diff --git a/web/src/main/java/com/zhehekeji/web/service/PlcCmdInfo.java b/web/src/main/java/com/zhehekeji/web/service/PlcCmdInfo.java
index 76a183f..eed0c36 100644
--- a/web/src/main/java/com/zhehekeji/web/service/PlcCmdInfo.java
+++ b/web/src/main/java/com/zhehekeji/web/service/PlcCmdInfo.java
@@ -34,6 +34,8 @@ public class PlcCmdInfo {
      */
     private Integer row1;
 
+    private Integer separation1;
+
     /**
      * 后两个命令 库内？苦口？  1：库内   2：库口
      */
@@ -54,11 +56,13 @@ public class PlcCmdInfo {
      */
     private Integer row2;
 
+    private Integer separation2;
+
     private String orderNum;
 
     private String plcId;
 
-    public PlcCmdInfo(String plcId, String taskId, Integer inOut1, Integer leftRight1, Integer column1, Integer row1, Integer inOut2, Integer leftRight2, Integer column2, Integer row2) {
+    public PlcCmdInfo(String plcId, String taskId, Integer inOut1, Integer leftRight1, Integer column1, Integer row1,Integer separation1, Integer inOut2, Integer leftRight2, Integer column2, Integer row2, Integer separation2) {
         this.taskId = taskId;
         this.inOut1 = inOut1;
         this.leftRight1 = leftRight1;
@@ -70,6 +74,8 @@ public class PlcCmdInfo {
         this.row2 = row2;
         this.plcId = plcId;
         this.orderNum = plcId + "_" + taskId;
+        this.separation1 = separation1;
+        this.separation2 = separation2;
     }
 
     public String getLeftRightStr(int times) {
diff --git a/web/src/main/java/com/zhehekeji/web/service/PlcService.java b/web/src/main/java/com/zhehekeji/web/service/PlcService.java
index 6bd27a9..0a64af5 100644
--- a/web/src/main/java/com/zhehekeji/web/service/PlcService.java
+++ b/web/src/main/java/com/zhehekeji/web/service/PlcService.java
@@ -132,9 +132,9 @@ public class PlcService {
 
     }
 
-    public void orderStopByWarn(String orderNum){
+    public void orderStopByWarn(String orderNum) {
         Order order = orderMapper.getOneByOrderNum(orderNum);
-        if(order == null){
+        if (order == null) {
             return;
         }
         Order upd = new Order();
@@ -146,7 +146,6 @@ public class PlcService {
         orderMapper.updateById(upd);
     }
 
-
     public String cameraVideo(Integer cameraId, LocalDateTime startTime, LocalDateTime endTime) {
         String path = PathUtil.createFileName("mp4",cameraId);
         String realPath = configProperties.getSavePath().getMp4Path() + path;
@@ -209,6 +208,16 @@ public class PlcService {
         }
     }
 
+    public void warnAction(PlcCmdInfo plcCmdInfo,String warnCode){
+        Street street = streetService.getStreetByPlcId(plcCmdInfo.getPlcId());
+        if(street.getCamera1Id() != null){
+            gyrateCameraByCode(street.getCamera1Id(),warnCode);
+        }
+        if(street.getCamera2Id() != null){
+            gyrateCameraByCode(street.getCamera2Id(),warnCode);
+        }
+    }
+
     /**
      * need take a photo ??
      *
diff --git a/web/src/main/java/com/zhehekeji/web/service/ksec/KsecDataInfo.java b/web/src/main/java/com/zhehekeji/web/service/ksec/KsecDataInfo.java
index 9436151..e2d1e68 100644
--- a/web/src/main/java/com/zhehekeji/web/service/ksec/KsecDataInfo.java
+++ b/web/src/main/java/com/zhehekeji/web/service/ksec/KsecDataInfo.java
@@ -7,29 +7,33 @@ public class KsecDataInfo {
 
     private String SRMNumber;
 
-    private String CmdName;
+    private String cmdName;
 
-    private String TaskId;
+    private String taskId;
 
-    private Integer FromAddrType;
+    private Integer fromColumn;
 
-    private Integer FromRow;
+    private Integer fromRow;
 
-    private Integer FromBay;
+    private Integer fromDirection;
 
-    private Integer FromLevel;
+    private Integer fromSide;
 
-    private Integer ToAddrType;
+    private Integer fromSeparation;
 
-    private Integer ToRow;
+    private Integer toColumn;
 
-    private Integer ToBay;
+    private Integer toRow;
 
-    private Integer ToLevel;
+    private Integer toDirection;
+
+    private Integer toSide;
+
+    private Integer toSeparation;
 
     private String code;
 
-    private String WarnCode;
+    private String warnCode;
 
-    private Integer AckStatus;
+    private Integer ackStatus;
 }
diff --git a/web/src/main/java/com/zhehekeji/web/service/ksec/KsecDecoder.java b/web/src/main/java/com/zhehekeji/web/service/ksec/KsecDecoder.java
index 5f9d063..731d80c 100644
--- a/web/src/main/java/com/zhehekeji/web/service/ksec/KsecDecoder.java
+++ b/web/src/main/java/com/zhehekeji/web/service/ksec/KsecDecoder.java
@@ -43,7 +43,7 @@ public class KsecDecoder extends DelimiterBasedFrameDecoder {
             String srmNumber = null;
             String cmdName = null;
             if(dataInfo != null){
-                plcCmdInfo = new PlcCmdInfo(dataInfo.getSRMNumber(), dataInfo.getTaskId(), dataInfo.getFromAddrType(), dataInfo.getFromRow(), dataInfo.getFromBay(), dataInfo.getFromLevel(), dataInfo.getToAddrType(), dataInfo.getToRow(), dataInfo.getToBay(), dataInfo.getToLevel());
+                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());
                 srmNumber = dataInfo.getSRMNumber();
                 cmdName = dataInfo.getCmdName();
             }
@@ -74,7 +74,8 @@ public class KsecDecoder extends DelimiterBasedFrameDecoder {
                 String code = dataInfo.getCmdName();
                 if(code.equals("D1")){
                     log.info("plcId:{},warn start",plcCmdInfo.getPlcId());
-                    plcService.action(plcCmdInfo,1,code);
+                    //根据告警code转动camera
+                    plcService.warnAction(plcCmdInfo,dataInfo.getWarnCode());
                     plcService.warnStart(plcCmdInfo.getPlcId(),dataInfo.getWarnCode());
                 }else if(code.equals("D2")){
                     log.info("plcId:{},warn stop",plcCmdInfo.getPlcId());
diff --git a/web/src/main/java/com/zhehekeji/web/service/robotic/ProtocolDecoder.java b/web/src/main/java/com/zhehekeji/web/service/robotic/ProtocolDecoder.java
index 1fea5d2..17fd8dc 100644
--- a/web/src/main/java/com/zhehekeji/web/service/robotic/ProtocolDecoder.java
+++ b/web/src/main/java/com/zhehekeji/web/service/robotic/ProtocolDecoder.java
@@ -66,7 +66,7 @@ public class ProtocolDecoder extends FixedLengthFrameDecoder {
         short short6 = in.readShort();
         short short7 = in.readShort();
         short short8 = in.readShort();
-        PlcCmdInfo plcCmdInfo = new PlcCmdInfo(plcId, String.valueOf(taskId), (int) short1, (int) short2, (int) short3, (int) short4, (int) short5, (int) short6, (int) short7, (int) short8);
+        PlcCmdInfo plcCmdInfo = new PlcCmdInfo(plcId, String.valueOf(taskId), (int) short1, (int) short2, (int) short3, (int) short4,1, (int) short5, (int) short6, (int) short7, (int) short8,1);
 
         byte maohao = in.readByte();
         byte leixing = in.readByte();