1 上料时 先判断 托盘是否绑定了设备

zhmes-agecal-system/src/main/java/com/zehong/system/mapper/PalletDeviceBindingMapper.java

@@ -40,6 +40,8 @@ public interface PalletDeviceBindingMapper
 
     public int countErrorByTrayId(Long trayId);
 
+    public int countByTrayId(Long trayId);
+
     /**
      * 新增托盘绑定的设备列
      * 

zhmes-agecal-system/src/main/java/com/zehong/system/netty/handler/NettyUdpServerHandler.java

@@ -104,7 +104,7 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
 
             if (status != null) {
                 // 处理状态消息
-                processStatusMessage(status, packet.sender());
+                processStatusMessage(status);
 
                 // 检查是否为完全空闲状态
                 if (status.isFullyIdle()) {
@@ -148,7 +148,7 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
         }
     }
 
-    private void processStatusMessage(RobotArmMessageParser.RobotArmStatus status, SocketAddress sender) {
+    private void processStatusMessage(RobotArmMessageParser.RobotArmStatus status) {
         // 更新前端状态
         if (status.isBusy()) {
             sendStatusToWebSocket("running");

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

@@ -16,9 +16,7 @@ import com.zehong.common.utils.StringUtils;
 import com.zehong.system.domain.TEquipmentInfo;
 import com.zehong.system.domain.TStoreyInfo;
 import com.zehong.system.domain.TTrayInfo;
-import com.zehong.system.mapper.TEquipmentInfoMapper;
-import com.zehong.system.mapper.TStoreyInfoMapper;
-import com.zehong.system.mapper.TTrayInfoMapper;
+import com.zehong.system.mapper.*;
 import com.zehong.system.modbus.util.Modbus4jUtils;
 import com.zehong.system.netty.handler.NettyUdpServerHandler;
 import com.zehong.system.service.websocket.RobotArmWebSocketHandler;
@@ -30,7 +28,6 @@ import org.slf4j.LoggerFactory;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.context.ApplicationEventPublisher;
 import org.springframework.stereotype.Service;
-import com.zehong.system.mapper.RobotArmCommandMapper;
 import com.zehong.system.domain.RobotArmCommand;
 import com.zehong.system.service.IRobotArmCommandService;
 import org.springframework.transaction.annotation.Transactional;
@@ -76,6 +73,9 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
     @Resource
     private ApplicationEventPublisher eventPublisher; // 新增事件发布器
 
+    @Resource
+    private PalletDeviceBindingMapper palletDeviceBindingMapper;
+
     private SocketAddress getRobotAddress() {
         try {
             return new InetSocketAddress(
@@ -218,8 +218,8 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
             try {
 
                 String storeyCode = command.getStoreyCode();
-                String equitmentCode = "";
-                Integer registerOffset = null;
+                String equitmentCode;
+                Integer registerOffset;
                 if(storeyCode.contains("-")) {
                     log.info("storeyCode.contains(\"-\")");
                     String[] parts = storeyCode.split("-");
@@ -364,6 +364,12 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
             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
 //        if(!"0".equals(tTrayInfo.getfStatus())) {
 //            throw new RuntimeException("托盘未解绑，请联系管理员");

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

@@ -123,6 +123,8 @@ public class AllCommandHandler {
                 tStoreyInfo.setfStoreyCode(tStoreyInfo.getfStoreyCode());
                 tStoreyInfo.setUpdateTime(new Date());
                 tStoreyInfo.setfStatus("0");
+                tStoreyInfo.setfAgingStartTime(null);
+                tStoreyInfo.setfAgingEndTime(null);
                 tStoreyInfoMapper.unbindByCode(tStoreyInfo);
 
                 // 清理 托盘 和 层的关联关系

zhmes-agecal-system/src/main/resources/mapper/system/PalletDeviceBindingMapper.xml

@@ -57,6 +57,10 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         where palDeviceBinding.f_tray_id = #{trayId}
         and (palDeviceBinding.f_status = '0' or palDeviceBinding.f_status = '5')
     </select>
+    <select id="countByTrayId" parameterType="Long" resultType="int">
+        select count(1) from t_pallet_device_binding palDeviceBinding
+        where palDeviceBinding.f_tray_id = #{trayId}
+    </select>
     <select id="selectPalletDeviceBindingList" parameterType="PalletDeviceBinding" resultMap="PalletDeviceBindingResult">
         <include refid="selectPalletDeviceBindingVo"/>
         <where>