1 机械臂 状态检查和指令完成之间存在竞态条件,影响界面显示 指令状态问题调整。

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

@@ -56,7 +56,8 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
     private IRobotArmCommandService robotArmCommandService;
     @Resource
     private ApplicationEventPublisher eventPublisher; // 新增事件发布器
-
+    // 命令完成锁，用于确保命令完成时只有一个线程执行
+    private final Object completionLock = new Object();
     // 使用原子引用，确保状态变更的原子性
     private final AtomicReference<CommandState> commandState = new AtomicReference<>(CommandState.IDLE);
 
@@ -228,33 +229,40 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
     }
 
     private void handleCompleteState() {
-        // 原子地获取并清空当前指令ID
+        // 只在完全空闲时处理
         Long commandIdToComplete = currentCommandId;
 
         if (commandIdToComplete != null) {
-            // 尝试将状态从 EXECUTING 转为 COMPLETING
-            if (commandState.compareAndSet(CommandState.EXECUTING, CommandState.COMPLETING)) {
-                try {
-                    // 完成指令
-                    robotArmCommandService.completeCommand(commandIdToComplete);
-                    log.info("指令完成: {}", commandIdToComplete);
-
-                    // 清空当前指令
-                    currentCommandId = null;
-
-                    // 状态转为空闲
-                    commandState.set(CommandState.IDLE);
-
-                    // 处理待执行指令
-                    handleFullyIdleState();
-                } catch (Exception e) {
-                    log.error("指令完成失败: {}", commandIdToComplete, e);
-                    commandState.set(CommandState.ERROR);
+            synchronized (completionLock) {
+                // 再次检查，防止在获取锁期间状态已改变
+                if (commandIdToComplete.equals(currentCommandId) &&
+                        commandState.compareAndSet(CommandState.EXECUTING, CommandState.COMPLETING)) {
+                    try {
+                        // 完成指令
+                        robotArmCommandService.completeCommand(commandIdToComplete);
+                        log.info("指令完成: {}", commandIdToComplete);
+
+                        // 清空当前指令
+                        currentCommandId = null;
+
+                        // 状态转为空闲
+                        commandState.set(CommandState.IDLE);
+
+                        // 处理待执行指令（这里也加锁确保顺序）
+                        synchronized (this) {
+                            handleFullyIdleState();
+                        }
+                    } catch (Exception e) {
+                        log.error("指令完成失败: {}", commandIdToComplete, e);
+                        commandState.set(CommandState.ERROR);
+                    }
                 }
             }
         } else {
             // 没有当前指令，直接处理待执行
-            handleFullyIdleState();
+            synchronized (this) {
+                handleFullyIdleState();
+            }
         }
     }
 

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

@@ -154,7 +154,7 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
     }
 
 
-    private void sendCommand(RobotArmCommand command, String commandType) {
+    private void  sendCommand(RobotArmCommand command, String commandType) {
         // 更新状态为执行中
         command.setStatus("2");
         command.setStartExecutionTime(new Date());