1 上料支持 手动 和 自动

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

@@ -89,6 +89,14 @@ public class RobotArmCommandController extends BaseController
         return AjaxResult.success("发送成功");
     }
 
+    /**
+     * 发送指令
+     */
+    @PostMapping("/addManualCommand")
+    public AjaxResult addManualCommand(@RequestBody RobotArmCommand robotArmCommand) {
+        return toAjax(robotArmCommandService.addManualCommand(robotArmCommand));
+    }
+
     /**
      * 新增机械臂指令
      */

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

@@ -43,6 +43,14 @@ public interface IRobotArmCommandService
      */
     public int insertRobotArmCommand(RobotArmCommand robotArmCommand);
 
+    /**
+     * 新增机械臂指令-手动模式
+     *
+     * @param robotArmCommand 机械臂指令
+     * @return 结果
+     */
+    public int addManualCommand(RobotArmCommand robotArmCommand);
+
     public void powerOnCommand(Long commandId);
 
     /**

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

@@ -446,6 +446,56 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
         return robotArmCommandMapper.insertRobotArmCommand(robotArmCommand);
     }
 
+    @Override
+    @Transactional
+    public int addManualCommand(RobotArmCommand robotArmCommand) {
+
+        robotArmCommand.setCreateTime(DateUtils.getNowDate());
+
+        if(StringUtils.isBlank(robotArmCommand.getTrayCode()) || StringUtils.isBlank(robotArmCommand.getStoreyCode())) {
+            throw new RuntimeException("托盘编号和层编号不能为空");
+        }
+
+        TTrayInfo tTrayInfo = tTrayInfoMapper.selectTTrayInfoByCode(robotArmCommand.getTrayCode());
+
+        if(tTrayInfo == null) {
+            throw new RuntimeException("托盘不存在");
+        }
+
+        // 看看 此托盘绑定了数据了吗？
+        int i1 = palletDeviceBindingMapper.countByTrayId(tTrayInfo.getfTrayId());
+        if(i1 == 0) {
+            throw new RuntimeException("托盘未绑定设备");
+        }
+
+        // 20251104 上料 不需要看托盘状态了
+        // 20251210 上料 又需要看托盘状态了
+        if(!"4".equals(tTrayInfo.getfStatus())) {
+            throw new RuntimeException("托盘状态异常，请联系管理员");
+        }
+
+        TStoreyInfo tStoreyInfo = storeyInfoMapper.selectTStoreyInfoByCode(robotArmCommand.getStoreyCode());
+        if(tStoreyInfo == null) {
+            throw new RuntimeException("层不存在");
+        }
+        robotArmCommand.setStatus("1");
+        robotArmCommand.setStoreyCode(tStoreyInfo.getfStoreyCode());
+        robotArmCommand.setCommand(tStoreyInfo.getFeedingCommand());
+        tTrayInfo.setfStoreyCode(tStoreyInfo.getfStoreyCode());
+        tTrayInfo.setfBindingTime(new Date());
+        tTrayInfoMapper.updateTTrayInfo(tTrayInfo);
+
+        tStoreyInfo.setfStatus("1");
+        storeyInfoMapper.updateStatusByCode(tStoreyInfo);
+
+        // 20260108 新加的把绑定层编号设置到实时数据上
+        palletDeviceBindingMapper.updateStoreCodeByTrayId(tTrayInfo.getfTrayId(), tStoreyInfo.getfStoreyCode());
+
+        int i = robotArmCommandMapper.insertRobotArmCommand(robotArmCommand);
+        notifyCommandsUpdate();
+        return i;
+    }
+
     /**
      * 新增机械臂指令
      *

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

@@ -26,6 +26,14 @@ export function addCommand(data) {
   })
 }
 
+export function addManualCommand(data) {
+  return request({
+    url: '/robotArm/command/addManualCommand',
+    method: 'post',
+    data: data
+  })
+}
+
 // 新增机械臂指令
 export function insertBlankingRobotArmCommand(data) {
   return request({

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

@@ -65,7 +65,7 @@ import RealTimeData from './components/RealTimeData'
 import TrayBinding from "@/views/screen/components/TrayBinding";
 import TrayInformation from "@/views/screen/components/TrayInformation";
 
-import RoboticArm from './components/RoboticArm.vue';
+import RoboticArm from './components/ManualAutoSwitchRoboticArm.vue';
 export default {
   components: {
     AgingCabinetBoard,