空闲状态
+                robotArmCommandService.processPendingCommands();
             }
         } else {
             super.userEventTriggered(ctx, evt);
         }
     }
+
+    /**
+     * 发送状态到WebSocket
+     */
+    private void sendStatusToWebSocket(String status) {
+        if (robotArmWebSocketHandler != null) {
+            robotArmWebSocketHandler.broadcastStatus(status);
+        } else {
+            log.warn("WebSocket处理器未初始化，无法发送状态");
+        }
+    }
+
 }

zhmes-agecal-system/src/main/java/com/zehong/system/domain/RobotArmCommand.java

+package com.zehong.system.domain;
+
+import java.util.Date;
+import com.fasterxml.jackson.annotation.JsonFormat;
+import org.apache.commons.lang3.builder.ToStringBuilder;
+import org.apache.commons.lang3.builder.ToStringStyle;
+import com.zehong.common.annotation.Excel;
+import com.zehong.common.core.domain.BaseEntity;
+
+/**
+ * 机械臂指令对象 t_robot_arm_command
+ * 
+ * @author zehong
+ * @date 2025-08-04
+ */
+public class RobotArmCommand extends BaseEntity
+{
+    private static final long serialVersionUID = 1L;
+
+    /** id */
+    private Long robotArmCommandId;
+
+    /** 托盘编号 */
+    @Excel(name = "托盘编号")
+    private String trayCode;
+
+    /** 绑定层编号 */
+    @Excel(name = "绑定层编号")
+    private String storeyCode;
+
+    /** 类型：0-待上料；1-待下料 */
+    @Excel(name = "类型：0-待上料；1-待下料")
+    private String type;
+
+    /** 状态：0-待执行；1-执行中；2-执行结束(上料就是绑定托盘，下料就是解绑托盘) */
+    @Excel(name = "状态：0-待执行；1-执行中；2-未上电,3-执行结束(上料就是绑定托盘，下料就是解绑托盘)")
+    private String status;
+
+    /** 指令开始执行时间 */
+    @JsonFormat(pattern = "yyyy-MM-dd")
+    @Excel(name = "指令开始执行时间", width = 30, dateFormat = "yyyy-MM-dd")
+    private Date startExecutionTime;
+
+    /** 指令结束执行时间 */
+    @JsonFormat(pattern = "yyyy-MM-dd")
+    @Excel(name = "指令结束执行时间", width = 30, dateFormat = "yyyy-MM-dd")
+    private Date endExecutionTime;
+
+    /** 指令 */
+    private String command;
+
+
+    public void setRobotArmCommandId(Long robotArmCommandId) 
+    {
+        this.robotArmCommandId = robotArmCommandId;
+    }
+
+    public Long getRobotArmCommandId() 
+    {
+        return robotArmCommandId;
+    }
+    public void setTrayCode(String trayCode) 
+    {
+        this.trayCode = trayCode;
+    }
+
+    public String getTrayCode() 
+    {
+        return trayCode;
+    }
+    public void setStoreyCode(String storeyCode) 
+    {
+        this.storeyCode = storeyCode;
+    }
+
+    public String getStoreyCode() 
+    {
+        return storeyCode;
+    }
+    public void setType(String type) 
+    {
+        this.type = type;
+    }
+
+    public String getType() 
+    {
+        return type;
+    }
+    public void setStatus(String status) 
+    {
+        this.status = status;
+    }
+
+    public String getStatus() 
+    {
+        return status;
+    }
+    public void setStartExecutionTime(Date startExecutionTime) 
+    {
+        this.startExecutionTime = startExecutionTime;
+    }
+
+    public Date getStartExecutionTime() 
+    {
+        return startExecutionTime;
+    }
+    public void setEndExecutionTime(Date endExecutionTime) 
+    {
+        this.endExecutionTime = endExecutionTime;
+    }
+
+    public Date getEndExecutionTime() 
+    {
+        return endExecutionTime;
+    }
+
+    public String getCommand() {
+        return command;
+    }
+
+    public void setCommand(String command) {
+        this.command = command;
+    }
+
+    @Override
+    public String toString() {
+        return new ToStringBuilder(this,ToStringStyle.MULTI_LINE_STYLE)
+            .append("robotArmCommandId", getRobotArmCommandId())
+            .append("trayCode", getTrayCode())
+            .append("storeyCode", getStoreyCode())
+            .append("type", getType())
+            .append("status", getStatus())
+            .append("startExecutionTime", getStartExecutionTime())
+            .append("endExecutionTime", getEndExecutionTime())
+            .append("createTime", getCreateTime())
+            .toString();
+    }
+}

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

+package com.zehong.system.mapper;
+
+import java.util.List;
+import com.zehong.system.domain.RobotArmCommand;
+
+/**
+ * 机械臂指令Mapper接口
+ * 
+ * @author zehong
+ * @date 2025-08-04
+ */
+public interface RobotArmCommandMapper 
+{
+    /**
+     * 查询机械臂指令
+     * 
+     * @param robotArmCommandId 机械臂指令ID
+     * @return 机械臂指令
+     */
+    public RobotArmCommand selectRobotArmCommandById(Long robotArmCommandId);
+
+    public RobotArmCommand findExecutingCommand(String trayCode, String storeyCode);
+
+    /**
+     * 查询机械臂指令列表
+     * 
+     * @param robotArmCommand 机械臂指令
+     * @return 机械臂指令集合
+     */
+    public List<RobotArmCommand> selectRobotArmCommandList(RobotArmCommand robotArmCommand);
+
+    public List<RobotArmCommand> findByType(String type);
+
+    /**
+     * 新增机械臂指令
+     * 
+     * @param robotArmCommand 机械臂指令
+     * @return 结果
+     */
+    public int insertRobotArmCommand(RobotArmCommand robotArmCommand);
+
+    /**
+     * 修改机械臂指令
+     * 
+     * @param robotArmCommand 机械臂指令
+     * @return 结果
+     */
+    public int updateRobotArmCommand(RobotArmCommand robotArmCommand);
+
+
+    /**
+     * 更新执行中状态为完成状态
+     */
+    int updateExecutingToCompleted();
+
+    /**
+     * 获取待执行的上料指令
+     */
+    List<RobotArmCommand> selectPendingLoadingCommands();
+
+    /**
+     * 获取待执行的下料指令
+     */
+    List<RobotArmCommand> selectPendingUnloadingCommands();
+
+    /**
+     * 删除机械臂指令
+     * 
+     * @param robotArmCommandId 机械臂指令ID
+     * @return 结果
+     */
+    public int deleteRobotArmCommandById(Long robotArmCommandId);
+
+    /**
+     * 批量删除机械臂指令
+     * 
+     * @param robotArmCommandIds 需要删除的数据ID
+     * @return 结果
+     */
+    public int deleteRobotArmCommandByIds(Long[] robotArmCommandIds);
+}

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

@@ -27,6 +27,8 @@ public interface TStoreyInfoMapper
      */
     public TStoreyInfo selectTStoreyInfoByCode(String fStoreyCode);
 
+    // 新增方法：查询离机械臂最近的空闲层
+    public TStoreyInfo selectNearestFreeStorey();
     /**
      * 查询老化层信息列表
      * 

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

+package com.zehong.system.service;
+
+import java.util.List;
+import com.zehong.system.domain.RobotArmCommand;
+
+/**
+ * 机械臂指令Service接口
+ * 
+ * @author zehong
+ * @date 2025-08-04
+ */
+public interface IRobotArmCommandService 
+{
+    /**
+     * 查询机械臂指令
+     * 
+     * @param robotArmCommandId 机械臂指令ID
+     * @return 机械臂指令
+     */
+    public RobotArmCommand selectRobotArmCommandById(Long robotArmCommandId);
+
+    /**
+     * 查询机械臂指令列表
+     * 
+     * @param robotArmCommand 机械臂指令
+     * @return 机械臂指令集合
+     */
+    public List<RobotArmCommand> selectRobotArmCommandList(RobotArmCommand robotArmCommand);
+
+    public List<RobotArmCommand> findByType(String type);
+
+    /**
+     * 新增机械臂指令
+     * 
+     * @param robotArmCommand 机械臂指令
+     * @return 结果
+     */
+    public int insertRobotArmCommand(RobotArmCommand robotArmCommand);
+
+    public void powerOnCommand(Long commandId);
+    /**
+     * 修改机械臂指令
+     * 
+     * @param robotArmCommand 机械臂指令
+     * @return 结果
+     */
+    public int updateRobotArmCommand(RobotArmCommand robotArmCommand);
+
+    /**
+     * 批量删除机械臂指令
+     * 
+     * @param robotArmCommandIds 需要删除的机械臂指令ID
+     * @return 结果
+     */
+    public int deleteRobotArmCommandByIds(Long[] robotArmCommandIds);
+
+    /**
+     * 删除机械臂指令信息
+     * 
+     * @param robotArmCommandId 机械臂指令ID
+     * @return 结果
+     */
+    public int deleteRobotArmCommandById(Long robotArmCommandId);
+
+    public void processIdleState();
+
+    public void processPendingCommands();
+
+    public void completeCommand(String trayCode,String storeyCode);
+}

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

+package com.zehong.system.service.impl;
+
+import java.util.Date;
+import java.util.List;
+import com.zehong.common.utils.DateUtils;
+import com.zehong.system.domain.TStoreyInfo;
+import com.zehong.system.mapper.TStoreyInfoMapper;
+import com.zehong.system.service.websocket.RobotArmWebSocketHandler;
+import com.zehong.system.udp.UdpCommandSender;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.stereotype.Service;
+import com.zehong.system.mapper.RobotArmCommandMapper;
+import com.zehong.system.domain.RobotArmCommand;
+import com.zehong.system.service.IRobotArmCommandService;
+import org.springframework.transaction.annotation.Transactional;
+
+import javax.annotation.Resource;
+
+/**
+ * 机械臂指令Service业务层处理
+ * 
+ * @author zehong
+ * @date 2025-08-04
+ */
+@Service
+public class RobotArmCommandServiceImpl implements IRobotArmCommandService 
+{
+    private static final Logger log = LoggerFactory.getLogger(RobotArmCommandServiceImpl.class);
+
+    @Resource
+    private RobotArmWebSocketHandler robotArmWebSocketHandler;
+
+    @Resource
+    private RobotArmCommandMapper robotArmCommandMapper;
+
+    @Resource
+    private TStoreyInfoMapper storeyInfoMapper;
+
+    @Resource
+    private UdpCommandSender udpCommandSender;
+
+    @Override
+    @Transactional
+    public void processIdleState() {
+        // 1. 更新执行中状态为完成状态
+        robotArmCommandMapper.updateExecutingToCompleted();
+
+        // 2. 优先处理上料指令
+        List<RobotArmCommand> loadingCommands = robotArmCommandMapper.selectPendingLoadingCommands();
+        if (!loadingCommands.isEmpty()) {
+            RobotArmCommand command = loadingCommands.get(0);
+            sendLoadingCommand(command);
+            return;
+        }
+
+        // 3. 处理下料指令
+        List<RobotArmCommand> unloadingCommands = robotArmCommandMapper.selectPendingUnloadingCommands();
+        if (!unloadingCommands.isEmpty()) {
+            RobotArmCommand command = unloadingCommands.get(0);
+            sendUnloadingCommand(command);
+        }
+    }
+
+    @Override
+    @Transactional
+    public void processPendingCommands() {
+        // 1. 只处理待执行指令（状态为0）
+        List<RobotArmCommand> loadingCommands = robotArmCommandMapper.selectPendingLoadingCommands();
+        if (!loadingCommands.isEmpty()) {
+            RobotArmCommand command = loadingCommands.get(0);
+            sendLoadingCommand(command);
+            return;
+        }
+
+        // 2. 处理待执行的下料指令
+        List<RobotArmCommand> unloadingCommands = robotArmCommandMapper.selectPendingUnloadingCommands();
+        if (!unloadingCommands.isEmpty()) {
+            RobotArmCommand command = unloadingCommands.get(0);
+            sendUnloadingCommand(command);
+        }
+    }
+    @Override
+    @Transactional
+    public void completeCommand(String trayCode, String storeyCode) {
+        // 1. 查找对应的执行中指令
+        RobotArmCommand command = robotArmCommandMapper.findExecutingCommand(trayCode, storeyCode);
+
+        if (command == null) {
+            log.warn("未找到对应的执行中指令: {} @ {}", trayCode, storeyCode);
+            return;
+        }
+
+        // 2. 更新状态为已完成
+        command.setStatus("3");
+        command.setEndExecutionTime(new Date());
+        robotArmCommandMapper.updateRobotArmCommand(command);
+
+        log.info("指令完成: {} @ {}", trayCode, storeyCode);
+
+        // 3. 广播指令更新
+        robotArmWebSocketHandler.broadcastCommandUpdate();
+    }
+
+    private void sendLoadingCommand(RobotArmCommand command) {
+        // 更新状态为执行中
+        command.setStatus("1");
+        command.setStartExecutionTime(new Date());
+        robotArmCommandMapper.updateRobotArmCommand(command);
+
+        notifyCommandsUpdate();
+
+        // 发送UDP指令
+        String udpMessage = String.format("LOAD,%s,%s", command.getTrayCode(), command.getStoreyCode());
+        udpCommandSender.sendCommand(udpMessage);
+    }
+
+    private void sendUnloadingCommand(RobotArmCommand command) {
+        // 更新状态为执行中
+        command.setStatus("1");
+        command.setStartExecutionTime(new Date());
+        robotArmCommandMapper.updateRobotArmCommand(command);
+
+        notifyCommandsUpdate();
+        // 发送UDP指令
+        String udpMessage = String.format("UNLOAD,%s,%s", command.getTrayCode(), command.getStoreyCode());
+        udpCommandSender.sendCommand(udpMessage);
+    }
+
+    /**
+     * 查询机械臂指令
+     * 
+     * @param robotArmCommandId 机械臂指令ID
+     * @return 机械臂指令
+     */
+    @Override
+    public RobotArmCommand selectRobotArmCommandById(Long robotArmCommandId)
+    {
+        return robotArmCommandMapper.selectRobotArmCommandById(robotArmCommandId);
+    }
+
+    /**
+     * 查询机械臂指令列表
+     * 
+     * @param robotArmCommand 机械臂指令
+     * @return 机械臂指令
+     */
+    @Override
+    public List<RobotArmCommand> selectRobotArmCommandList(RobotArmCommand robotArmCommand)
+    {
+        return robotArmCommandMapper.selectRobotArmCommandList(robotArmCommand);
+    }
+
+    @Override
+    public List<RobotArmCommand> findByType(String type) {
+        return robotArmCommandMapper.findByType( type);
+    }
+
+    /**
+     * 新增机械臂指令
+     * 
+     * @param robotArmCommand 机械臂指令
+     * @return 结果
+     */
+    @Override
+    public int insertRobotArmCommand(RobotArmCommand robotArmCommand)
+    {
+        robotArmCommand.setCreateTime(DateUtils.getNowDate());
+
+        TStoreyInfo tStoreyInfo = storeyInfoMapper.selectNearestFreeStorey();
+        if(tStoreyInfo != null) {
+            robotArmCommand.setStoreyCode(tStoreyInfo.getfStoreyCode());
+        } else {
+            robotArmCommand.setStoreyCode("无空闲老化层");
+        }
+
+        int i = robotArmCommandMapper.insertRobotArmCommand(robotArmCommand);
+        notifyCommandsUpdate();
+        return i;
+    }
+
+    @Override
+    @Transactional
+    public void powerOnCommand(Long commandId) {
+        RobotArmCommand command = robotArmCommandMapper.selectRobotArmCommandById(commandId);
+        if (command == null) {
+            throw new RuntimeException("指令不存在");
+        }
+
+        if (!"2".equals(command.getStatus())) {
+            throw new RuntimeException("只有未上电状态的指令才能执行上电操作");
+        }
+
+        // 更新状态为执行中
+        command.setStatus("1");
+        robotArmCommandMapper.updateRobotArmCommand(command);
+
+        // 发送上电指令给机械臂
+        String udpMessage = String.format("POWER_ON,%s,%s", command.getTrayCode(), command.getStoreyCode());
+        udpCommandSender.sendCommand(udpMessage);
+
+        // 记录操作日志
+        log.info("执行上电操作: 指令ID={}, 托盘={}, 位置={}", commandId, command.getTrayCode(), command.getStoreyCode());
+    }
+
+    /**
+     * 修改机械臂指令
+     * 
+     * @param robotArmCommand 机械臂指令
+     * @return 结果
+     */
+    @Override
+    public int updateRobotArmCommand(RobotArmCommand robotArmCommand)
+    {
+        int i = robotArmCommandMapper.updateRobotArmCommand(robotArmCommand);
+        notifyCommandsUpdate();
+        return i;
+    }
+
+    /**
+     * 批量删除机械臂指令
+     * 
+     * @param robotArmCommandIds 需要删除的机械臂指令ID
+     * @return 结果
+     */
+    @Override
+    public int deleteRobotArmCommandByIds(Long[] robotArmCommandIds)
+    {
+        int i = robotArmCommandMapper.deleteRobotArmCommandByIds(robotArmCommandIds);
+        notifyCommandsUpdate();
+        return i;
+    }
+
+    /**
+     * 删除机械臂指令信息
+     * 
+     * @param robotArmCommandId 机械臂指令ID
+     * @return 结果
+     */
+    @Override
+    public int deleteRobotArmCommandById(Long robotArmCommandId)
+    {
+        int i = robotArmCommandMapper.deleteRobotArmCommandById(robotArmCommandId);
+        notifyCommandsUpdate();
+        return i;
+    }
+
+    private void notifyCommandsUpdate() {
+        robotArmWebSocketHandler.broadcastCommandUpdate();
+    }
+}

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

+package com.zehong.system.service.websocket;
+
+import com.fasterxml.jackson.core.JsonProcessingException;
+import com.fasterxml.jackson.databind.ObjectMapper;
+import com.zehong.system.domain.RobotArmCommand;
+import com.zehong.system.service.IRobotArmCommandService;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.stereotype.Component;
+import org.springframework.web.socket.CloseStatus;
+import org.springframework.web.socket.TextMessage;
+import org.springframework.web.socket.WebSocketSession;
+import org.springframework.web.socket.handler.TextWebSocketHandler;
+
+import javax.annotation.Resource;
+import java.io.IOException;
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+import java.util.concurrent.CopyOnWriteArrayList;
+
+/**
+ * @author lenovo
+ * @date 2025/8/4
+ * @description websocketHandler
+ */
+@Component
+public class RobotArmWebSocketHandler extends TextWebSocketHandler {
+
+    private static final List<WebSocketSession> sessions = new CopyOnWriteArrayList<>();
+
+    private static final Logger log = LoggerFactory.getLogger(RobotArmWebSocketHandler.class);
+    @Resource
+    private IRobotArmCommandService robotArmCommandService;
+
+    @Override
+    public void afterConnectionEstablished(WebSocketSession session) throws Exception {
+        sessions.add(session);
+        sendInitialData(session);
+    }
+
+    @Override
+    protected void handleTextMessage(WebSocketSession session, TextMessage message) throws Exception {
+        String payload = message.getPayload();
+        // 处理客户端请求
+        if ("{\"type\":\"request\",\"commands\":[\"loading\",\"unloading\"]}".equals(payload)) {
+            sendInitialData(session);
+        }
+    }
+
+    private void sendInitialData(WebSocketSession session) throws IOException {
+        // 发送待上料指令
+        List<RobotArmCommand> loadingCommands = robotArmCommandService.findByType("0");
+        session.sendMessage(new TextMessage(createMessage("loading", loadingCommands)));
+
+        // 发送待下料指令
+        List<RobotArmCommand> unloadingCommands = robotArmCommandService.findByType("1");
+        session.sendMessage(new TextMessage(createMessage("unloading", unloadingCommands)));
+    }
+
+    private String createMessage(String type, List<RobotArmCommand> commands) {
+        ObjectMapper mapper = new ObjectMapper();
+        try {
+
+            // 创建包含更多信息的DTO列表
+            List<Map<String, Object>> commandData = new ArrayList<>();
+            for (RobotArmCommand cmd : commands) {
+                Map<String, Object> cmdMap = new HashMap<>();
+                cmdMap.put("robotArmCommandId", cmd.getRobotArmCommandId());
+                cmdMap.put("trayCode", cmd.getTrayCode());
+                cmdMap.put("storeyCode", cmd.getStoreyCode());
+                cmdMap.put("status", cmd.getStatus());
+                commandData.add(cmdMap);
+            }
+
+            Map<String, Object> message = new HashMap<>();
+            message.put("type", type);
+            message.put("data", commandData);
+            return mapper.writeValueAsString(message);
+        } catch (JsonProcessingException e) {
+            return "{\"error\":\"Failed to serialize data\"}";
+        }
+    }
+
+    public void broadcastCommandUpdate() {
+        List<RobotArmCommand> loadingCommands = robotArmCommandService.findByType("0");
+        List<RobotArmCommand> unloadingCommands = robotArmCommandService.findByType("1");
+
+        for (WebSocketSession session : sessions) {
+            if (session.isOpen()) {
+                try {
+                    session.sendMessage(new TextMessage(createMessage("loading", loadingCommands)));
+                    session.sendMessage(new TextMessage(createMessage("unloading", unloadingCommands)));
+                } catch (IOException e) {
+                    // 处理异常
+                }
+            }
+        }
+    }
+
+    @Override
+    public void afterConnectionClosed(WebSocketSession session, CloseStatus status) {
+        sessions.remove(session);
+    }
+
+    /**
+     * 广播状态消息给所有客户端
+     */
+    public void broadcastStatus(String status) {
+        ObjectMapper mapper = new ObjectMapper();
+        try {
+            Map<String, Object> message = new HashMap<>();
+            message.put("type", "status");
+            message.put("data", status);
+            String jsonMessage = mapper.writeValueAsString(message);
+
+            for (WebSocketSession session : sessions) {
+                if (session.isOpen()) {
+                    try {
+                        session.sendMessage(new TextMessage(jsonMessage));
+                    } catch (IOException e) {
+                        log.error("发送状态消息到WebSocket失败", e);
+                    }
+                }
+            }
+        } catch (JsonProcessingException e) {
+            log.error("序列化状态消息失败", e);
+        }
+    }
+}

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

+package com.zehong.system.service.websocket;
+
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.context.annotation.Configuration;
+import org.springframework.web.socket.config.annotation.EnableWebSocket;
+import org.springframework.web.socket.config.annotation.WebSocketConfigurer;
+import org.springframework.web.socket.config.annotation.WebSocketHandlerRegistry;
+
+/**
+ * @author lenovo
+ * @date 2025/8/4
+ * @description TODO
+ */
+@Configuration
+@EnableWebSocket
+public class WebSocketConfig implements WebSocketConfigurer {
+
+    @Autowired
+    private RobotArmWebSocketHandler robotArmWebSocketHandler;
+
+    @Override
+    public void registerWebSocketHandlers(WebSocketHandlerRegistry registry) {
+        registry.addHandler(robotArmWebSocketHandler, "/ws-robot-arm")
+                .setAllowedOrigins("*");
+    }
+
+}

zhmes-agecal-system/src/main/java/com/zehong/system/udp/UdpCommandSender.java

+package com.zehong.system.udp;
+
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.stereotype.Component;
+
+import javax.annotation.PostConstruct;
+import javax.annotation.PreDestroy;
+import java.io.IOException;
+import java.net.DatagramPacket;
+import java.net.DatagramSocket;
+import java.net.InetAddress;
+import java.nio.charset.StandardCharsets;
+
+/**
+ * @author lenovo
+ * @date 2025/8/4
+ * @description TODO
+ */
+@Component
+public class UdpCommandSender {
+    private static final Logger log = LoggerFactory.getLogger(UdpCommandSender.class);
+
+    @Value("${robot.arm.udp.ip}")
+    private String robotArmIp;
+
+    @Value("${robot.arm.udp.port}")
+    private int robotArmPort;
+
+    private DatagramSocket socket;
+    private InetAddress address;
+
+    @PostConstruct
+    public void init() {
+        try {
+            socket = new DatagramSocket();
+            address = InetAddress.getByName(robotArmIp);
+            log.info("UDP命令发送器初始化成功，目标地址: {}:{}", robotArmIp, robotArmPort);
+        } catch (Exception e) {
+            log.error("UDP命令发送器初始化失败", e);
+        }
+    }
+
+    public void sendCommand(String message) {
+        if (socket == null || address == null) {
+            log.error("UDP命令发送器未初始化，无法发送消息");
+            return;
+        }
+
+        try {
+            byte[] buffer = message.getBytes(StandardCharsets.UTF_8);
+            DatagramPacket packet = new DatagramPacket(buffer, buffer.length, address, robotArmPort);
+            socket.send(packet);
+            log.info("已发送UDP指令: {}", message);
+        } catch (IOException e) {
+            log.error("发送UDP指令失败: {}", message, e);
+        }
+    }
+
+    @PreDestroy
+    public void cleanup() {
+        if (socket != null && !socket.isClosed()) {
+            socket.close();
+            log.info("UDP命令发送器已关闭");
+        }
+    }
+}

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

+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE mapper
+PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
+"http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.zehong.system.mapper.RobotArmCommandMapper">
+    
+    <resultMap type="RobotArmCommand" id="RobotArmCommandResult">
+        <result property="robotArmCommandId"    column="f_robot_arm_command_id"    />
+        <result property="trayCode"    column="f_tray_code"    />
+        <result property="storeyCode"    column="f_storey_code"    />
+        <result property="type"    column="f_type"    />
+        <result property="status"    column="f_status"    />
+        <result property="startExecutionTime"    column="f_start_execution_time"    />
+        <result property="endExecutionTime"    column="f_end_execution_time"    />
+        <result property="createTime"    column="f_create_time"    />
+    </resultMap>
+
+    <sql id="selectRobotArmCommandVo">
+        select f_robot_arm_command_id, f_tray_code, f_storey_code, f_type, f_status, f_start_execution_time, f_end_execution_time, f_create_time, f_command from t_robot_arm_command
+    </sql>
+
+    <select id="findByType" parameterType="string" resultMap="RobotArmCommandResult">
+        <include refid="selectRobotArmCommandVo"/>
+        where f_type = #{type}
+    </select>
+
+    <select id="selectRobotArmCommandList" parameterType="RobotArmCommand" resultMap="RobotArmCommandResult">
+        <include refid="selectRobotArmCommandVo"/>
+        <where>  
+            <if test="trayCode != null  and trayCode != ''"> and f_tray_code = #{trayCode}</if>
+            <if test="storeyCode != null  and storeyCode != ''"> and f_storey_code = #{storeyCode}</if>
+            <if test="type != null  and type != ''"> and f_type = #{type}</if>
+            <if test="status != null  and status != ''"> and f_status = #{status}</if>
+            <if test="startExecutionTime != null "> and f_start_execution_time = #{startExecutionTime}</if>
+            <if test="endExecutionTime != null "> and f_end_execution_time = #{endExecutionTime}</if>
+            <if test="createTime != null "> and f_create_time = #{createTime}</if>
+        </where>
+    </select>
+    
+    <select id="selectRobotArmCommandById" parameterType="Long" resultMap="RobotArmCommandResult">
+        <include refid="selectRobotArmCommandVo"/>
+        where f_robot_arm_command_id = #{robotArmCommandId}
+    </select>
+    <!-- 查找执行中的指令 -->
+    <select id="findExecutingCommand" resultMap="RobotArmCommandResult">
+        <include refid="selectRobotArmCommandVo"/>
+        WHERE f_tray_code = #{trayCode}
+        AND f_storey_code = #{storeyCode}
+        AND f_status = '1'  <!-- 状态为执行中 -->
+        LIMIT 1
+    </select>
+    <insert id="insertRobotArmCommand" parameterType="RobotArmCommand" useGeneratedKeys="true" keyProperty="robotArmCommandId">
+        insert into t_robot_arm_command
+        <trim prefix="(" suffix=")" suffixOverrides=",">
+            <if test="trayCode != null">f_tray_code,</if>
+            <if test="storeyCode != null">f_storey_code,</if>
+            <if test="type != null">f_type,</if>
+            <if test="status != null">f_status,</if>
+            <if test="startExecutionTime != null">f_start_execution_time,</if>
+            <if test="endExecutionTime != null">f_end_execution_time,</if>
+            <if test="createTime != null">f_create_time,</if>
+            <if test="command != null">f_command,</if>
+         </trim>
+        <trim prefix="values (" suffix=")" suffixOverrides=",">
+            <if test="trayCode != null">#{trayCode},</if>
+            <if test="storeyCode != null">#{storeyCode},</if>
+            <if test="type != null">#{type},</if>
+            <if test="status != null">#{status},</if>
+            <if test="startExecutionTime != null">#{startExecutionTime},</if>
+            <if test="endExecutionTime != null">#{endExecutionTime},</if>
+            <if test="createTime != null">#{createTime},</if>
+            <if test="command != null">#{command},</if>
+         </trim>
+    </insert>
+
+    <update id="updateRobotArmCommand" parameterType="RobotArmCommand">
+        update t_robot_arm_command
+        <trim prefix="SET" suffixOverrides=",">
+            <if test="trayCode != null">f_tray_code = #{trayCode},</if>
+            <if test="storeyCode != null">f_storey_code = #{storeyCode},</if>
+            <if test="type != null">f_type = #{type},</if>
+            <if test="status != null">f_status = #{status},</if>
+            <if test="startExecutionTime != null">f_start_execution_time = #{startExecutionTime},</if>
+            <if test="endExecutionTime != null">f_end_execution_time = #{endExecutionTime},</if>
+            <if test="createTime != null">f_create_time = #{createTime},</if>
+            <if test="command != null">f_command = #{command},</if>
+        </trim>
+        where f_robot_arm_command_id = #{robotArmCommandId}
+    </update>
+    <!-- 在 XML 中添加 -->
+    <!-- 更新执行中状态为完成状态 -->
+    <update id="updateExecutingToCompleted">
+        UPDATE t_robot_arm_command
+        SET f_status = '2'
+        WHERE f_status = '1' and f_end_execution_time IS NOT NULL
+    </update>
+
+    <!-- 获取待执行的上料指令 -->
+    <select id="selectPendingLoadingCommands" resultMap="RobotArmCommandResult">
+        <include refid="selectRobotArmCommandVo"/>
+        WHERE f_type = '0' AND f_status = '0'
+        ORDER BY f_create_time ASC
+        LIMIT 1
+    </select>
+
+    <!-- 获取待执行的下料指令 -->
+    <select id="selectPendingUnloadingCommands" resultMap="RobotArmCommandResult">
+        <include refid="selectRobotArmCommandVo"/>
+        WHERE f_type = '1' AND f_status = '0'
+        ORDER BY f_create_time ASC
+        LIMIT 1
+    </select>
+    <delete id="deleteRobotArmCommandById" parameterType="Long">
+        delete from t_robot_arm_command where f_robot_arm_command_id = #{robotArmCommandId}
+    </delete>
+
+    <delete id="deleteRobotArmCommandByIds" parameterType="String">
+        delete from t_robot_arm_command where f_robot_arm_command_id in 
+        <foreach item="robotArmCommandId" collection="array" open="(" separator="," close=")">
+            #{robotArmCommandId}
+        </foreach>
+    </delete>
+</mapper>
\ No newline at end of file

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

@@ -48,7 +48,30 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         <include refid="selectTStoreyInfoVo"/>
         where f_storey_code = #{fStoreyCode}
     </select>
-        
+
+    <select id="selectNearestFreeStorey" resultMap="TStoreyInfoResult">
+        SELECT
+            f_storey_id, f_equipment_id, f_storey_code, f_ip, f_status, f_port,
+            f_aging_start_time, f_update_time, f_create_time, f_alarm_time
+        FROM (
+                 SELECT
+                     *,
+                     CASE
+                         WHEN cabinet_num BETWEEN 1 AND 18 THEN (cabinet_num - 1) * 10 + layer_num
+                         WHEN cabinet_num BETWEEN 19 AND 36 THEN (cabinet_num - 19) * 10 + layer_num
+                         END AS distance
+                 FROM (
+                          SELECT
+                              *,
+                              CAST(SUBSTRING_INDEX(f_storey_code, '-', 1) AS UNSIGNED) AS cabinet_num,
+                              CAST(SUBSTRING_INDEX(f_storey_code, '-', -1) AS UNSIGNED) AS layer_num
+                          FROM t_storey_info
+                          WHERE f_status = '0'  -- 空闲状态
+                      ) AS parsed
+             ) AS calculated
+        ORDER BY distance ASC
+            LIMIT 1
+    </select>
     <insert id="insertTStoreyInfo" parameterType="TStoreyInfo">
         insert into t_storey_info
         <trim prefix="(" suffix=")" suffixOverrides=",">

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

+import request from '@/utils/request'
+
+// 查询机械臂指令列表
+export function listCommand(query) {
+  return request({
+    url: '/robotArm/command/list',
+    method: 'get',
+    params: query
+  })
+}
+
+// 查询机械臂指令详细
+export function getCommand(robotArmCommandId) {
+  return request({
+    url: '/robotArm/command/' + robotArmCommandId,
+    method: 'get'
+  })
+}
+
+// 新增机械臂指令
+export function addCommand(data) {
+  return request({
+    url: '/robotArm/command',
+    method: 'post',
+    data: data
+  })
+}
+
+// 执行上电操作
+export function powerOnCommand(commandId) {
+  return request({
+    url: '/robotArm/command/powerOn',
+    method: 'post',
+    data: { commandId }
+  })
+}
+
+// 修改机械臂指令
+export function updateCommand(data) {
+  return request({
+    url: '/robotArm/command',
+    method: 'put',
+    data: data
+  })
+}
+
+// 删除机械臂指令
+export function delCommand(robotArmCommandId) {
+  return request({
+    url: '/robotArm/command/' + robotArmCommandId,
+    method: 'delete'
+  })
+}
+
+// 导出机械臂指令
+export function exportCommand(query) {
+  return request({
+    url: '/robotArm/command/export',
+    method: 'get',
+    params: query
+  })
+}