1 当同时存在上料和下料时，如果 上个指令走完后，会 先走 下料的断电。问题调整。

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

@@ -102,12 +102,6 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
         if (cacheObject != null) {
             priority = (String) cacheObject;
         }
-//        // 1. 处理待执行的上料指令
-//        List<RobotArmCommand> loadingCommands =
-//                robotArmCommandMapper.selectPendingLoadingCommands();
-//        // 2. 处理待执行的下料指令
-//        List<RobotArmCommand> unloadingCommands =
-//                robotArmCommandMapper.selectPendingUnloadingCommands();
         // 合并查询：同时获取上料、下料各1条待执行指令
         List<RobotArmCommand> pendingCommands = robotArmCommandMapper.selectPendingLoadUnloadCommands();
 
@@ -157,36 +151,6 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
                 }
             }
         }
-//        if (StringUtils.isNotBlank(feedConveyorIpAndPort)) {
-//            String[] split = feedConveyorIpAndPort.split(":");
-//            feedIp = split[0];
-//            feedPort = Integer.parseInt(split[1]);
-//            if ((!loadingCommands.isEmpty() && "loading".equals(priority)) ||
-//                    (unloadingCommands.isEmpty() && !loadingCommands.isEmpty() &&"unloading".equals(priority))) {
-//                // 传送带检测先去掉
-//                 boolean[] roboticArmEntryConveyorData = Modbus4jUtils.getRoboticArmExitConveyorData(feedIp,feedPort);
-//
-//                log.info("机械臂入口 conveyor 0状态: " + roboticArmEntryConveyorData[0]);
-//                log.info("机械臂入口 conveyor 1状态: " + roboticArmEntryConveyorData[1]);
-//                if(roboticArmEntryConveyorData[1]) {
-//                    sendCommand(loadingCommands.get(0), "LOAD");
-//                    return;
-//                }
-//            }
-//        }
-//
-//        if (StringUtils.isNotBlank(outLetBeltIpAndPort)) {
-//            String[] split = outLetBeltIpAndPort.split(":");
-//            outLetBeltIp = split[0];
-//            outLetBeltPort = Integer.parseInt(split[1]);
-//            if (!unloadingCommands.isEmpty()) {
-//                boolean[] roboticArmExitConveyorData = Modbus4jUtils.getRoboticArmExitConveyorData(outLetBeltIp,outLetBeltPort);
-//                if(roboticArmExitConveyorData[0]) {
-//                    log.info("开始处理下料指令: {}", unloadingCommands.get(0));
-//                    sendCommand(unloadingCommands.get(0), "UNLOAD");
-//                }
-//            }
-//        }
     }
 
 
@@ -385,7 +349,8 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
                                         equitmentCode,
                                         powerOutageIp,
                                         powerOutagePort,
-                                        registerOffset
+                                        registerOffset,
+                                        registerOffset - 1
                                 ));
                             }
                         }

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

@@ -104,6 +104,7 @@ public class AllCommandHandler {
             String storeyCode = event.getDeviceCode() + "-" + event.getLayer();
             String ip = event.getIp();
             int port = event.getPort();
+            int registerOffset = event.getRegisterOffset();
             log.info("需要发送断电指令 - 设备:{} 层:{}", event.getDeviceCode(), event.getLayer());
             TStoreyInfo tStoreyInfo = tStoreyInfoMapper.selectTStoreyInfoByCode(storeyCode);
             if (tStoreyInfo == null) {
@@ -116,7 +117,7 @@ public class AllCommandHandler {
             } else {
                 // 下料后断电
                 ModbusMaster master = Modbus4jUtils.createModbusMaster(ip, port);
-                Modbus4jUtils.writeCoil(master, 1, event.getLayer(), false);
+                Modbus4jUtils.writeCoil(master, 1, registerOffset, false);
                 log.info("已发送断电指令 - 设备:{} 层:{}", event.getDeviceCode(), event.getLayer());
                 master.destroy();
 

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

@@ -11,14 +11,17 @@ public class PowerOffCommandEvent extends ApplicationEvent {
     private final String ip;
     private final int port;
     private final int layer;
+
+    private final int registerOffset;
     private final String deviceCode;
 
-    public PowerOffCommandEvent(Object source, String deviceCode, String ip, int port, int layer) {
+    public PowerOffCommandEvent(Object source, String deviceCode, String ip, int port, int layer,int registerOffset) {
         super(source);
         this.deviceCode = deviceCode;
         this.ip = ip;
         this.port = port;
         this.layer = layer;
+        this.registerOffset = registerOffset;
     }
 
     // Getters
@@ -26,4 +29,8 @@ public class PowerOffCommandEvent extends ApplicationEvent {
     public int getPort() { return port; }
     public int getLayer() { return layer; }
     public String getDeviceCode() { return deviceCode; }
+
+    public int getRegisterOffset() {
+        return registerOffset;
+    }
 }