1 测试 501 502 503 端口号

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

@@ -126,6 +126,7 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
         // 如果是下料，则 先断电再去下料
         if("UNLOAD".equals(commandType)) {
             String trayCode = command.getTrayCode();
+            if(StringUtils.isNotBlank(trayCode)) {
                 String[] split = trayCode.split("-");
 
                 TEquipmentInfo tEquipmentInfo = equipmentInfoMapper.selectTEquipmentInfoByCode(split[0]);
@@ -142,6 +143,7 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
                     throw new RuntimeException(e);
                 }
             }
+        }
 
         // 通过WebSocket广播更新
         robotArmWebSocketHandler.broadcastCommandUpdate();

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

@@ -339,7 +339,7 @@ public class TStoreyInfoServiceImpl implements ITStoreyInfoService
             registerOffset = Arrays.asList(55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72);
         }
         ModbusResultHandler modbusResultHandler = new ModbusResultHandler();
-        deviceStatusReaderAndTimeSetter.startMultiDeviceMonitoring(split[0], Integer.parseInt(split[1]),registerOffset, modbusResultHandler, null);
+        deviceStatusReaderAndTimeSetter.startMultiDeviceMonitoring(split[0], Integer.parseInt(split[1]),registerOffset, modbusResultHandler, ModbusResultHandler.createDefaultStopCondition());
 
 
         return null;