1 指令指令完成，但是 没有检测到机械臂完成。

zhmes-agecal-system/src/main/java/com/zehong/system/modbus/business/DeviceStatusReaderAndTimeSetter.java

@@ -217,33 +217,41 @@ public class DeviceStatusReaderAndTimeSetter {
             Consumer<DeviceStatusReaderDto> resultHandler,
             Predicate<int[]> stopCondition,
             int portTimeout) {
-        if (deviceIds == null || deviceIds.isEmpty()) return;
-
-        CountDownLatch latch = new CountDownLatch(deviceIds.size());
-        AtomicInteger successCount = new AtomicInteger(0);
+        final CountDownLatch latch = new CountDownLatch(deviceIds.size());
+        final AtomicInteger errorCount = new AtomicInteger(0);
 
         for (int deviceId : deviceIds) {
+            final int devId = deviceId;
             deviceExecutor.submit(() -> {
+                boolean success = false;
                 try {
-                    // 简化设备通信逻辑
-                    executeSingleDevice(ip, port, deviceId, resultHandler, stopCondition);
-                    successCount.incrementAndGet();
+                    // 执行设备通信
+                    executeSingleDevice(ip, port, devId, resultHandler, stopCondition);
+                    success = true;
                 } catch (Exception e) {
-                    log.error("设备通信失败: ip={}, port={}, deviceId={}", ip, port, deviceId, e);
+                    errorCount.incrementAndGet();
+                    log.error("设备通信失败: ip={}, port={}, deviceId={}", ip, port, devId, e);
                 } finally {
                     latch.countDown();
+                    log.debug("设备{}处理完成: 成功={}", devId, success);
                 }
             });
         }
 
         try {
-            // 等待所有设备完成或超时
-            if (!latch.await(portTimeout, TimeUnit.SECONDS)) {
+            boolean completed = latch.await(portTimeout, TimeUnit.SECONDS);
+            if (!completed) {
                 log.warn("端口通信超时: ip={}, port={}, 完成数={}/{}",
-                        ip, port, successCount.get(), deviceIds.size());
+                        ip, port, deviceIds.size() - latch.getCount(), deviceIds.size());
+            }
+
+            // 如果有设备通信失败，抛出异常让上层感知
+            if (errorCount.get() > 0) {
+                throw new RuntimeException(String.format("端口%d有%d个设备通信失败", port, errorCount.get()));
             }
         } catch (InterruptedException e) {
             Thread.currentThread().interrupt();
+            throw new RuntimeException("端口通信被中断", e);
         }
     }
     private void executeSingleDevice(String ip, int port, int deviceId,

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

@@ -17,7 +17,9 @@ import javax.annotation.Resource;
 import java.util.Arrays;
 import java.util.Date;
 import java.util.List;
-import java.util.concurrent.*;
+import java.util.concurrent.CompletableFuture;
+import java.util.concurrent.TimeUnit;
+import java.util.concurrent.TimeoutException;
 import java.util.function.Predicate;
 
 /**
@@ -46,29 +48,102 @@ public class DeviceCommunicationJob implements Job {
 
     @Override
     public void execute(JobExecutionContext context) {
-        CompletableFuture<Void> taskFuture = null;
+        // 关键：确保任何异常都不会传播到Quartz框架
         try {
-            // 1. 包装整个任务在CompletableFuture中，便于超时控制
-            taskFuture = CompletableFuture.runAsync(() -> {
-                executeInternal(context);
-            });
+            executeSafely(context);
+        } catch (Throwable e) {
+            // 这里捕获所有异常，确保不会传播到Quartz
+            log.error("DeviceCommunicationJob执行过程中发生未预期异常，但已被捕获避免触发器ERROR状态", e);
+            String storeyIdFromContext = getStoreyIdFromContext(context);
+            if(StringUtils.isNotBlank(storeyIdFromContext)) {
+                Long fStoreyId = Long.parseLong(storeyIdFromContext);
+                TStoreyInfo tStoreyInfo = tStoreyInfoMapper.selectTStoreyInfoById(fStoreyId);
+                recordAlarm(tStoreyInfo,"任务执行异常（已捕获）: " + e.getMessage());
+            }
+        }
+    }
+    private void executeSafely(JobExecutionContext context) {
+        long startTime = System.currentTimeMillis();
+        String fStoreyIdStr = null;
+        TStoreyInfo tStoreyInfo = null;
+        try {
+            // 参数提取和验证
+            JobDataMap data = context.getJobDetail().getJobDataMap();
+            fStoreyIdStr = data.getString("fStoreyId");
 
-            // 2. 设置总超时，避免任务无限期执行
-            taskFuture.get(TOTAL_TIMEOUT_SECONDS, TimeUnit.SECONDS);
+            if (StringUtils.isBlank(fStoreyIdStr)) {
+                log.warn("fStoreyId参数为空，跳过执行");
+                return;
+            }
 
-        } catch (TimeoutException e) {
-            log.error("任务执行超时，强制取消");
-            if (taskFuture != null) {
-                taskFuture.cancel(true);
+            Long fStoreyId = Long.parseLong(fStoreyIdStr);
+            tStoreyInfo = tStoreyInfoMapper.selectTStoreyInfoById(fStoreyId);
+
+            if (tStoreyInfo == null) {
+                log.warn("设备信息不存在: fStoreyId={}", fStoreyId);
+                // 清理无效任务
+                cleanupInvalidJob(context, fStoreyId);
+                return;
             }
-            // 记录超时告警，但不抛出异常到Quartz
-            recordTimeoutAlarm(context);
+
+            if (StringUtils.isBlank(tStoreyInfo.getfIp())) {
+                log.warn("设备IP为空: fStoreyId={}", fStoreyId);
+                recordAlarm(tStoreyInfo,"设备IP为空");
+                return;
+            }
+
+            // 执行设备通信（带超时控制）
+            executeDeviceCommunicationWithTimeout(tStoreyInfo, fStoreyId);
+
+            long costTime = System.currentTimeMillis() - startTime;
+            log.info("设备通信任务成功完成: fStoreyId={}, 耗时={}ms", fStoreyId, costTime);
+
+        } catch (NumberFormatException e) {
+            log.warn("fStoreyId格式错误: {}", fStoreyIdStr, e);
+            recordAlarm(tStoreyInfo, "fStoreyId格式错误: " + e.getMessage());
         } catch (Exception e) {
-            log.error("任务执行异常", e);
-            // 记录异常，但不传播到Quartz
+            log.error("设备通信任务执行异常: fStoreyIdStr={}", fStoreyIdStr, e);
+            recordAlarm(tStoreyInfo, "任务执行异常: " + e.getMessage());
+            // 注意：这里不再抛出异常！
         }
     }
+    private void executeDeviceCommunicationWithTimeout(TStoreyInfo tStoreyInfo, Long fStoreyId) {
+        String ip = tStoreyInfo.getfIp();
+        CompletableFuture<Void> future = CompletableFuture.runAsync(() -> {
+            executeDeviceCommunication(tStoreyInfo, fStoreyId);
+        });
 
+        try {
+            future.get(120, TimeUnit.SECONDS); // 2分钟超时
+        } catch (TimeoutException e) {
+            log.warn("设备通信超时: fStoreyId={}", fStoreyId);
+            future.cancel(true);
+            recordAlarm(tStoreyInfo,"设备通信超时（2分钟）");
+        } catch (Exception e) {
+            log.error("设备通信异常: fStoreyId={}", fStoreyId, e);
+            // 不抛出异常，只记录告警
+            recordAlarm(tStoreyInfo,"设备通信异常: " + e.getMessage());
+        }
+    }
+
+    private void cleanupInvalidJob(JobExecutionContext context, Long fStoreyId) {
+        try {
+            JobKey jobKey = context.getJobDetail().getKey();
+            context.getScheduler().deleteJob(jobKey);
+            log.info("清理无效任务: fStoreyId={}, jobKey={}", fStoreyId, jobKey);
+        } catch (SchedulerException e) {
+            log.error("清理无效任务失败: fStoreyId={}", fStoreyId, e);
+        }
+    }
+
+    private String getStoreyIdFromContext(JobExecutionContext context) {
+        try {
+            JobDataMap data = context.getJobDetail().getJobDataMap();
+            return data != null ? data.getString("fStoreyId") : "unknown";
+        } catch (Exception e) {
+            return "unknown";
+        }
+    }
     private void executeInternal(JobExecutionContext context) {
         long startTime = System.currentTimeMillis();
         String fStoreyIdStr = null;
@@ -140,7 +215,7 @@ public class DeviceCommunicationJob implements Job {
             log.debug("端口{}通信完成: fStoreyId={}", port, fStoreyId);
         } catch (Exception e) {
             log.error("端口{}通信异常: fStoreyId={}", port, fStoreyId, e);
-            recordAlarm(tStoreyInfo, "端口" + port + "通信异常: " + e.getMessage());
+            recordAlarm(tStoreyInfo,"端口" + port + "通信异常: " + e.getMessage());
         }
     }