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);
 
@@ -228,12 +229,14 @@ 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)) {
+            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);
@@ -245,18 +248,23 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
                         // 状态转为空闲
                         commandState.set(CommandState.IDLE);
 
-                    // 处理待执行指令
+                        // 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
+            synchronized (this) {
                 handleFullyIdleState();
             }
         }
+    }
 
     /**
      * 记录当前执行的指令