1 上料后 机械臂 回零 后 出现了一次 没有上电的操作，涉及到的 机械臂回零判断流程 优化。

2 实时数据 根据 托盘编号排序
3 如果设备号为空，则不设置各种状态信息，防止出现 没有板子的位置也报错，不能解绑的问题。

zhmes-agecal-system/src/main/java/com/zehong/system/netty/event/CalibrationResultEventHandler.java

@@ -93,6 +93,8 @@ public class CalibrationResultEventHandler {
 
         for (PalletDeviceBinding palletDeviceBinding : palletDeviceBindings) {
             MesDeviceDomain mesDeviceDomain = new MesDeviceDomain();
+            // 如果设备编号为空 则不处理改设备
+            if(StringUtils.isBlank(palletDeviceBinding.getDeviceCode())) continue;
             // 主板码
             mesDeviceDomain.setMotherboardCode(palletDeviceBinding.getDeviceCode());
             // 浓度
@@ -499,4 +501,4 @@ public class CalibrationResultEventHandler {
             this.calibrationValue = calibrationValue;
         }
     }
-}
+}
\ No newline at end of file

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

@@ -36,12 +36,12 @@ import javax.annotation.Resource;
 
 /**
  * 机械臂指令Service业务层处理
- * 
+ *
  * @author zehong
  * @date 2025-08-04
  */
 @Service
-public class RobotArmCommandServiceImpl implements IRobotArmCommandService 
+public class RobotArmCommandServiceImpl implements IRobotArmCommandService
 {
     private static final Logger log = LoggerFactory.getLogger(RobotArmCommandServiceImpl.class);
 
@@ -89,6 +89,10 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
         }
     }
 
+    /**
+     * 机械臂空闲状态下 需要执行的待执行的指令
+     */
+
     @Override
     @Transactional
     public void processPendingCommands() {
@@ -336,6 +340,10 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
         return 0;
     }
 
+    /**
+     * 完成指令
+     * @param commandId c
+     */
     @Override
     @Transactional
     public void completeCommand(Long commandId) {
@@ -346,7 +354,6 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
             log.info("command != null && \"2\".equals(command.getStatus()");
             // 发送上电指令
             try {
-
                 String storeyCode = command.getStoreyCode();
                 String equitmentCode;
                 int registerOffset;
@@ -361,6 +368,7 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
                         log.info("tEquipmentInfo != null");
                         String powerOutageIp = tEquipmentInfo.getfPowerOutageIp();
                         Integer powerOutagePort = tEquipmentInfo.getfPowerOutagePort();
+                        log.info("powerOutageIp: {}, powerOutagePort: {},command.getType:{}", powerOutageIp, powerOutagePort, command.getType());
                         if(StringUtils.isNotBlank(powerOutageIp) && powerOutagePort != null) {
                             if("0".equals(command.getType())) {
                                 eventPublisher.publishEvent(new CheckPowerOnCommandEvent(
@@ -415,7 +423,7 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
 
     /**
      * 查询机械臂指令
-     * 
+     *
      * @param robotArmCommandId 机械臂指令ID
      * @return 机械臂指令
      */
@@ -427,7 +435,7 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
 
     /**
      * 查询机械臂指令列表
-     * 
+     *
      * @param robotArmCommand 机械臂指令
      * @return 机械臂指令
      */
@@ -475,7 +483,7 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
 
     /**
      * 新增机械臂指令
-     * 
+     *
      * @param robotArmCommand 机械臂指令
      * @return 结果
      */
@@ -578,7 +586,7 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
 
     /**
      * 修改机械臂指令
-     * 
+     *
      * @param robotArmCommand 机械臂指令
      * @return 结果
      */
@@ -606,7 +614,7 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
 
     /**
      * 批量删除机械臂指令
-     * 
+     *
      * @param robotArmCommandIds 需要删除的机械臂指令ID
      * @return 结果
      */
@@ -620,7 +628,7 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
 
     /**
      * 删除机械臂指令信息
-     * 
+     *
      * @param robotArmCommandId 机械臂指令ID
      * @return 结果
      */

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

@@ -3,7 +3,7 @@
 PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
 "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
 <mapper namespace="com.zehong.system.mapper.PalletDeviceBindingMapper">
-    
+
     <resultMap type="PalletDeviceBinding" id="PalletDeviceBindingResult">
         <result property="palletDeviceBindingId"    column="f_pallet_device_binding_id"    />
         <result property="trayId"    column="f_tray_id"    />
@@ -101,7 +101,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
     </select>
     <select id="selectPalletDeviceBindingList" parameterType="PalletDeviceBinding" resultMap="PalletDeviceBindingResult">
         <include refid="selectPalletDeviceBindingVo"/>
-        <where>  
+        <where>
             <if test="trayId != null "> and palDeviceBinding.f_tray_id = #{trayId}</if>
             <if test="deviceCode != null  and deviceCode != ''"> and palDeviceBinding.f_device_code like concat('%',#{deviceCode},'%') </if>
             <if test="fTrayCode != null  and fTrayCode != ''"> and trayInfo.f_tray_code like concat('%',#{fTrayCode},'%')</if>
@@ -114,18 +114,18 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="createTime != null "> and palDeviceBinding.f_create_time = #{createTime}</if>
             <if test="status != null and status != '' "> and palDeviceBinding.f_status = #{status}</if>
         </where>
-        order by trayInfo.f_tray_code ,palDeviceBinding.f_index asc
+        order by trayInfo.f_tray_code ,palDeviceBinding.f_number asc
     </select>
     <select id="getAllExcludeUnbindingTimeByTrayId" parameterType="long" resultMap="PalletDeviceBindingResult">
         <include refid="selectPalletDeviceBindingVo"/>
         where palDeviceBinding.f_tray_id = #{trayId}
-        order by palDeviceBinding.f_index asc
+        order by palDeviceBinding.f_number asc
     </select>
     <select id="listByTrayCode" parameterType="string" resultMap="PalletDeviceBindingResult">
         <include refid="selectPalletDeviceBindingVo"/>
         where trayInfo.f_tray_code = #{trayCode}
     </select>
-    
+
     <select id="selectPalletDeviceBindingById" parameterType="Long" resultMap="PalletDeviceBindingResult">
         <include refid="selectPalletDeviceBindingVo"/>
         where palDeviceBinding.f_pallet_device_binding_id = #{palletDeviceBindingId}
@@ -327,7 +327,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="simCardStatus != null">f_sim_card_status = #{simCardStatus},</if>
             <if test="networkStatus != null">f_network_status = #{networkStatus},</if>
         </trim>
-        where f_pallet_device_binding_id = #{palletDeviceBindingId}
+        where f_pallet_device_binding_id = #{palletDeviceBindingId} and f_device_code is not null
     </update>
     <update id="batchUpdateDeviceCode" parameterType="list">
         <foreach collection="palletDeviceBindingList" item="item"  index="index" separator=";">
@@ -350,7 +350,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
                 <if test="item.calibrationConcentration != null">f_calibration_concentration = #{item.calibrationConcentration},</if>
                 <if test="item.calibrationConcentrationStatus != null">f_calibration_concentration_status = #{item.calibrationConcentrationStatus},</if>
             </trim>
-            where f_pallet_device_binding_id = #{item.palletDeviceBindingId}
+            where f_pallet_device_binding_id = #{item.palletDeviceBindingId} and f_device_code is not null
         </foreach>
     </update>
     <update id="batchUpdateDeviceCodeAndUnbindingTime" parameterType="list">
@@ -430,9 +430,9 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
     </delete>
 
     <delete id="deletePalletDeviceBindingByIds" parameterType="String">
-        delete from t_pallet_device_binding where f_pallet_device_binding_id in 
+        delete from t_pallet_device_binding where f_pallet_device_binding_id in
         <foreach item="palletDeviceBindingId" collection="array" open="(" separator="," close=")">
             #{palletDeviceBindingId}
         </foreach>
     </delete>
-</mapper>
+</mapper>
\ No newline at end of file