修改代码，改为rfid全假，增加rfid的tid查询

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

@@ -5,6 +5,7 @@ import com.zhehekeji.web.entity.RFID;
 import com.zhehekeji.web.entity.Street;
 import com.zhehekeji.web.service.RFID.RFIDMap;
 import com.zhehekeji.web.service.RFID.RFIDSocket;
+import com.zhehekeji.web.service.RFID.RFIDTCPClient;
 import com.zhehekeji.web.service.RFIDService;
 import com.zhehekeji.web.service.StreetService;
 import com.zhehekeji.web.service.TestService;
@@ -100,6 +101,23 @@ public class TestController {
         return Result.success(new HashSet<>());
     }
 
+    @ApiOperation("rfidNewTid")
+    @GetMapping("/rfidNewTid")
+    public Result<Set<String >> rfidNewTid(@RequestParam String streetId) {
+        Street street = streetService.getStreetByPlcId(streetId);
+        if (street != null) {
+            //rfid不分左右，rfid使用同一ip和端口，依靠传递字符调整方向
+            RFID rfid = rfidService.getRFIDByPlc(street.getId(), null);
+            if (rfid != null) {
+
+                Set<String> tags = RFIDStartTid(rfid.getIp(), rfid.getPort(), street.getId(), 1);
+                return Result.success(tags);
+            }
+        }
+
+        return Result.success(new HashSet<>());
+    }
+
     public void RFIDStart(String ip, Integer port, Integer streetId, Integer direction) {
         RFIDSocket rfidSocket = new RFIDSocket(ip, port);
         log.info("rfid调用，ip：" + ip + ";port:" + port);
@@ -107,6 +125,12 @@ public class TestController {
         RFIDMap.put(streetId, rfidSocket);
     }
 
+    public Set<String> RFIDStartTid(String ip, Integer port, Integer streetId, Integer direction) {
+
+      Set<String>  tags = RFIDTCPClient.checkTid(ip, port);
+       return tags;
+    }
+
     public Set<String> RFIDStop(Street street) {
         RFIDSocket rfidSocket = RFIDMap.get(street.getId());
         Set<String> tags = null;

web/src/main/java/com/zhehekeji/web/pojo/stock/StockExportExcel.java

@@ -12,7 +12,7 @@ public class StockExportExcel {
     private String streetName;
 
     @ExcelProperty(index = 8, value = "盘点批次号")
-    private String lotnum;
+    private String checkNum;
 
     @ExcelProperty(index = 5, value = "条码")
     private String code;
@@ -21,10 +21,10 @@ public class StockExportExcel {
     private String wmsCode;
 
     @ExcelProperty(index = 1, value = "左右,1:左侧,2:右侧")
-    private Integer direction;
+    private String direction;
 
     @ExcelProperty(index = 2, value = "深浅,1:浅货位,2:深货位")
-    private Integer side;
+    private String side;
 
 //    @ExcelProperty(index = 1, value = "货架号")
 //    private String shelveId;

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

@@ -3,6 +3,7 @@ package com.zhehekeji.web.service;
 import lombok.AllArgsConstructor;
 import lombok.Data;
 import lombok.NoArgsConstructor;
+import org.apache.commons.lang3.StringUtils;
 
 @Data
 @AllArgsConstructor
@@ -97,8 +98,8 @@ public class PlcCmdInfo {
         this.leftRight2 = leftRight2;
         this.column2 = column2;
         this.row2 = row2;
-        this.plcId = plcId;
+        this.plcId =  StringUtils.leftPad(plcId, 3, '0');;
-        this.orderNum = plcId + "_" + taskId;
+        this.orderNum = this.plcId + "_" + taskId;
         this.separation1 = separation1;
         this.separation2 = separation2;
         this.lotnum = lotnum;

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

@@ -14,6 +14,7 @@ import com.zhehekeji.web.pojo.OrderVO;
 import com.zhehekeji.web.pojo.websocket.WebSocketVo;
 import com.zhehekeji.web.service.RFID.RFIDMap;
 import com.zhehekeji.web.service.RFID.RFIDSocket;
+import com.zhehekeji.web.service.RFID.RFIDTCPClient;
 import com.zhehekeji.web.service.hikLightSource.HikControlSocket;
 import com.zhehekeji.web.service.interfaces.RfidLiveService;
 import com.zhehekeji.web.service.ksec.KsecNettyClient;
@@ -644,7 +645,7 @@ public class PlcService {
             log.info("camera ptz" + c);
             gyrateCameraByCode(cameraId, c);
         } else {
-            String c = cmdCode + "1";
+            String c = cmdCode + "1"+ "-" + plcCmdInfo.getLeftRightStr(1) ;
             gyrateCameraByCode(cameraId, c);
             try {
                 Thread.sleep(configProperties.getCameraConfig().getDelayCaptureTime());
@@ -722,25 +723,30 @@ public class PlcService {
 
             long startRfidTime = System.currentTimeMillis();
             String code = "";
-
             Set<String> tags = new HashSet<>();
-            try {
+            if (street != null) {
-                RFIDCheck(plcCmdInfo, true);
+                //rfid不分左右，rfid使用同一ip和端口，依靠传递字符调整方向
-                Thread.sleep(1000 * configProperties.getRfid().getScanTime());
+                RFID rfid = rfidService.getRFIDByPlc(street.getId(), null);
-            } catch (Exception e) {
+                if (rfid != null) {
-                e.printStackTrace();
+
-            } finally {
+
-                tags = RFIDStop(plcCmdInfo);
+                }
-                log.info("盘点rfid扫描结果：" + tags);
+
-            }
+                if (rfid != null) {
-//镇海深巷道，进行假盘点
+
-            if(plcCmdInfo.getSeparation1() ==  1){
+                    tags = RFIDTCPClient.checkTid(rfid.getIp(), rfid.getPort());
-                if (tags.contains(wmsTrayCode)){
+                    }
-                    code = "";
+                }
-                }else code  = "rfid识别失败";
+
-            }else {
+//镇海项目，进行假盘点
-                code="";
+            code = "";
-            }
+//            if(plcCmdInfo.getSeparation1() ==  1){
+//                if (tags.contains(wmsTrayCode)){
+//                    code = "";
+//                }else code  = "rfid识别失败";
+//            }else {
+//                code="";
+//            }
             if (tags != null && tags.size() > 0) {
 //                if ( tags.contains(wmsTrayCode)) {
 //                    log.info("扫描成功");

web/src/main/java/com/zhehekeji/web/service/RFID/RFIDData.java

@@ -0,0 +1,19 @@
+package com.zhehekeji.web.service.RFID;
+
+import lombok.Data;
+
+@Data
+public class RFIDData {
+
+    private String pc;
+    private String epc;
+    private String crc;
+    private String tid;
+
+    public RFIDData(String pc, String epc, String crc, String tid) {
+        this.pc = pc;
+        this.epc = epc;
+        this.crc = crc;
+        this.tid = tid;
+    }
+}

web/src/main/java/com/zhehekeji/web/service/RFID/RFIDSocket.java

@@ -4,9 +4,11 @@ import com.payne.connect.net.NetworkHandle;
 import com.payne.reader.Reader;
 import com.payne.reader.base.Consumer;
 import com.payne.reader.bean.config.AntennaCount;
+import com.payne.reader.bean.config.MemBank;
 import com.payne.reader.bean.receive.*;
 import com.payne.reader.bean.send.FastSwitchFourAntennaInventory;
 import com.payne.reader.bean.send.InventoryConfig;
+import com.payne.reader.bean.send.ReadConfig;
 import com.payne.reader.process.ReaderImpl;
 import com.payne.reader.util.ArrayUtils;
 
@@ -26,15 +28,14 @@ public class RFIDSocket {
     private Map<String, Integer> tagsCount = new ConcurrentHashMap<>();
 
     public static void main(String[] args) {
-        String tagStr = "363000145224505289907900";
+        RFIDSocket rfidSocket = new RFIDSocket("192.168.2.66", 2001);
-        if(tagStr.startsWith("363000") &&tagStr.endsWith("00")){
+        rfidSocket.readTid();
-            tagStr =  tagStr.substring(0, tagStr.length() - 2);
-        }
-        System.out.println(tagStr);
     }
+
     public Set<String> getTags() {
         return tags;
     }
+
     public RFIDSocket(String ip, Integer port) {
         this.ip = ip;
         this.port = port;
@@ -42,11 +43,11 @@ public class RFIDSocket {
         NetworkHandle handle = new NetworkHandle(ip, (port));
         mReader = ReaderImpl.create(AntennaCount.FOUR_CHANNELS);
 
-        boolean linkSuccess =false;
+        boolean linkSuccess = false;
         try {
             linkSuccess = mReader.connect(handle);
 
-        }catch (Exception e) {
+        } catch (Exception e) {
             e.printStackTrace();
         }
         if (linkSuccess) {
@@ -57,40 +58,71 @@ public class RFIDSocket {
 
     }
 
-    public void startCheck(Integer direction,boolean foreach) {
+    public Set<String> readTid() {
+        ReadConfig config = new ReadConfig.Builder().setMemBank(MemBank.TID).setWordLength((byte) 6).build();
+        Set<String> tags = new HashSet<>();
+        byte[] bytes = new byte[1];
+        bytes[0] = 0x01;
+        int count = 0;
+        while (count<100) {
+            try {
+                bytes[0] = (byte) (bytes[0] == 0x01 ? 0x00 : 0x01);
+                Thread.sleep(200);
+                mReader.setWorkAntenna(bytes[0], (v) -> {
+                    System.out.println("reader1 setWorkAntenna success");
+                }, (v) -> {
+                    System.out.println("reader1 setWorkAntenna fail");
+                });
+                mReader.readTag(config
+                        , (Consumer<OperationTag>) readTag -> {
+                            System.out.println("readTag: " + readTag.toString());
+                            tags.add(readTag.getStrData());
+                        }
+                        , e -> System.out.println("readTag err: " + e.toString()));
+                count++;
+            } catch (Exception e) {
+                e.printStackTrace();
+                stopCheck();
+            }
+        }
+        return tags;
+    }
+
+    public void startCheck(Integer direction, boolean foreach) {
 //		Reader mReader = ReaderImpl.create(AntennaCount.SIXTEEN_CHANNELS);
 //		Reader mReader = ReaderImpl.create(AntennaCount.EIGHT_CHANNELS);
         running = true;
         Thread thread = new Thread(new Runnable() {
             public void run() {
+
                 mReader.setOriginalDataCallback(
                         new Consumer<byte[]>() {
                             @Override
                             public void accept(byte[] onSend) throws Exception {
-                                //System.out.println("---reader 1 send :" + ArrayUtils.bytesToHexString(onSend, 0, onSend.length));
+                                System.out.println("---reader 1 send :" + ArrayUtils.bytesToHexString(onSend, 0, onSend.length));
                             }
                         },
                         new Consumer<byte[]>() {
                             @Override
                             public void accept(byte[] onReceive) throws Exception {
-
+                                System.out.println("===reader 1 recv:" + ArrayUtils.bytesToHexString(onReceive, 0, onReceive.length));
-
                             }
                         });
                 FastSwitchFourAntennaInventory inventory = new FastSwitchFourAntennaInventory.Builder().build();
+
                 InventoryConfig config = new InventoryConfig.Builder()
                         .setInventory(inventory)
                         .setOnInventoryTagSuccess(new Consumer<InventoryTag>() {
 
                             @Override
                             public void accept(InventoryTag tag) throws Exception {
-                                System.out.println("reader1 inventory tag :" + tag.getEpc());
+                                System.out.println("reader1 inventory tag :" + tag.toString());
-                                String tagStr = tag.getEpc().replace(" ","");
+                                String tagStr = tag.getEpc().replace(" ", "");
                                 System.out.println("tag: " + tag.getEpc());
                                 //  去除头为0
-                                tagStr = tagStr.replace("0000000000","");
+                                tagStr = tagStr.replace("0000000000", "");
                                 //去除尾巴为0
-                                if(tagStr.startsWith("363000") &&tagStr.endsWith("00")){
+                                if (tagStr.startsWith("363000") && tagStr.endsWith("00")) {
                                     tagStr = tagStr.substring(0, tagStr.length() - 2);
                                 }
                                 tags.add(tagStr);
@@ -105,6 +137,7 @@ public class RFIDSocket {
 
                             @Override
                             public void accept(InventoryTagEnd arg0) throws Exception {
+
 //						System.out.println("reader1 InventoryTagEnd");
                             }
                         })
@@ -138,11 +171,11 @@ public class RFIDSocket {
                 while (running) {
                     try {
                         bytes[0] = (byte) (bytes[0] == 0x01 ? 0x00 : 0x01);
-                        Thread.sleep(1000);
+                        Thread.sleep(200);
-                        if(foreach){
+                        if (foreach) {
-                            mReader.setWorkAntenna(bytes[0],(v)->{
+                            mReader.setWorkAntenna(bytes[0], (v) -> {
                                 System.out.println("reader1 setWorkAntenna success");
-                            },(v)->{
+                            }, (v) -> {
                                 System.out.println("reader1 setWorkAntenna fail");
                             });
                         }

web/src/main/java/com/zhehekeji/web/service/RFID/RFIDTCPClient.java

@@ -0,0 +1,231 @@
+package com.zhehekeji.web.service.RFID;
+
+import lombok.extern.slf4j.Slf4j;
+
+import java.io.ByteArrayOutputStream;
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.OutputStream;
+import java.net.Socket;
+import java.net.SocketTimeoutException;
+import java.util.Arrays;
+import java.util.HashSet;
+import java.util.Set;
+import java.util.stream.Collectors;
+
+@Slf4j
+public class RFIDTCPClient {
+
+    private Socket socket;
+    private OutputStream outputStream;
+    private InputStream inputStream;
+    private String host;
+    private int port;
+
+    public RFIDTCPClient(String host, int port) {
+        this.host = host;
+        this.port = port;
+    }
+
+    public boolean connect() {
+        try {
+            socket = new Socket(host, port);
+            socket.setSoTimeout(200);
+            outputStream = socket.getOutputStream();
+            inputStream = socket.getInputStream();
+            return true;
+        } catch (IOException e) {
+            e.printStackTrace();
+            return false;
+        }
+    }
+
+    public void disconnect() {
+        try {
+            if (outputStream != null) {
+                outputStream.close();
+            }
+            if (inputStream != null) {
+                inputStream.close();
+            }
+            if (socket != null) {
+                socket.close();
+            }
+        } catch (IOException e) {
+            e.printStackTrace();
+        }
+    }
+
+    public void sendHexCommand(String hexCommand) throws IOException {
+        byte[] bytes = hexStringToByteArray(hexCommand);
+        outputStream.write(bytes);
+        outputStream.flush();
+    }
+
+
+    public Set<RFIDData> receiveRFIDData() throws IOException {
+        Set<RFIDData> dataSet = new HashSet<>();
+
+        // 创建一个缓冲区来存储接收到的数据
+        ByteArrayOutputStream buffer = new ByteArrayOutputStream();
+
+        // 设置一个超时机制，避免无限等待
+        // 先读取一批数据到缓冲区
+        byte[] tempBuffer = new byte[1024];
+
+
+        try {
+            int bytesRead;
+            while ((bytesRead = inputStream.read(tempBuffer)) != -1) {
+                buffer.write(tempBuffer, 0, bytesRead); // 记录读取的数据到日志
+                log.info("读取到 {} 字节数据: {}", bytesRead, bytesToHex(Arrays.copyOfRange(tempBuffer, 0, bytesRead)));
+
+                // 如果读取到足够数据就停止
+                if (buffer.size() > 4096) {
+                    break;
+                }
+            }
+            log.info("总共读取到 {} 字节数据", buffer.size());
+        } catch (SocketTimeoutException e) {
+            // 超时正常，继续处理已接收的数据
+            log.info("读取数据超时，继续处理已接收的数据");
+        }
+
+        // 处理缓冲区中的数据
+        byte[] receivedData = buffer.toByteArray();
+        int position = 0;
+
+        // 循环查找并解析所有以A0开头的数据包
+        while (position < receivedData.length - 2) {
+            // 查找A0起始字节
+            if (receivedData[position] == (byte) 0xA0) {
+                // 确保有足够的数据读取长度字节
+                if (position + 1 >= receivedData.length) {
+                    break;
+                }
+
+                // 读取长度
+                int length = receivedData[position + 1] & 0xFF;
+
+                // 确保有足够的数据
+                if (position + 2 + length > receivedData.length) {
+                    break;
+                }
+
+                // 提取数据部分
+                byte[] data = Arrays.copyOfRange(receivedData, position + 2, position + 2 + length);
+
+                // 解析数据
+                RFIDData rfidData = parseRFIDData(data);
+                if (rfidData != null) {
+                    dataSet.add(rfidData);
+                }
+
+                // 移动到下一个数据包
+                position += 2 + length;
+            } else {
+                // 移动到下一个字节
+                position++;
+            }
+        }
+
+        return dataSet;
+    }
+    private RFIDData parseRFIDData(byte[] data) {
+        try {
+        // 检查数据长度是否足够
+        if (data.length < 21) { // 至少需要21个字节
+            return null;
+        }
+
+        // 检查固定值是否正确
+        if((data[1] & 0xFF) != 0X81){
+            return null;
+        }
+
+        // 0x01 是固定值 (data[0])
+        // 81 00 0C 1C 是其他数据 (data[1]-data[4])
+        // 接下来2个字节是PC值 (data[5], data[6])
+        String pc = bytesToHex(Arrays.copyOfRange(data, 5, 7));
+
+        // 接下来12个字节是EPC值 (data[7] 到 data[18])
+        String epc = bytesToHex(Arrays.copyOfRange(data, 7, 19));
+
+        // 接下来2个字节是CRC值 (data[19], data[20])
+        String crc = bytesToHex(Arrays.copyOfRange(data, 19, 21));
+
+            // 剩余字节是TID值 (data[21] 到 data[33]，共12个字节)
+            // 确保不会越界
+            int tidStart = 21;
+            int tidEnd = tidStart + 12; // TID固定为12个字节
+            if (tidEnd <= data.length) {
+                String tid = bytesToHex(Arrays.copyOfRange(data, tidStart, tidEnd));
+                RFIDData rfidData = new RFIDData(pc, epc, crc, tid);
+                log.info("rfidData:{}", rfidData);
+                return rfidData;
+            }
+
+        // 如果没有TID数据，创建一个空的TID
+        RFIDData rfidData = new RFIDData(pc, epc, crc, "");
+        log.info("rfidData:{}", rfidData);
+        return rfidData;
+    } catch (Exception e) {
+        log.error("解析RFID数据时出错: ", e);
+        return null;
+    }
+    }
+
+    private byte[] hexStringToByteArray(String hex) {
+        hex = hex.replaceAll(" ", ""); // 移除空格
+        int len = hex.length();
+        byte[] data = new byte[len / 2];
+        for (int i = 0; i < len; i += 2) {
+            data[i / 2] = (byte) ((Character.digit(hex.charAt(i), 16) << 4)
+                    + Character.digit(hex.charAt(i+1), 16));
+        }
+        return data;
+    }
+
+    private String bytesToHex(byte[] bytes) {
+        StringBuilder sb = new StringBuilder();
+        for (byte b : bytes) {
+            sb.append(String.format("%02X", b));
+        }
+        return sb.toString();
+    }
+
+    public static Set<String> checkTid(String ip ,int  port){
+        RFIDTCPClient client = new RFIDTCPClient(ip, port);
+
+        Set<RFIDData> data = new HashSet<>();
+        if (client.connect()) {
+            try {
+                for (int i = 0; i < 8; i++){
+                    if (i%2==0)
+                        client.sendHexCommand("A0 04 01 74 01 E6");
+                    else
+                        client.sendHexCommand("A0 04 01 74 00 E7");
+
+                    client.sendHexCommand("A0 0A FF 81 02 00 06 00 00 00 00 CE");
+
+                    data.addAll(client.receiveRFIDData());
+                }
+                if (data != null) {
+                    log.info("接收到RFID数据: " + data.toString());
+                }
+            } catch (IOException e) {
+                e.printStackTrace();
+            } finally {
+                client.disconnect();
+            }
+        } else {
+            System.out.println("连接失败");
+        }
+        Set<String> setData = data.stream().map(RFIDData::getTid).collect(Collectors.toSet());
+        log.info("接收到的RFID数据: " + setData);
+        return setData;
+    }
+    public static void main(String[] args) {
+        checkTid("127.0.0.1", 4002);
+    }
+}

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

@@ -270,15 +270,15 @@ public class StockService {
         stocks.forEach(stock -> {
             StockExportExcel stockExportExcel = new StockExportExcel();
             stockExportExcel.setCode(stock.getTrayCode());
-            stockExportExcel.setLotnum(stock.getLotnum());
+            stockExportExcel.setCheckNum(stock.getCheckNum());
             stockExportExcel.setColumn(stock.getColumn());
             stockExportExcel.setWmsCode(stock.getWmsTrayCode());
             //stockExportExcel.setCount(stock.getCount());
             stockExportExcel.setRow(stock.getRow());
             stockExportExcel.setStreetName(street.getName());
             stockExportExcel.setExportTime(stock.getExportTime());
-            stockExportExcel.setDirection(stock.getDirection());
+            stockExportExcel.setDirection(stock.getDirection()==1?"左侧":"右侧");
-            stockExportExcel.setSide(stock.getSide());
+            stockExportExcel.setSide(stock.getSide() == 1?"浅货位":"深货位");
             //stockExportExcel.setShelveId(stock.getShelveId());
             stockExportExcel.setStatus(stock.getStatus());
             stockExportExcels.add(stockExportExcel);
@@ -299,14 +299,15 @@ public class StockService {
         stocks.forEach(stock -> {
             StockExportExcel stockExportExcel = new StockExportExcel();
             stockExportExcel.setCode(stock.getTrayCode());
-            stockExportExcel.setLotnum(stock.getLotnum());
+            stockExportExcel.setCheckNum(stock.getCheckNum());
             stockExportExcel.setColumn(stock.getColumn());
+            stockExportExcel.setWmsCode(stock.getWmsTrayCode());
             //stockExportExcel.setCount(stock.getCount());
             stockExportExcel.setRow(stock.getRow());
             stockExportExcel.setStreetName(streetMap.get(stock.getStreetId()));
             stockExportExcel.setExportTime(stock.getExportTime());
-            stockExportExcel.setDirection(stock.getDirection());
+            stockExportExcel.setDirection(stock.getDirection()==1?"左侧":"右侧");
-            stockExportExcel.setSide(stock.getSide());
+            stockExportExcel.setSide(stock.getSide() == 1?"浅货位":"深货位");
             stockExportExcel.setStatus(stock.getStatus());
             stockExportExcels.add(stockExportExcel);
         });

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

@@ -4,18 +4,24 @@ import com.alibaba.fastjson.JSONObject;
 import io.netty.buffer.ByteBuf;
 import io.netty.channel.ChannelHandlerContext;
 import io.netty.handler.codec.MessageToByteEncoder;
+import lombok.extern.slf4j.Slf4j;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
 
 import java.nio.charset.StandardCharsets;
 
 /**
  * 昆船JSON版发送 首尾加上  <   >
  */
+@Slf4j
 public class KescEncoder extends MessageToByteEncoder<KsecInfo> {
 
+    private static final Logger tcpLogger = LoggerFactory.getLogger("tcp");
 
     @Override
     protected void encode(ChannelHandlerContext channelHandlerContext, KsecInfo ksecInfo, ByteBuf byteBuf) throws Exception {
         String body = "<" + JSONObject.toJSONString(ksecInfo) + ">";
+        tcpLogger.info("send ksecInfo:{}",body);
         byteBuf.writeBytes(body.getBytes(StandardCharsets.UTF_8));
     }
 }

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

@@ -128,13 +128,10 @@ public class KsecDecoder extends DelimiterBasedFrameDecoder {
                     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
-                            //任务开始 旋转到原点位
+                        plcService.gyrateCamera(plcCmdInfo,Cmd.C5.name());
-                            plcService.gyrateCamera(plcCmdInfo,Cmd.C5.name());
+                        plcService.orderStart(plcCmdInfo);
-                            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
@@ -201,7 +198,7 @@ public class KsecDecoder extends DelimiterBasedFrameDecoder {
                     //rfid的逻辑
                     String code = dataInfo.getCmdName();
                     log.info("盘点指令：{}", ksecInfo);
-                    plcService.check(plcCmdInfo,ksecInfo.getType(),dataInfo.getCode(),dataInfo.getTrayCode());
+                    plcService.check(plcCmdInfo,ksecInfo.getType(),dataInfo.getLotnum(),dataInfo.getLotnum());
                     ksecInfo.getData().setAckStatus(1);
 
                     ctx.channel().writeAndFlush(ksecInfo);