1 调试

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

@@ -95,6 +95,7 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
 //                sendCommand(loadingCommands.get(0), "LOAD");
 //                return;
 //            }
+            log.info("开始处理上料指令: {}", loadingCommands.get(0));
               sendCommand(loadingCommands.get(0), "LOAD");
         }
 
@@ -122,6 +123,9 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
 
         // 发送UDP指令
         SocketAddress address = getRobotAddress();
+
+        log.info("开始发送UDP指令了啊，可不能为空: {}", command.getCommand());
+
         udpCommandSender.sendCommandWithId(
                 address,
                 command.getCommand()

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

@@ -16,7 +16,16 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
     </resultMap>
 
     <sql id="selectRobotArmCommandVo">
-        select f_robot_arm_command_id, f_tray_code, f_storey_code, f_type, f_status, f_start_execution_time, f_end_execution_time, f_create_time, f_command from t_robot_arm_command
+        select f_robot_arm_command_id,
+               f_tray_code,
+               f_storey_code,
+               f_type,
+               f_status,
+               f_start_execution_time,
+               f_end_execution_time,
+               f_create_time,
+               f_command
+        from t_robot_arm_command
     </sql>
 
     <select id="findByType" parameterType="string" resultMap="RobotArmCommandResult">