1 扫托盘 上料 测试

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

@@ -173,24 +173,29 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
     @Override
     @Transactional
     public void completeCommand(Long commandId) {
+        log.info("开始处理完成指令: {}", commandId);
         RobotArmCommand command = robotArmCommandMapper.selectRobotArmCommandById(commandId);
         if (command != null && "2".equals(command.getStatus())) {
 
+            log.info("command != null && \"2\".equals(command.getStatus()");
             // 发送上电指令
             try {
                 // 上料的指令 需要去上电
                 if("0".equals(command.getType())){
+                    log.info("\"0\".equals(command.getType()");
                     // 发送上电指令给机械臂
                     String storeyCode = command.getStoreyCode();
                     String equitmentCode = "";
                     Integer registerOffset = null;
                     if(storeyCode.contains("-")) {
+                        log.info("storeyCode.contains(\"-\")");
                         String[] parts = storeyCode.split("-");
                         equitmentCode = parts[0];
                         registerOffset = Integer.parseInt(parts[1]);
                         TEquipmentInfo tEquipmentInfo = equipmentInfoMapper.selectTEquipmentInfoByCode(equitmentCode);
 
                         if(tEquipmentInfo != null) {
+                            log.info("tEquipmentInfo != null");
                             String powerOutageIp = tEquipmentInfo.getfPowerOutageIp();
                             Integer powerOutagePort = tEquipmentInfo.getfPowerOutagePort();
                             if(StringUtils.isNotBlank(powerOutageIp) && powerOutagePort != null) {
@@ -200,8 +205,8 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
                                         equitmentCode,
                                         powerOutageIp,
                                         powerOutagePort,
-                                        registerOffset +1,
-                                        registerOffset
+                                        registerOffset,
+                                        registerOffset - 1
                                 ));
                             }
                         }

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

@@ -42,12 +42,14 @@ public class AllCommandHandler {
     @EventListener(CheckPowerOnCommandEvent.class)
     public void handleCheckPowerOnCommand(CheckPowerOnCommandEvent event) {
 
+        log.info("handleCheckPowerOnCommand 方法开始处理");
+
         String fip = event.getIp();
         int fport = event.getPort();
         int registerOffset = event.getRegisterOffset();
         int layer = event.getLayer();
 
-        String storeyCode = event.getDeviceCode() + "-" + (event.getLayer()+1);
+        String storeyCode = event.getDeviceCode() + "-" + event.getLayer();
 
         log.info("需要发送上电指令 - 设备:{} 层:{} ip:{} 端口号:{}", event.getDeviceCode(),layer, fip, fport);
         ModbusMaster master;