1.不采用缓存

2.照片采用和视觉控制器相连

web/pom.xml

@@ -18,6 +18,11 @@
     </properties>
 
     <dependencies>
+        <dependency>
+            <groupId>com.google.code.gson</groupId>
+            <artifactId>gson</artifactId>
+            <version>2.10.1</version>
+        </dependency>
         <!--websocket支持包-->
         <dependency>
             <groupId>org.springframework.boot</groupId>

web/src/main/java/com/zhehekeji/web/controller/BQClientController.java

@@ -0,0 +1,143 @@
+package com.zhehekeji.web.controller;
+
+import com.alibaba.fastjson.JSONObject;
+import com.zhehekeji.core.pojo.Result;
+import com.zhehekeji.web.pojo.Cmd;
+import com.zhehekeji.web.service.GoodsActionTimes;
+import com.zhehekeji.web.service.PlcCmdInfo;
+import com.zhehekeji.web.service.PlcService;
+import com.zhehekeji.web.service.ksec.KsecDataInfo;
+import com.zhehekeji.web.service.ksec.KsecInfo;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.util.StringUtils;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+import org.springframework.web.multipart.MultipartFile;
+
+import javax.annotation.Resource;
+import java.io.IOException;
+
+@Api(value = "client",tags = "球机管理")
+@RestController
+@RequestMapping("/北起服务管理")
+@Slf4j
+public class BQClientController {
+    @Resource
+    PlcService plcService;
+
+    @PostMapping("/message")
+    @ApiOperation(value = "分类导入")
+    public Result distribute(KsecInfo ksecInfo) throws IOException {
+
+            KsecDataInfo dataInfo = ksecInfo.getData();
+            String lotnum = dataInfo.getLotnum();
+            PlcCmdInfo plcCmdInfo = null;
+            String srmNumber = null;
+            String cmdName = null;
+            if(dataInfo != null){
+                //左右换过来
+                if(dataInfo.getFromDirection() == 1){
+                    dataInfo.setFromDirection(2);
+                }else {
+                    dataInfo.setFromDirection(1);
+                }
+                if(dataInfo.getToDirection() != null && dataInfo.getToDirection() == 1){
+                    dataInfo.setToDirection(2);
+                }else {
+                    dataInfo.setToDirection(1);
+                }
+                plcCmdInfo = new PlcCmdInfo(dataInfo.getSRMNumber(), dataInfo.getTaskId(), dataInfo.getFromSide(), dataInfo.getFromDirection(), dataInfo.getFromColumn(), dataInfo.getFromRow(), dataInfo.getFromSeparation(),dataInfo.getToSide(), dataInfo.getToDirection(), dataInfo.getToColumn(), dataInfo.getToRow(),dataInfo.getToSeparation(),lotnum);
+
+                srmNumber = dataInfo.getSRMNumber();
+                cmdName = dataInfo.getCmdName();
+            }
+            if (Cmd.A.name().equals(ksecInfo.getType())) {
+                //心跳
+                log.debug("receieve heart ");
+            } else if (Cmd.B.name().equals(ksecInfo.getType())) {
+
+                //任务
+                if (Cmd.B1.name().equals(cmdName)) {
+                    //昆船盘点模式下也会发B1 ,但是不会发送B2
+                    //这里判断下，是否存在盘点批次号  若存在，既是盘点的B1,无需处理；若不存在lotnum，则是随行的B1
+                    if(StringUtils.isEmpty(dataInfo.getLotnum())){
+                        //任务开始 旋转到原点位
+                        plcService.gyrateCamera(plcCmdInfo,Cmd.C5.name());
+                        plcService.orderStart(plcCmdInfo);
+                    }else {
+                        log.info("check move");
+                    }
+
+                } else if (Cmd.B2.name().equals(cmdName)) {
+                    //B2 C4 一起发的，需要停止等B2
+
+                    //这里判断是不是双伸
+                    if(plcCmdInfo.getSeparation2() == 2){
+                        //深测货架延迟
+                        try {
+                            Thread.sleep(plcService.getConfigProperties().getCameraConfig().getB2OutDelayTime());
+                        } catch (InterruptedException e) {
+                            e.printStackTrace();
+                        }
+                    }else {
+                        //浅侧延迟
+                        try {
+                            Thread.sleep(plcService.getConfigProperties().getCameraConfig().getB2DelayTime());
+                        } catch (InterruptedException e) {
+                            e.printStackTrace();
+                        }
+                    }
+                    plcService.gyrateCamera(plcCmdInfo,Cmd.C5.name());
+                    plcService.orderStop(plcCmdInfo);
+                }
+            } else if (Cmd.C.name().equals(ksecInfo.getType())) {
+
+                //动作
+                String code = dataInfo.getCmdName();
+                log.info("action code,{},orderInfo:{}", code, plcCmdInfo.toString());
+                if (Cmd.isBaseAction(code)) {
+                    //执行动作，需要保存执行到第几步了
+
+                    Integer times = GoodsActionTimes.get(dataInfo.getCmdName());
+                    plcCmdInfo.setTimes(times);
+                    code = code + "-" + plcCmdInfo.getLeftRightStr(times) + plcCmdInfo.getInOutStr(times);
+                    //执行动作
+                    try {
+                        plcService.action(plcCmdInfo, times, code);
+                    } catch (InterruptedException e) {
+                        e.printStackTrace();
+                    }
+                }else {
+                    log.info("other C code :{}",code);
+                }
+            } else if (Cmd.D.name().equals(ksecInfo.getType())) {
+
+                //柳州去掉告警
+//                String code = dataInfo.getCmdName();
+//                if(code.equals(Cmd.D1.name())){
+//                    log.info("plcId:{},warn start",plcCmdInfo.getPlcId());
+//                    //根据告警code转动camera
+//                    String warnCode = dataInfo.getWarnCode();
+//                    if(!StringUtils.isEmpty(warnCode)){
+//                        String warnCode0 = Cmd.D1.name()+"-"+warnCode.split(",")[0];
+//                        plcService.warnAction(plcCmdInfo,warnCode0);
+//                    }
+//                    plcService.warnStart(plcCmdInfo.getPlcId(),dataInfo.getWarnCode());
+//                }else if(code.equals(Cmd.D2.name())){
+//                    log.info("plcId:{},warn stop",plcCmdInfo.getPlcId());
+//                    plcService.warnStop(plcCmdInfo.getPlcId());
+//                }else {
+//                    log.info("other D code :{}",code);
+//                }
+            } else if (Cmd.E.name().equals(ksecInfo.getType())) {
+               // plcService.check()
+
+            }
+            //找到该货位的最后一张照片与现在的照片比照
+            //plcService.recordStock(plcCmdInfo, dataInfo.getCode(), 0, 0);
+        return null;
+        }
+}

web/src/main/java/com/zhehekeji/web/controller/CameraControlController.java

@@ -297,8 +297,8 @@ public class CameraControlController {
     public Result pic(@PathVariable Integer id) {
         checkLogin(id);
         String path = "D:\\work\\"+LocalDateTime.now().format(DateTimeFormatter.ofPattern("yyyyMMddHHmmss"))+".jpeg";
-        TaskDelayExecutor.addPicDelayTask(id,path,2000L);
+        TaskDelayExecutor.addPicDelayTask(id,path,0L);
-        return Result.success();
+        return Result.success(path);
     }
 
     @Resource
@@ -319,6 +319,7 @@ public class CameraControlController {
         return Result.success();
     }
 
+
     @PostMapping("/mp4/{id}")
     @ApiOperation(value = "录像")
     public Result MP4(@PathVariable Integer id) {

web/src/main/java/com/zhehekeji/web/controller/CameraController.java

@@ -132,7 +132,7 @@ public class CameraController {
     @PostMapping("/io/toPtz")
     @ApiOperation(value = "转至球机IO配置点")
     public Result toPtz(@RequestBody CameraIOPtz req) {
-        Integer ptzId = cameraService.getPtzId(req.getCameraIOId());
+        Integer ptzId = cameraService.getPtzId(req.getCameraIOId(),req.getCode(),req.getCameraId());
         cameraControlModule.toPtz(ptzId,req.getCameraId());
         return Result.success();
     }

web/src/main/java/com/zhehekeji/web/controller/PLCController.java

@@ -75,8 +75,8 @@ public class PLCController {
 
     @GetMapping("/orderAction")
     @ApiOperation(value = "执行的工单情况")
-    public Result<Map> orderAction(){
+    public Result<Integer> orderAction(){
-        return Result.success(GoodsActionTimes.get());
+        return Result.success(GoodsActionTimes.get(""));
     }
 
 }

web/src/main/java/com/zhehekeji/web/controller/TestController.java

@@ -32,18 +32,11 @@ public class TestController {
     }
 
     @ApiOperation("自动盘点")
-    @GetMapping("/1")
+    @PostMapping("/1")
-    public Result test(){
+    public Result test(@RequestBody String id){
-
+        System.out.println("656+565+29+5" +
-        RFIDSocket rfidSocket = new RFIDSocket("127.0.0.1", 4001);
+                "62+95+65");
-        rfidSocket.startCheck(1,true);
+
-        try {
-            Thread.sleep(1000*15);
-        } catch (InterruptedException e) {
-            throw new RuntimeException(e);
-        }
-        rfidSocket.stopCheck();
-        System.out.println(rfidSocket.getTags());
         return Result.success();
     }
 

web/src/main/java/com/zhehekeji/web/entity/Stock.java

@@ -87,5 +87,22 @@ public class Stock {
     @JsonFormat(pattern="yyyy-MM-dd HH:mm:ss")
     private LocalDateTime exportTime;
 
+    @TableField(exist=false)
+    private String topPic1;
+
+    @TableField(exist=false)
+    private String topPic2;
+
+    @TableField(exist=false)
+    private String sidePic1;
+
+    @TableField(exist=false)
+    private String sidePic2;
+
+    @TableField(exist=false)
+    private String sidePic3;
+
+    @TableField(exist=false)
+    private String sidePic4;
 
 }

web/src/main/java/com/zhehekeji/web/lib/OrderRealtime.java

@@ -9,56 +9,5 @@ import java.util.concurrent.ConcurrentHashMap;
  */
 public class OrderRealtime {
 
-    /**
-     * key :streetId
-     * value: 订单号
-     */
-    private static Map<Integer, String> orderMap = new ConcurrentHashMap<>();
 
-    /**
-     * key: streetId
-     * value:告警id warn表
-     */
-    private static Map<Integer, Long> warnIdMap = new ConcurrentHashMap<>();
-
-    public static void startOrder(Integer streetId, String orderNum) {
-        orderMap.put(streetId, orderNum);
-    }
-
-    /**
-     * 获取当前巷道 正在执行的订单
-     *
-     * @param streetId
-     * @return
-     */
-    public static String getOrderByStreetId(Integer streetId) {
-        return orderMap.get(streetId);
-    }
-
-    public static void startWarn(Integer streetId, Long warnId) {
-        if (warnId != null) {
-            warnIdMap.put(streetId, warnId);
-        }
-    }
-
-
-    public static Long getWarnId(Integer streetId) {
-        return warnIdMap.get(streetId);
-    }
-
-    public static void cleanWarn(Integer streetId) {
-        warnIdMap.remove(streetId);
-    }
-
-    /**
-     * 结束订单，返回订单号
-     *
-     * @param streetId
-     * @return
-     */
-    public static String stopOrder(Integer streetId) {
-        String orderNum = orderMap.get(streetId);
-        orderMap.remove(streetId);
-        return orderNum;
-    }
 }

web/src/main/java/com/zhehekeji/web/service/CameraService.java

@@ -245,7 +245,7 @@ public class CameraService {
      * @param IOId     存在修改，不存在 新增
      * @param cameraId
      */
-    @CacheEvict(value = "ptz",key = "#cameraId+'-'+#code")
+
     public synchronized Integer ptz(Integer IOId, Integer cameraId, String name,Integer type,String code) {
         Camera camera = cameraMapper.selectById(cameraId);
         Assert.notNull(camera, "球机不存在");
@@ -295,7 +295,6 @@ public class CameraService {
      * @param cameraId
      * @return
      */
-    @Cacheable(value = "ptz",key = "#cameraId+'-'+#code")
     public Integer getPtzIdByCodeAndCameraId(String code,Integer cameraId){
         CameraIO cameraIO = ioMapper.getByCodeAndCameraId(code,cameraId);
         if(cameraIO != null){
@@ -304,10 +303,28 @@ public class CameraService {
         return null;
     }
 
-    public Integer getPtzId(Integer ioId){
+    public Integer getPtzId(Integer ioId,String code,Integer cameraId){
-        CameraIO cameraIO = ioMapper.selectById(ioId);
+        if (ioId != null && ioId!= 0){
-        Assert.notNull(cameraIO,"IO配置不存在");
+
-        return cameraIO.getPtzId();
+            CameraIO cameraIO = ioMapper.selectById(ioId);
+            Assert.notNull(cameraIO,"IO配置不存在");
+            return cameraIO.getPtzId();
+        }else {
+            if (code != null && !"".equals(code)) {
+
+                Assert.notNull(null,"IO配置不存在");
+                return null;
+
+            } else {
+                CameraIO cameraIO = ioMapper.selectOne(new QueryWrapper<CameraIO>()
+                        .eq("code", code)
+                        .eq("camera_id", cameraId)
+                        .last("limit 1"));
+
+                Assert.notNull(cameraIO,"IO配置不存在");
+                return cameraIO.getPtzId();
+            }
+        }
     }
 
     private void conver(CameraIO cameraIO,Integer type){

web/src/main/java/com/zhehekeji/web/service/GoodsActionTimes.java

@@ -15,38 +15,8 @@ import java.util.Map;
 @Slf4j
 public class GoodsActionTimes {
 
-    private static Map<String, Integer> orderActions = new HashMap<>();
 
-    /**
+    public static Integer get(String cmdCode) {
-     * 订单任务，返回该订单已发送的任务数
+        return Integer.parseInt(cmdCode.replace("C",""));
-     * 一个订单由4个任务完成
-     *
-     * @param orderNum
-     * @return
-     */
-    public static Integer put(String orderNum) {
-        //对订单号加锁 统计数量
-        synchronized (orderNum.intern()) {
-            if (orderActions.get(orderNum) == null) {
-                orderActions.put(orderNum, 1);
-                return 1;
-            }
-            int times = orderActions.get(orderNum);
-            times++;
-            //该订单的任务达到4次了，不会再有任务了，清除缓存
-            //具体看取货、放货、货物库内转移的流程
-            if (times >= 4) {
-                log.info("remove oderNum:{},times:{}", orderNum, times);
-                orderActions.remove(orderNum);
-            } else {
-                orderActions.put(orderNum, times);
-                log.info("oderNum:{},times:{}", orderNum, times);
-            }
-            return times;
-        }
-    }
-
-    public static Map<String, Integer> get() {
-        return orderActions;
     }
 }

web/src/main/java/com/zhehekeji/web/service/HttpServe/HttpService.java

@@ -0,0 +1,53 @@
+package com.zhehekeji.web.service.HttpServe;
+
+import com.google.gson.Gson;
+import org.apache.http.entity.StringEntity;
+import org.springframework.http.HttpHeaders;
+import org.springframework.http.MediaType;
+import org.springframework.http.ResponseEntity;
+import org.springframework.web.client.RestTemplate;
+
+import java.util.HashMap;
+import java.util.Map;
+
+public class HttpService {
+    public String sendHttp(){
+
+        RestTemplate restTemplate = new RestTemplate();
+
+/*        // 发送 GET 请求
+        String url = "http://example.com/api/getData";
+        ResponseEntity<String> response = restTemplate.getForEntity(url, String.class);
+        String responseBody = response.getBody();*/
+
+        // 发送 POST 请求
+        String url = "http://example.com/api/postData";
+        HttpHeaders headers = new HttpHeaders();
+        headers.setContentType(MediaType.APPLICATION_JSON);
+        Map<String, Object> body = new HashMap<>();
+        body.put("key1", "value1");
+        body.put("key2", "value2");
+// 创建Gson对象
+        Gson gson = new Gson();
+        String jsonString = gson.toJson(body);
+//        StringEntity entity = new StringEntity("", headers);
+        restTemplate.postForEntity(url, jsonString, String.class);
+        System.out.println();
+        return  null;
+
+    }
+
+    public static void main(String[] args) {
+
+        RestTemplate restTemplate = new RestTemplate();
+        Map<String, Object> body = new HashMap<>();
+        body.put("key1", "value1");
+        body.put("key2", "value2");
+// 创建Gson对象
+        Gson gson = new Gson();
+        String jsonString = gson.toJson(body);
+//        StringEntity entity = new StringEntity("", headers);
+        ResponseEntity<String> response =restTemplate.postForEntity("http://127.0.0.1:8099/api/test/1", jsonString, String.class);
+        System.out.println(jsonString);
+    }
+}

web/src/main/java/com/zhehekeji/web/service/PlcService.java

@@ -154,7 +154,6 @@ public class PlcService {
             //取货是是不知道放货的位置的，所以订单开始的时候只写1位置
             //订单结束写2位置
             orderMapper.insert(order);
-            OrderRealtime.startOrder(street.getId(), plcCmdInfo.getOrderNum());
         }
     }
 
@@ -176,7 +175,6 @@ public class PlcService {
             log.error("订单结束信号，订单不存在，orderNum:{}", plcCmdInfo.getOrderNum());
             return;
         }
-        OrderRealtime.stopOrder(street.getId());
         Order update = new Order();
         update.setId(order.getId());
         update.setEndTime(endTime);
@@ -438,15 +436,13 @@ public class PlcService {
         }
         synchronized (plcId.intern()) {
             //新增 告警
-            if (OrderRealtime.getWarnId(street.getId()) != null) {
+
-                log.debug("{}:exist warn", plcId);
-                return;
-            }
             //不存在正在执行的告警记录，就新增
             Warn warn = new Warn();
             warn.setStartTime(LocalDateTime.now());
             warn.setStreetId(street.getId());
-            String orderNum = OrderRealtime.getOrderByStreetId(street.getId());
+            //暂时不处理
+            String orderNum = "";
             if (StringUtils.isEmpty(orderNum)) {
                 log.debug("{}:warn start...., but no order running", plcId);
             } else {
@@ -466,7 +462,6 @@ public class PlcService {
             //没有正在执行的工单 不需要填写location
             warn.setSignal(signal);
             warnMapper.insert(warn);
-            OrderRealtime.startWarn(street.getId(), warn.getId());
         }
     }
 
@@ -483,11 +478,10 @@ public class PlcService {
             return;
         }
         synchronized (plcId.intern()) {
-            Long warnId = OrderRealtime.getWarnId(street.getId());
+            //暂时不做处理
+            Long warnId = 0L;
             if (warnId != null) {
                 //存在告警
-                //先内存中清除该告警
-                OrderRealtime.cleanWarn(street.getId());
                 Warn warn = warnMapper.selectById(warnId);
                 if (warn != null) {
                     //结束该告警，并录像

web/src/main/java/com/zhehekeji/web/service/StockService.java

@@ -320,6 +320,7 @@ public class StockService {
      */
     public Stock  stockInfo(StockCheck stockCheck) {
 
+        Street street = streetService.streetById(stockCheck.getStreetId());
         Stock stock = stockMapper.getByStreetAndDirectionAndSideAndRowColumn(stockCheck.getStreetId(),stockCheck.getDirection(),stockCheck.getSide(), stockCheck.getRow(), stockCheck.getColumn());
         if(stock == null){
             stock = new Stock();
@@ -327,10 +328,8 @@ public class StockService {
             stock.setRow(stockCheck.getRow());
             //stock.setShelveId(stockCheck.getShelveId());
             stock.setStatus(0);
-            Street street = streetMapper.selectById(stockCheck.getStreetId());
             stock.setStreetName(street.getName());
         }else {
-            Street street = streetMapper.selectById(stock.getStreetId());
             stock.setStreetName(street.getName());
         }
         //不再需要操作照片
@@ -341,14 +340,29 @@ public class StockService {
             stock.setOveroperationPic(stockLogs.get(0).getPic());
             stock.setPreoperationPic(stockLogs.get(1).getPic());
         }
+
+        String ip ="http://"+ street.getPlcIp()+":9009/pic/"+stock.getCode()+"/"+stock.getCheckNum()+"/";
+        stock.setSidePic1(String.format("%s1.png",ip));
+        stock.setSidePic2(String.format("%s2.png",ip));
+        stock.setSidePic3(String.format("%s3.png",ip));
+        stock.setSidePic4(String.format("%s4.png",ip));
+        stock.setTopPic1(String.format("%s5.png",ip));
+        stock.setTopPic2(String.format("%s6.png",ip));
         return stock;
     }
 
     public Stock stock(StockCheckSearch stockCheckSearch){
-//        String shelveId = streetService.getShevelId(stockCheckSearch.getSRMNumber(),stockCheckSearch.getDirection(),stockCheckSearch.getSeparation());
-//        Assert.notNull(shelveId,"无该货架信息");
         Street street = streetService.getStreetByPlcId(stockCheckSearch.getSRMNumber());
         Stock stock = stockMapper.getByStreetAndDirectionAndSideAndRowColumn(street.getId(),stockCheckSearch.getDirection(),stockCheckSearch.getSeparation(),stockCheckSearch.getRow(),stockCheckSearch.getColumn());
+        if(stock != null){
+            String ip ="http://"+ street.getPlcIp()+":9009/pic/"+stock.getCode()+"/"+stock.getLotnum()+"/"+stock.getLotnum()+"/";
+            stock.setSidePic1(String.format("%s1.png",ip));
+            stock.setSidePic2(String.format("%s2.png",ip));
+            stock.setSidePic3(String.format("%s3.png",ip));
+            stock.setSidePic4(String.format("%s4.png",ip));
+            stock.setTopPic1(String.format("%s5.png",ip));
+            stock.setTopPic2(String.format("%s6.png",ip));
+        }
         return stock;
     }
 

web/src/main/java/com/zhehekeji/web/service/StreetService.java

@@ -56,15 +56,7 @@ public class StreetService {
 
     @Transactional(rollbackFor = Exception.class)
 
-    @Caching(
+
-            put = {
-                    @CachePut(value = {"street"},key = "#streetVO.id"),
-                    @CachePut(value = {"streetByPlcId"},key = "#streetVO.plcId"),
-            },
-            evict = {
-                    @CacheEvict(value = "getStreetCount")
-            }
-    )
     public Street add(StreetVO streetVO) {
         Street street = new Street();
         BeanUtils.copyProperties(streetVO,street);
@@ -121,7 +113,6 @@ public class StreetService {
 
 
 
-    @Cacheable(value = "streetByPlcId",key = "#plcId")
     public Street getStreetByPlcId(String plcId) {
         Street street = streetMapper.getStreetByPlcId(plcId);
         if (street == null) {
@@ -131,10 +122,6 @@ public class StreetService {
     }
 
 
-    @Caching(evict = {
-            @CacheEvict(value = "street",key = "#id"),
-            @CacheEvict(value = "getStreetCount")
-    })
     public void del(Integer id) {
         Street street = streetMapper.selectById(id);
         if(street != null){
@@ -149,18 +136,11 @@ public class StreetService {
         StreetConn.del(id);
     }
 
-    //只是为了删除缓存
-    @CacheEvict(value = "streetByPlcId",key = "#{plcId}")
     public void delByPlcId(String plcId){
         return;
     }
 
-    @Caching(
+
-            evict = {
-                    @CacheEvict(value = "street",key="#streetVO.id"),
-                    @CacheEvict(value = "streetByPlcId",key="#streetVO.plcId"),
-            }
-    )
     public void edit(StreetVO streetVO) {
         Street street = new Street();
         BeanUtils.copyProperties(streetVO,street);
@@ -196,7 +176,8 @@ public class StreetService {
         RFIDConfig(streetVO,street.getId());
     }
 
-    @Cacheable(value = "street",key = "#id")
+
+
     public Street streetById(Integer id) {
         return streetMapper.selectById(id);
     }

web/src/main/java/com/zhehekeji/web/service/ksec/KsecDecoder.java

@@ -165,7 +165,7 @@ public class KsecDecoder extends DelimiterBasedFrameDecoder {
                     log.info("action code,{},orderInfo:{}", code, plcCmdInfo.toString());
                     if (Cmd.isBaseAction(code)) {
                         //执行动作，需要保存执行到第几步了
-                        Integer times = GoodsActionTimes.put(plcCmdInfo.getOrderNum());
+                        Integer times = GoodsActionTimes.get(dataInfo.getCmdName());
                         plcCmdInfo.setTimes(times);
                         code = code + "-" + plcCmdInfo.getLeftRightStr(times) + plcCmdInfo.getInOutStr(times);
                         //执行动作

web/src/main/java/com/zhehekeji/web/service/robotic/ProtocolDecoder.java

@@ -127,7 +127,7 @@ public class ProtocolDecoder extends FixedLengthFrameDecoder {
             log.info("action code,{} plcId:{},orderInfo:{}", code, plcId, plcCmdInfo.toString());
             if(code.equals("C1") || code.equals("C2") || code.equals("C3") || code.equals("C4")){
                 // 只有取放货的命令 才能增加 times
-                Integer times = GoodsActionTimes.put(plcCmdInfo.getOrderNum());
+                Integer times = GoodsActionTimes.get(code);
                 //执行动作
                 plcService.action(plcCmdInfo, times, code);
             }

web/src/main/resources/application-prod.yml

@@ -27,7 +27,7 @@ userUrl: http://115.236.65.98:11001
 # ----默认摄像头的连接信息
 cameraConfig:
   # ------------球機選擇--- 0:利珀     1：海康
-  cameraType: 0
+  cameraType: 1
   cameraPassword: a1234567
   cameraUser: admin
   cameraPort: 37777