1 传送带 ip 调整

zhmes-agecal-system/src/main/java/com/zehong/system/modbus/util/Modbus4jUtils.java

@@ -180,7 +180,7 @@ public class Modbus4jUtils {
 
         ModbusMaster master = null;
         try {
-            master = getMaster("192.168.2.11", 502);
+            master = getMaster("192.168.1.11", 503);
             boolean[] booleans = readDiscreteInputs(master, 1, 0, 2);
 
             if(master != null) {
@@ -208,7 +208,7 @@ public class Modbus4jUtils {
     public static boolean[] getRoboticArmExitConveyorData() {
         ModbusMaster master = null;
         try {
-            master = getMaster("192.168.2.12", 502);
+            master = getMaster("192.168.1.12", 503);
             boolean[] booleans = readDiscreteInputs(master, 1, 0, 2);
 
             if(master != null) {

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

@@ -180,6 +180,24 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
                 address,
                 "HOME"
         );
+
+        List<RobotArmCommand> robotArmCommands = robotArmCommandMapper.selectTopRunningRobotArmCommands();
+
+        if(robotArmCommands.size() > 0) {
+            robotArmCommands.forEach(command -> {
+                command.setStatus("4");
+                command.setEndExecutionTime(new Date());
+                robotArmCommandMapper.updateRobotArmCommand(command);
+            });
+
+            for (RobotArmCommand robotArmCommand : robotArmCommands) {
+
+                String trayCode = robotArmCommand.getTrayCode();
+                String storeyCode = robotArmCommand.getStoreyCode();
+
+
+            }
+        }
     }
 
     @Override