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

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

@@ -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(

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

@@ -114,12 +114,12 @@ 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"/>
@@ -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">