1 指令追踪调整

zhmes-agecal-system/src/main/java/com/zehong/system/netty/handler/NettyUdpServerHandler.java

@@ -128,8 +128,9 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
     /**
      * 仅处理已完成的指令
      */
-    public void onlyCompleted(String commandId) {
-        CommandExecution execution = currentCommands.get(commandId);
+    public void onlyCompleted() {
+        // 每次只能有一个指令正在执行
+        CommandExecution execution = currentCommands.get("127.0.0.1");
         // 如果指令追踪为空，则可能是 刚启动，再去 查一下有没有正在执行的任务
         if(execution == null) {
             List<RobotArmCommand> robotArmCommands = robotArmCommandService.selectTopRunningRobotArmCommands();
@@ -142,7 +143,7 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
 
         if (execution != null) {
             robotArmCommandService.completeCommand(execution.commandId);
-            currentCommands.remove(commandId);
+            currentCommands.remove("127.0.0.1");
             log.info("指令完成: {}", execution.commandId);
         }
     }
@@ -164,9 +165,9 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
                     status.getCode(), status.getText(),
                     status.getX(), status.getY(), status.getZ(), status.getR());
 
-            CommandExecution execution = null;
+            CommandExecution execution = currentCommands.get("127.0.0.1");
             // 如果指令追踪为空，则可能是 刚启动，再去 查一下有没有正在执行的任务
-            if(currentCommands.size() == 0) {
+            if(execution == null) {
                 List<RobotArmCommand> robotArmCommands = robotArmCommandService.selectTopRunningRobotArmCommands();
                 if(robotArmCommands != null && !robotArmCommands.isEmpty()) {
                     // 注册指令跟踪
@@ -177,7 +178,7 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
 
             if (execution != null) {
                 robotArmCommandService.completeCommand(execution.commandId);
-                currentCommands.remove(execution.commandId + "");
+                currentCommands.remove("127.0.0.1");
                 log.info("指令完成: {}", execution.commandId);
             }
         } else {
@@ -192,7 +193,8 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
         CommandExecution execution = new CommandExecution();
         execution.commandId = commandId;
         execution.startTime = System.currentTimeMillis();
-        currentCommands.put(commandId + "", execution);
+        // 每次只能有一个正在执行中的，所以先暂时用使用了127.0.0.1
+        currentCommands.put("127.0.0.1", execution);
         log.info("注册指令跟踪: {}", commandId);
     }
 

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

@@ -400,7 +400,7 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
             return AjaxResult.error("只有待执行状态的指令才能确认完成");
         }
         try {
-            nettyUdpServerHandler.onlyCompleted(commandId +"");
+            nettyUdpServerHandler.onlyCompleted();
         } catch (Exception e) {
             return AjaxResult.error("执行确认完成指令时发生异常: " + e.getMessage());
         }