*

lsh

2025-09-09 c0da15f6c25210ad17993c8fc829c92ab8113fa1

*

 src/main/java/basArmMast.sql

File was deleted

 src/main/java/basArmRules.sql

File was deleted

 src/main/java/com/zy/asrs/controller/BasArmController.java

New file
@@ -0,0 +1,83 @@
package com.zy.asrs.controller;

import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.mapper.Wrapper;
import com.baomidou.mybatisplus.plugins.Page;
import com.zy.asrs.entity.BasArm;
import com.zy.asrs.service.BasArmService;
import com.core.annotations.ManagerAuth;
import com.core.common.BaseRes;
import com.core.common.Cools;
import com.core.common.R;
import com.zy.common.web.BaseController;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.*;

import java.util.*;

@RestController
public class BasArmController extends BaseController {

    @Autowired
    private BasArmService basArmService;

    @RequestMapping(value = "/basArm/{id}/auth")
    @ManagerAuth
    public R get(@PathVariable("id") String id) {
        return R.ok(basArmService.selectById(String.valueOf(id)));
    }

    @RequestMapping(value = "/basArm/add/auth")
    @ManagerAuth
    public R add(BasArm basArm) {
        basArmService.insert(basArm);
        return R.ok();
    }

    @RequestMapping(value = "/basArm/update/auth")
    @ManagerAuth
    public R update(BasArm basArm){
        if (Cools.isEmpty(basArm) || null==basArm.getId()){
            return R.error();
        }
        basArmService.updateById(basArm);
        return R.ok();
    }

    @RequestMapping(value = "/basArm/delete/auth")
    @ManagerAuth
    public R delete(@RequestParam(value="ids[]") Long[] ids){
         for (Long id : ids){
            basArmService.deleteById(id);
        }
        return R.ok();
    }

    @RequestMapping(value = "/basArmQuery/auth")
    @ManagerAuth
    public R query(String condition) {
        EntityWrapper<BasArm> wrapper = new EntityWrapper<>();
        wrapper.like("id", condition);
        Page<BasArm> page = basArmService.selectPage(new Page<>(0, 10), wrapper);
        List<Map<String, Object>> result = new ArrayList<>();
        for (BasArm basArm : page.getRecords()){
            Map<String, Object> map = new HashMap<>();
            map.put("id", basArm.getId());
            map.put("value", basArm.getId());
            result.add(map);
        }
        return R.ok(result);
    }

    @RequestMapping(value = "/basArm/check/column/auth")
    @ManagerAuth
    public R query(@RequestBody JSONObject param) {
        Wrapper<BasArm> wrapper = new EntityWrapper<BasArm>().eq(humpToLine(String.valueOf(param.get("key"))), param.get("val"));
        if (null != basArmService.selectOne(wrapper)){
            return R.parse(BaseRes.REPEAT).add(getComment(BasArm.class, String.valueOf(param.get("key"))));
        }
        return R.ok();
    }

}

 src/main/java/com/zy/asrs/entity/ApiLog.java

New file
@@ -0,0 +1,193 @@
package com.zy.asrs.entity;

import com.baomidou.mybatisplus.annotations.TableField;
import com.baomidou.mybatisplus.annotations.TableId;
import com.baomidou.mybatisplus.annotations.TableName;
import com.baomidou.mybatisplus.enums.IdType;
import com.core.common.Cools;
import io.swagger.annotations.ApiModelProperty;
import lombok.Data;
import org.springframework.format.annotation.DateTimeFormat;

import java.io.Serializable;
import java.text.SimpleDateFormat;
import java.util.Date;

@Data
@TableName("man_api_log")
public class ApiLog implements Serializable {

    private static final long serialVersionUID = 1L;

    /**
     * ID
     */
    @ApiModelProperty(value= "ID")
    @TableId(value = "id", type = IdType.AUTO)
    private Long id;

    /**
     * 日志编号
     */
    @ApiModelProperty(value= "日志编号")
    private String uuid;

    /**
     * 名称空间
     */
    @ApiModelProperty(value= "名称空间")
    private String namespace;

    /**
     * 接口地址
     */
    @ApiModelProperty(value= "接口地址")
    private String url;

    /**
     * 平台密钥
     */
    @ApiModelProperty(value= "平台密钥")
    private String appkey;

    /**
     * 时间戳
     */
    @ApiModelProperty(value= "时间戳")
    private String timestamp;

    /**
     * 客户端IP
     */
    @ApiModelProperty(value= "客户端IP")
    @TableField("client_ip")
    private String clientIp;

    /**
     * 请求内容
     */
    @ApiModelProperty(value= "请求内容")
    private String request;

    /**
     * 响应内容
     */
    @ApiModelProperty(value= "响应内容")
    private String response;

    /**
     * 异常内容
     */
    @ApiModelProperty(value= "异常内容")
    private String err;

    /**
     * 结果 1: 成功  0: 失败  
     */
    @ApiModelProperty(value= "结果 1: 成功  0: 失败  ")
    private Integer result;

    /**
     * 状态 1: 正常  0: 禁用  
     */
    @ApiModelProperty(value= "状态 1: 正常  0: 禁用  ")
    private Integer status;

    /**
     * 添加时间
     */
    @ApiModelProperty(value= "添加时间")
    @TableField("create_time")
    @DateTimeFormat(pattern="yyyy-MM-dd HH:mm:ss")
    private Date createTime;

    /**
     * 修改时间
     */
    @ApiModelProperty(value= "修改时间")
    @TableField("update_time")
    @DateTimeFormat(pattern="yyyy-MM-dd HH:mm:ss")
    private Date updateTime;

    /**
     * 备注
     */
    @ApiModelProperty(value= "备注")
    private String memo;

    public ApiLog() {}

    public ApiLog(String uuid, String namespace, String url, String appkey, String timestamp, String clientIp, String request, String response, String err, Integer result, Integer status, Date createTime, Date updateTime, String memo) {
        this.uuid = uuid;
        this.namespace = namespace;
        this.url = url;
        this.appkey = appkey;
        this.timestamp = timestamp;
        this.clientIp = clientIp;
        this.request = request;
        this.response = response;
        this.err = err;
        this.result = result;
        this.status = status;
        this.createTime = createTime;
        this.updateTime = updateTime;
        this.memo = memo;
    }

//    ApiLog apiLog = new ApiLog(
//            null,    // 日志编号
//            null,    // 名称空间
//            null,    // 接口地址
//            null,    // 平台密钥
//            null,    // 时间戳
//            null,    // 客户端IP
//            null,    // 请求内容
//            null,    // 响应内容
//            null,    // 异常内容
//            null,    // 结果
//            null,    // 状态
//            null,    // 添加时间
//            null,    // 修改时间
//            null    // 备注
//    );

    public String getResult$(){
        if (null == this.result){ return null; }
        switch (this.result){
            case 1:
                return "成功";
            case 0:
                return "失败";
            default:
                return String.valueOf(this.result);
        }
    }

    public String getStatus$(){
        if (null == this.status){ return null; }
        switch (this.status){
            case 1:
                return "正常";
            case 0:
                return "禁用";
            default:
                return String.valueOf(this.status);
        }
    }

    public String getCreateTime$(){
        if (Cools.isEmpty(this.createTime)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.createTime);
    }

    public String getUpdateTime$(){
        if (Cools.isEmpty(this.updateTime)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.updateTime);
    }


}

 src/main/java/com/zy/asrs/entity/BasArm.java

New file
@@ -0,0 +1,68 @@
package com.zy.asrs.entity;

import com.core.common.Cools;import com.baomidou.mybatisplus.annotations.TableId;
import com.baomidou.mybatisplus.enums.IdType;
import com.baomidou.mybatisplus.annotations.TableField;

import io.swagger.annotations.ApiModelProperty;
import lombok.Data;
import com.baomidou.mybatisplus.annotations.TableName;
import java.io.Serializable;

@Data
@TableName("asr_bas_arm")
public class BasArm implements Serializable {

    private static final long serialVersionUID = 1L;

    /**
     * ID
     */
    @ApiModelProperty(value= "ID")
    @TableId(value = "id", type = IdType.AUTO)
    private Long id;

    /**
     * 机械臂编号
     */
    @ApiModelProperty(value= "机械臂编号")
    @TableField("arm_no")
    private Integer armNo;

    /**
     * 码垛位
     */
    @ApiModelProperty(value= "码垛位")
    @TableId(value = "sta_no", type = IdType.INPUT)
    @TableField("sta_no")
    private Integer staNo;

    /**
     * 拆垛位
     */
    @ApiModelProperty(value= "拆垛位")
    @TableId(value = "sorting_line", type = IdType.INPUT)
    @TableField("sorting_line")
    private Integer sortingLine;

    @ApiModelProperty(value= "")
    private Integer status;

    public BasArm() {}

    public BasArm(Integer armNo,Integer staNo,Integer sortingLine,Integer status) {
        this.armNo = armNo;
        this.staNo = staNo;
        this.sortingLine = sortingLine;
        this.status = status;
    }

//    BasArm basArm = new BasArm(
//            null,    // 机械臂编号[非空]
//            null,    // 码垛位[非空]
//            null,    // 拆垛位[非空]
//            null    // [非空]
//    );


}

 src/main/java/com/zy/asrs/entity/BasArmMast.java

@@ -19,13 +19,13 @@
     * ID
     */
    @ApiModelProperty(value= "ID")
    @TableId(value = "id", type = IdType.AUTO)
    private Long id;

    /**
     * 机械臂编号
     */
    @ApiModelProperty(value= "机械臂编号")
    @TableId(value = "arm_no", type = IdType.INPUT)
    @TableField("arm_no")
    private Integer armNo;


 src/main/java/com/zy/asrs/entity/param/ArmTaskAssignmentParam.java

New file
@@ -0,0 +1,22 @@
package com.zy.asrs.entity.param;

import lombok.Data;

/*
 *  Created by Monkey D. Luffy on 2025.09.09
 * */
@Data
public class ArmTaskAssignmentParam {

    private String id;

    public ArmTaskAssignmentParam() {}

    public ArmTaskAssignmentParam(String id) {
        this.id = id;
    }

    public ArmTaskAssignmentParam(int id) {
        this.id = String.valueOf(id);
    }
}

 src/main/java/com/zy/asrs/mapper/ApiLogMapper.java

New file
@@ -0,0 +1,12 @@
package com.zy.asrs.mapper;

import com.baomidou.mybatisplus.mapper.BaseMapper;
import com.zy.asrs.entity.ApiLog;
import org.apache.ibatis.annotations.Mapper;
import org.springframework.stereotype.Repository;

@Mapper
@Repository
public interface ApiLogMapper extends BaseMapper<ApiLog> {
    int clearWeekBefore();
}

 src/main/java/com/zy/asrs/mapper/BasArmMapper.java

New file
@@ -0,0 +1,12 @@
package com.zy.asrs.mapper;

import com.zy.asrs.entity.BasArm;
import com.baomidou.mybatisplus.mapper.BaseMapper;
import org.apache.ibatis.annotations.Mapper;
import org.springframework.stereotype.Repository;

@Mapper
@Repository
public interface BasArmMapper extends BaseMapper<BasArm> {

}

 src/main/java/com/zy/asrs/service/ApiLogService.java

New file
@@ -0,0 +1,10 @@
package com.zy.asrs.service;

import com.baomidou.mybatisplus.service.IService;
import com.zy.asrs.entity.ApiLog;

public interface ApiLogService extends IService<ApiLog> {
    void save(String namespace, String url, String appkey, String ip, String request, String response, boolean success);

    boolean clearWeekBefore();
}

 src/main/java/com/zy/asrs/service/BasArmService.java

New file
@@ -0,0 +1,8 @@
package com.zy.asrs.service;

import com.zy.asrs.entity.BasArm;
import com.baomidou.mybatisplus.service.IService;

public interface BasArmService extends IService<BasArm> {

}

 src/main/java/com/zy/asrs/service/impl/ApiLogServiceImpl.java

New file
@@ -0,0 +1,52 @@
package com.zy.asrs.service.impl;

import com.baomidou.mybatisplus.service.impl.ServiceImpl;
import com.core.common.SnowflakeIdWorker;
import com.zy.asrs.entity.ApiLog;
import com.zy.asrs.mapper.ApiLogMapper;
import com.zy.asrs.service.ApiLogService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.scheduling.annotation.Async;
import org.springframework.stereotype.Service;

import java.util.Date;

@Slf4j
@Service("apiLogService")
public class ApiLogServiceImpl extends ServiceImpl<ApiLogMapper, ApiLog> implements ApiLogService {

    @Autowired
    private SnowflakeIdWorker snowflakeIdWorker;

    @Async
    @Override
    public void save(String namespace, String url, String appkey, String ip, String request, String response, boolean success) {
        Date now = new Date();
        ApiLog apiLog = new ApiLog(
                String.valueOf(snowflakeIdWorker.nextId()),    // 日志编号
                namespace,    // 名称空间
                url,    // 接口地址
                appkey,    // 平台密钥
                String.valueOf(now.getTime()),    // 时间戳
                ip,    // 客户端IP
                request,    // 请求内容
                response,
                null,    // 异常内容
                success?1:0 ,    // 结果
                1,    // 状态
                now,    // 添加时间
                null,    // 修改时间
                null    // 备注
        );
        if (!this.insert(apiLog)) {
            log.error("接口调用日志保存失败！");
        }
    }

    @Override
    public boolean clearWeekBefore() {
        return this.baseMapper.clearWeekBefore() > 0;
    }

}

 src/main/java/com/zy/asrs/service/impl/BasArmServiceImpl.java

New file
@@ -0,0 +1,12 @@
package com.zy.asrs.service.impl;

import com.zy.asrs.mapper.BasArmMapper;
import com.zy.asrs.entity.BasArm;
import com.zy.asrs.service.BasArmService;
import com.baomidou.mybatisplus.service.impl.ServiceImpl;
import org.springframework.stereotype.Service;

@Service("basArmService")
public class BasArmServiceImpl extends ServiceImpl<BasArmMapper, BasArm> implements BasArmService {

}

 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -8,11 +8,15 @@
import com.core.common.DateUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.ArmTaskAssignmentParam;
import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.PostMesDataUtils;
import com.zy.asrs.utils.RouteUtils;
import com.zy.asrs.utils.Utils;
import com.zy.asrs.utils.VersionUtils;
import com.zy.asrs.utils.core.ReturnT;
import com.zy.common.constant.ArmConstant;
import com.zy.common.model.LocTypeDto;
import com.zy.common.model.MatDto;
import com.zy.common.model.SearchLocParam;
@@ -93,6 +97,10 @@
    private WrkMastService wrkMastService;
    @Autowired
    private BasRgvMapService basRgvMapService;
    @Autowired
    private BasArmService basArmService;
    @Autowired
    private BasArmMastService basArmMastService;

    @Value("${wms.url}")
    private String wmsUrl;
@@ -4183,4 +4191,59 @@
        }
    }




    /*
     * arm任务下发
     * */
    public synchronized void armTaskAssignment() {
        try{
            List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<>());
            for (BasArm basArm : basArmList) {
                if (basArm.getStatus()!=1){
                    continue;
                }
                try{
                    List<BasArmMast> basArmMastListRuning = basArmMastService.selectList(
                            new EntityWrapper<BasArmMast>()
                                    .eq("arm_no", basArm.getArmNo())
                                    .eq("sorting_line", basArm.getSortingLine())
                                    .eq("status", 1)
                    );
                    if (basArmMastListRuning.isEmpty()){
                        List<BasArmMast> basArmMastList = basArmMastService.selectList(
                                new EntityWrapper<BasArmMast>()
                                        .eq("arm_no", basArm.getArmNo())
                                        .eq("sorting_line", basArm.getSortingLine())
                                        .eq("status", 0)
                        );
                        if (basArmMastList.isEmpty()){
                            continue;
                        }
                        if (basArmMastList.size()>1){
                            log.error("arm编号："+basArm.getArmNo()+"====》拆码垛任务异常禁止下发！！！任务待执行数量大于1！！！");
                            continue;
                        }
                        for (BasArmMast basArmMast:basArmMastList) {
                            ArmTaskAssignmentParam armTaskAssignmentParam = new ArmTaskAssignmentParam(basArmMast.getSortingLine());
                            //设置工作空间就绪
                            ReturnT<String> result = new PostMesDataUtils().postMesData("机械臂抓取任务",ArmConstant.ARM_URL, ArmConstant.ARM_WORKSPACE, armTaskAssignmentParam);
                            if (result.getCode()==200){
                                basArmMast.setStatus(1);
                                basArmMastService.updateById(basArmMast);
                            } else {
                                log.error("机械臂抓取任务："+JSON.toJSON(basArmMast)+"===》任务信息下发失败");
                            }
                        }
                    }
                }  catch (Exception e){
                    log.error("arm编号："+basArm.getArmNo()+"====》拆码垛任务下发失败"+e.getMessage());
                }
            }
        }catch (Exception e){
            log.error("arm任务下发失败"+e.getMessage());
        }
    }

}

 src/main/java/com/zy/asrs/utils/PostMesDataUtils.java

New file
@@ -0,0 +1,163 @@
package com.zy.asrs.utils;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.service.ApiLogService;
import com.zy.asrs.utils.core.AbstractHandler;
import com.zy.asrs.utils.core.ReturnT;
import com.zy.common.utils.HttpHandler;
import lombok.extern.slf4j.Slf4j;

import java.util.Map;

@Slf4j
public class PostMesDataUtils extends AbstractHandler<String> {

    public ReturnT<String> postMesDataWcs(String URL, String erpPath, Object combParam){
        if(combParam != null){
            String response = "";
            boolean success = false;
            try {
                response = new HttpHandler.Builder()
                        .setUri(URL)
                        .setPath(erpPath)
                        .setJson(JSON.toJSONString(combParam))
                        .build()
                        .doPost();
                JSONObject jsonObject = JSON.parseObject(response);
                if (jsonObject.getInteger("code")==200) {
                    success = true;
                } else {
                    log.error("任务完成信息上传请求接口失败！！！url：{}；request：{}；response：{}"+URL+erpPath, JSON.toJSONString(combParam), response);
                    throw new CoolException("上报wcs系统失败");
                }
            } catch (Exception e) {
                log.error("fail:上报wcs系统失败==>", e);
//                      TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                return FAIL.setMsg(e.getMessage());
            } finally {
                try {
                    // 保存接口日志
                    ApiLogService apiLogService = SpringUtils.getBean(ApiLogService.class);

                    apiLogService.save(
                            "上报wcs系统",
                            URL + erpPath,
                            null,
                            URL,
                            JSON.toJSONString(combParam),
                            response,
                            success
                    );
                } catch (Exception e) {
                    log.error("任务完成信息上传保存接口日志异常，异常信息：", e);
                }
            }
        }
        return SUCCESS;
    }

    public ReturnT<String> postMesData(String name, String URL, String mesPath, Object combParam){
//        if (true){
//            System.out.println("name:"+name+",URL:"+URL+",mesPath:"+mesPath+",combParam:"+combParam);
//            return SUCCESS;
//        }
        if(combParam != null){
            String response = "";
            boolean success = false;
            try {
//                Map<String, Object> map = new HashMap<>()
//                map.put("appkey","ea1f0459efc02a79f046f982767939ae");
                response = new HttpHandler.Builder()
//                        .setHeaders(map)
                        .setUri(URL)
                        .setPath(mesPath)
                        .setJson(JSON.toJSONString(combParam))
                        .build()
                        .doPost();
                System.out.println("response:"+response);
                JSONObject jsonObject = JSON.parseObject(response);

                if (jsonObject.getInteger("code").equals(200)) {
                    success = true;
                } else {
                    log.error("请求接口失败！！！url：{}；request：{}；response：{}", URL+"/"+mesPath, JSON.toJSONString(combParam), response);
                    throw new CoolException("上报"+name);
                }
            } catch (Exception e) {
                log.error("请求接口失败！！！url：{}；request：{}；response：{}", URL+"/"+mesPath, JSON.toJSONString(combParam), response);
//                      TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                return FAIL.setMsg(e.getMessage());
            } finally {
                try {
                    // 保存接口日志
                    ApiLogService apiLogService = SpringUtils.getBean(ApiLogService.class);
                    apiLogService.save(
                            "上报"+name,
                            URL +"/"+ mesPath,
                            null,
                            "127.0.0.1",
                            JSON.toJSONString(combParam),
                            response,
                            success
                    );
                } catch (Exception e) {
                    log.error("", e); }
            }
        }
        return SUCCESS;
    }

    public ReturnT<String> postMesData(String name, String URL, String mesPath, Object combParam,Map<String, Object> map){
//        if (true){
//            System.out.println("name:"+name+",URL:"+URL+",mesPath:"+mesPath+",combParam:"+combParam);
//            return SUCCESS;
//        }
        if(combParam != null){
            String response = "";
            boolean success = false;
            try {
//                Map<String, Object> map = new HashMap<>();
//                map.put("appkey","ea1f0459efc02a79f046f982767939ae");
                response = new HttpHandler.Builder()
                        .setHeaders(map)
                        .setUri(URL)
                        .setPath(mesPath)
                        .setJson(JSON.toJSONString(combParam))
                        .build()
                        .doPost();
                System.out.println("response:"+response);
                JSONObject jsonObject = JSON.parseObject(response);

                if (jsonObject.getInteger("code").equals(200)) {
                    success = true;
                } else {
                    log.error("请求接口失败！！！url：{}；request：{}；response：{}", URL+"/"+mesPath, JSON.toJSONString(combParam), response);
                    throw new CoolException("上报"+name);
                }
            } catch (Exception e) {
                log.error("请求接口失败！！！url：{}；request：{}；response：{}", URL+"/"+mesPath, JSON.toJSONString(combParam), response);
//                      TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                return FAIL.setMsg(e.getMessage());
            } finally {
                try {
                    // 保存接口日志
                    ApiLogService apiLogService = SpringUtils.getBean(ApiLogService.class);
                    apiLogService.save(
                            "上报"+name,
                            URL +"/"+ mesPath,
                            null,
                            "127.0.0.1",
                            JSON.toJSONString(combParam),
                            response,
                            success
                    );
                } catch (Exception e) {
                    log.error("", e); }
            }
        }
        return SUCCESS;
    }
}

 src/main/java/com/zy/asrs/utils/core/AbstractHandler.java

New file
@@ -0,0 +1,30 @@
package com.zy.asrs.utils.core;

import com.core.exception.CoolException;
import com.zy.asrs.utils.core.ReturnT;
import lombok.extern.slf4j.Slf4j;

import java.text.MessageFormat;

/**
 * Created by vincent on 2020/7/4
 */
@Slf4j
public abstract class AbstractHandler<T> {

    public final ReturnT<T> SUCCESS = new ReturnT<>(200, null);
    public final ReturnT<T> FAIL = new ReturnT<>(500, null);

//    protected abstract ReturnT<T> start();

    protected void exceptionHandle(String errorMsg){
        log.error(errorMsg);
        exceptionHandle(errorMsg, (Object) null);
    }

    protected void exceptionHandle(String errorMsg, Object... args){
        log.error(errorMsg);
        throw new CoolException(MessageFormat.format(errorMsg, args));
    }

}

 src/main/java/com/zy/asrs/utils/core/AsrsException.java

New file
@@ -0,0 +1,16 @@
package com.zy.asrs.utils.core;

/**
 * Created by vincent on 2020/7/7
 */
public class AsrsException extends RuntimeException {

    public AsrsException(Throwable e) {
        super(e);
    }

    public AsrsException(String message) {
        super(message);
    }

}

 src/main/java/com/zy/asrs/utils/core/ReturnT.java

New file
@@ -0,0 +1,65 @@
package com.zy.asrs.utils.core;

import java.io.Serializable;

/**
 * Created by vincent on 2020/7/7
 */
public class ReturnT<T> implements Serializable {

    public static final long serialVersionUID = 42L;
    public static final int SUCCESS_CODE = 200;
    public static final int FAIL_CODE = 500;
    private int code;
    private String msg;
    private T content;

    public ReturnT() {
    }

    public ReturnT(int code, String msg) {
        this.code = code;
        this.msg = msg;
    }

    public ReturnT(T content) {
        this.code = 200;
        this.content = content;
    }

    public boolean isSuccess(){
        return this.code == 200;
    }

    public int getCode() {
        return this.code;
    }

    public ReturnT<T> setCode(int code) {
        this.code = code;
        return this;
    }

    public String getMsg() {
        return this.msg;
    }

    public ReturnT<T> setMsg(String msg) {
        this.msg = msg;
        return this;
    }

    public T getContent() {
        return this.content;
    }

    public ReturnT<T> setContent(T content) {
        this.content = content;
        return this;
    }

    public String toString() {
        return "ReturnT [code=" + this.code + ", msg=" + this.msg + ", content=" + this.content + "]";
    }

}

 src/main/java/com/zy/common/CodeBuilder.java

@@ -20,7 +20,7 @@
        generator.url="192.168.4.191:50948;databasename=jshdasrs";
        generator.username="sa";
        generator.password="sa@123";
        generator.table="asr_bas_arm_mast_log";
        generator.table="asr_bas_arm";
        generator.packagePath="com.zy.asrs";
        generator.build();
    }

 src/main/java/com/zy/common/constant/ArmConstant.java

New file
@@ -0,0 +1,14 @@
package com.zy.common.constant;

/*
 *  Created by Monkey D. Luffy on 2025.09.09
 * */
public class ArmConstant {

    public static final String ARM_URL = "http://192.168.99.130:80";

    public static final String ARM_ADAPTOR = "adaptor/api/wcs/order";//创建订单

    public static final String ARM_WORKSPACE = "adaptor/api/wcs/workspace/ready";//通知工作空间已就绪

}

 src/main/java/com/zy/core/MainProcess.java

@@ -24,7 +24,7 @@
    private MainServiceImpl mainService;
    // 所属线程
    private Thread thread;
    private Thread thread2;
    private Thread armThread;
    // 频率
    private int i = 0;
    private int k = 0;
@@ -37,8 +37,8 @@
        thread = new Thread(this::crnAndDevRun);
        thread.start();

        thread2 = new Thread(this::roboticArmDispatch);
//        thread2.start();
        armThread = new Thread(this::roboticArmDispatch);
        armThread.start();
    }
    private void crnAndDevRun() {
        while (!Thread.currentThread().isInterrupted()) {
@@ -157,6 +157,9 @@
                    continue;
                }

                //arm任务下发
                mainService.armTaskAssignment();

            } catch (Exception e) {
                e.printStackTrace();
            }
@@ -166,7 +169,7 @@
    @PreDestroy
    public void shutDown(){
        if (thread != null) thread.interrupt();
        if (thread2 != null) thread2.interrupt();
        if (armThread != null) armThread.interrupt();
    }

}

 src/main/resources/mapper/ApiLogMapper.xml

New file
@@ -0,0 +1,32 @@
<?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.zy.asrs.mapper.ApiLogMapper">

    <!-- 通用查询映射结果 -->
    <resultMap id="BaseResultMap" type="com.zy.asrs.entity.ApiLog">
        <id column="id" property="id" />
        <result column="uuid" property="uuid" />
        <result column="namespace" property="namespace" />
        <result column="url" property="url" />
        <result column="appkey" property="appkey" />
        <result column="timestamp" property="timestamp" />
        <result column="client_ip" property="clientIp" />
        <result column="request" property="request" />
        <result column="response" property="response" />
        <result column="err" property="err" />
        <result column="result" property="result" />
        <result column="status" property="status" />
        <result column="create_time" property="createTime" />
        <result column="update_time" property="updateTime" />
        <result column="memo" property="memo" />

    </resultMap>

    <delete id="clearWeekBefore">
        delete from man_api_log
        where 1=1
          and datediff(week,create_time,getdate()) >= 1
          and result != 1
    </delete>

</mapper>

 src/main/resources/mapper/BasArmMapper.xml

New file
@@ -0,0 +1,15 @@
<?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.zy.asrs.mapper.BasArmMapper">

    <!-- 通用查询映射结果 -->
    <resultMap id="BaseResultMap" type="com.zy.asrs.entity.BasArm">
        <id column="id" property="id" />
        <result column="arm_no" property="armNo" />
        <result column="sta_no" property="staNo" />
        <result column="sorting_line" property="sortingLine" />
        <result column="status" property="status" />

    </resultMap>

</mapper>

 src/main/webapp/static/js/basArm/basArm.js

New file
@@ -0,0 +1,249 @@
var pageCurr;
layui.config({
    base: baseUrl + "/static/layui/lay/modules/"
}).use(['table','laydate', 'form', 'admin'], function(){
    var table = layui.table;
    var $ = layui.jquery;
    var layer = layui.layer;
    var layDate = layui.laydate;
    var form = layui.form;
    var admin = layui.admin;

    // 数据渲染
    tableIns = table.render({
        elem: '#basArm',
        headers: {token: localStorage.getItem('token')},
        url: baseUrl+'/basArm/list/auth',
        page: true,
        limit: 15,
        limits: [15, 30, 50, 100, 200, 500],
        toolbar: '#toolbar',
        cellMinWidth: 50,
        height: 'full-120',
        cols: [[
            {type: 'checkbox'}
            ,{field: 'id', align: 'center',title: 'ID'}
            ,{field: 'armNo', align: 'center',title: '机械臂编号'}
            ,{field: 'staNo', align: 'center',title: '码垛位'}
            ,{field: 'sortingLine', align: 'center',title: '拆垛位'}
            ,{field: 'status', align: 'center',title: ''}

            ,{fixed: 'right', title:'操作', align: 'center', toolbar: '#operate', width:120}
        ]],
        request: {
            pageName: 'curr',
            pageSize: 'limit'
        },
        parseData: function (res) {
            return {
                'code': res.code,
                'msg': res.msg,
                'count': res.data.total,
                'data': res.data.records
            }
        },
        response: {
            statusCode: 200
        },
        done: function(res, curr, count) {
            if (res.code === 403) {
                top.location.href = baseUrl+"/";
            }
            pageCurr=curr;
            limit();
        }
    });

    // 监听排序事件
    table.on('sort(basArm)', function (obj) {
        var searchData = {};
        $.each($('#search-box [name]').serializeArray(), function() {
            searchData[this.name] = this.value;
        });
        searchData['orderByField'] = obj.field;
        searchData['orderByType'] = obj.type;
        tableIns.reload({
            where: searchData,
            page: {curr: 1}
        });
    });

    // 监听头工具栏事件
    table.on('toolbar(basArm)', function (obj) {
        var checkStatus = table.checkStatus(obj.config.id).data;
        switch(obj.event) {
            case 'addData':
                showEditModel();
                break;
            case 'deleteData':
               if (checkStatus.length === 0) {
                   layer.msg('请选择要删除的数据', {icon: 2});
                   return;
               }
               del(checkStatus.map(function (d) {
                   return d.id;
               }));
               break;
            case 'exportData':
                admin.confirm('确定导出Excel吗', {shadeClose: true}, function(){
                    var titles=[];
                    var fields=[];
                    obj.config.cols[0].map(function (col) {
                        if (col.type === 'normal' && col.hide === false && col.toolbar == null) {
                            titles.push(col.title);
                            fields.push(col.field);
                        }
                    });
                    var exportData = {};
                    $.each($('#search-box [name]').serializeArray(), function() {
                        exportData[this.name] = this.value;
                    });
                    var param = {
                        'basArm': exportData,
                        'fields': fields
                    };
                    $.ajax({
                        url: baseUrl+"/basArm/export/auth",
                        headers: {'token': localStorage.getItem('token')},
                        data: JSON.stringify(param),
                        dataType:'json',
                        contentType:'application/json;charset=UTF-8',
                        method: 'POST',
                        success: function (res) {
                            layer.closeAll();
                            if (res.code === 200) {
                                table.exportFile(titles,res.data,'xls');
                            } else if (res.code === 403) {
                                top.location.href = baseUrl+"/";
                            } else {
                                layer.msg(res.msg, {icon: 2})
                            }
                        }
                    });
                });
                break;
        }
    });

    // 监听行工具事件
    table.on('tool(basArm)', function(obj){
        var data = obj.data;
        switch (obj.event) {
            case 'edit':
                showEditModel(data);
                break;
            case "del":
                del([data.id]);
                break;
        }
    });

    /* 弹窗 - 新增、修改 */
    function showEditModel(mData) {
        admin.open({
            type: 1,
            area: '600px',
            title: (mData ? '修改' : '添加') + '订单状态',
            content: $('#editDialog').html(),
            success: function (layero, dIndex) {
                layDateRender(mData);
                form.val('detail', mData);
                form.on('submit(editSubmit)', function (data) {
                    var loadIndex = layer.load(2);
                    $.ajax({
                        url: baseUrl+"/basArm/"+(mData?'update':'add')+"/auth",
                        headers: {'token': localStorage.getItem('token')},
                        data: data.field,
                        method: 'POST',
                        success: function (res) {
                            layer.close(loadIndex);
                            if (res.code === 200){
                                layer.close(dIndex);
                                layer.msg(res.msg, {icon: 1});
                                tableReload();
                            } else if (res.code === 403){
                                top.location.href = baseUrl+"/";
                            }else {
                                layer.msg(res.msg, {icon: 2});
                            }
                        }
                    })
                    return false;
                });
                $(layero).children('.layui-layer-content').css('overflow', 'visible');
                layui.form.render('select');
            }
        });
    }

    /* 删除 */
    function del(ids) {
        layer.confirm('确定要删除选中数据吗？', {
            skin: 'layui-layer-admin',
            shade: .1
        }, function (i) {
            layer.close(i);
            var loadIndex = layer.load(2);
            $.ajax({
                url: baseUrl+"/basArm/delete/auth",
                headers: {'token': localStorage.getItem('token')},
                data: {ids: ids},
                method: 'POST',
                success: function (res) {
                    layer.close(loadIndex);
                    if (res.code === 200){
                        layer.msg(res.msg, {icon: 1});
                        tableReload();
                    } else if (res.code === 403){
                        top.location.href = baseUrl+"/";
                    } else {
                        layer.msg(res.msg, {icon: 2});
                    }
                }
            })
        });
    }

    // 搜索
    form.on('submit(search)', function (data) {
        pageCurr = 1;
        tableReload(false);
    });

    // 重置
    form.on('submit(reset)', function (data) {
        pageCurr = 1;
        clearFormVal($('#search-box'));
        tableReload(false);
    });

    // 时间选择器
    function layDateRender(data) {
        setTimeout(function () {
            layDate.render({
                elem: '.layui-laydate-range'
                ,type: 'datetime'
                ,range: true
            });

        }, 300);
    }
    layDateRender();

});

// 关闭动作
$(document).on('click','#data-detail-close', function () {
    parent.layer.closeAll();
});

function tableReload(child) {
    var searchData = {};
    $.each($('#search-box [name]').serializeArray(), function() {
        searchData[this.name] = this.value;
    });
    tableIns.reload({
        where: searchData,
        page: {curr: pageCurr}
     });
}

 src/main/webapp/views/basArm/basArm.html

New file
@@ -0,0 +1,110 @@
<!DOCTYPE html>
<html lang="en">
<head>
    <meta charset="utf-8">
    <title></title>
    <meta name="renderer" content="webkit">
    <meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1">
    <meta name="viewport" content="width=device-width, initial-scale=1, maximum-scale=1">
    <link rel="stylesheet" href="../../static/layui/css/layui.css" media="all">
    <link rel="stylesheet" href="../../static/css/admin.css?v=318" media="all">
    <link rel="stylesheet" href="../../static/css/cool.css" media="all">
</head>
<body>

<div class="layui-fluid">
    <div class="layui-card">
        <div class="layui-card-body">
            <div class="layui-form toolbar" id="search-box">
                <div class="layui-form-item">
                    <div class="layui-inline">
                        <div class="layui-input-inline">
                            <input class="layui-input" type="text" name="id" placeholder="编号" autocomplete="off">
                        </div>
                    </div>
                     <div class="layui-inline" style="width: 300px">
                        <div class="layui-input-inline">
                            <input class="layui-input layui-laydate-range" name="create_time" type="text" placeholder="起始时间 - 终止时间" autocomplete="off" style="width: 300px">
                        </div>
                    </div>
                    <div class="layui-inline">
                        <div class="layui-input-inline">
                            <input class="layui-input" type="text" name="condition" placeholder="请输入" autocomplete="off">
                        </div>
                    </div>
                    <div class="layui-inline">&emsp;
                        <button class="layui-btn icon-btn" lay-filter="search" lay-submit>
                            <i class="layui-icon">&#xe615;</i>搜索
                        </button>
                        <button class="layui-btn icon-btn" lay-filter="reset" lay-submit>
                            <i class="layui-icon">&#xe666;</i>重置
                        </button>
                    </div>
                </div>
            </div>
            <table class="layui-hide" id="basArm" lay-filter="basArm"></table>
        </div>
    </div>
</div>

<script type="text/html" id="toolbar">
    <div class="layui-btn-container">
        <button class="layui-btn layui-btn-sm" id="btn-add" lay-event="addData">新增</button>
        <button class="layui-btn layui-btn-sm layui-btn-danger" id="btn-delete" lay-event="deleteData">删除</button>
        <button class="layui-btn layui-btn-primary layui-btn-sm" id="btn-export" lay-event="exportData" style="float: right">导出</button>
    </div>
</script>

<script type="text/html" id="operate">
    <a class="layui-btn layui-btn-primary layui-btn-xs btn-edit" lay-event="edit">修改</a>
    <a class="layui-btn layui-btn-danger layui-btn-xs btn-edit" lay-event="del">删除</a>
</script>

<script type="text/javascript" src="../../static/js/jquery/jquery-3.3.1.min.js"></script>
<script type="text/javascript" src="../../static/layui/layui.js" charset="utf-8"></script>
<script type="text/javascript" src="../../static/js/common.js" charset="utf-8"></script>
<script type="text/javascript" src="../../static/js/cool.js" charset="utf-8"></script>
<script type="text/javascript" src="../../static/js/basArm/basArm.js" charset="utf-8"></script>
</body>
<!-- 表单弹窗 -->
<script type="text/html" id="editDialog">
    <form id="detail" lay-filter="detail" class="layui-form admin-form model-form">
        <input name="id" type="hidden">
        <div class="layui-row">
            <div class="layui-col-md12">
                <div class="layui-form-item">
                    <label class="layui-form-label layui-form-required">机械臂编号: </label>
                    <div class="layui-input-block">
                        <input class="layui-input" name="armNo" placeholder="请输入机械臂编号" lay-vertype="tips" lay-verify="required">
                    </div>
                </div>
                <div class="layui-form-item">
                    <label class="layui-form-label layui-form-required">码垛位: </label>
                    <div class="layui-input-block">
                        <input class="layui-input" name="staNo" placeholder="请输入码垛位" lay-vertype="tips" lay-verify="required">
                    </div>
                </div>
                <div class="layui-form-item">
                    <label class="layui-form-label layui-form-required">拆垛位: </label>
                    <div class="layui-input-block">
                        <input class="layui-input" name="sortingLine" placeholder="请输入拆垛位" lay-vertype="tips" lay-verify="required">
                    </div>
                </div>
                <div class="layui-form-item">
                    <label class="layui-form-label layui-form-required">: </label>
                    <div class="layui-input-block">
                        <input class="layui-input" name="status" placeholder="请输入" lay-vertype="tips" lay-verify="required">
                    </div>
                </div>

             </div>
        </div>
        <hr class="layui-bg-gray">
        <div class="layui-form-item text-right">
            <button class="layui-btn" lay-filter="editSubmit" lay-submit="">保存</button>
            <button class="layui-btn layui-btn-primary" type="button" ew-event="closeDialog">取消</button>
        </div>
    </form>
</script>
</html>