1 指令指令完成，但是 没有检测到机械臂完成。

zhmes-agecal-admin/src/main/java/com/zehong/web/controller/equipment/RobotArmCommandController.java

@@ -105,6 +105,12 @@ public class RobotArmCommandController extends BaseController
         return AjaxResult.success("上电操作成功");
     }
 
+    @GetMapping("/sureCompletedCommand/{robotArmCommandId}")
+    public AjaxResult sureCompletedCommand(@PathVariable("robotArmCommandId") Long robotArmCommandId) {
+        return robotArmCommandService.sureCompletedCommand(robotArmCommandId);
+    }
+
+
     /**
      * 修改机械臂指令
      */

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

@@ -125,6 +125,28 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
         }
     }
 
+    /**
+     * 仅处理已完成的指令
+     */
+    public void onlyCompleted() {
+        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();
+            if(robotArmCommands != null && !robotArmCommands.isEmpty()) {
+                // 注册指令跟踪
+                execution = new CommandExecution();
+                execution.commandId = robotArmCommands.get(0).getRobotArmCommandId();
+            }
+        }
+
+        if (execution != null) {
+            robotArmCommandService.completeCommand(execution.commandId);
+            currentCommands.remove("127.0.0.1");
+            log.info("指令完成: {}", execution.commandId);
+        }
+    }
+
     private void processStatusMessage(RobotArmMessageParser.RobotArmStatus status, SocketAddress sender) {
         // 更新前端状态
         if (status.isBusy()) {

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

 package com.zehong.system.service;
 
 import java.util.List;
+
+import com.zehong.common.core.domain.AjaxResult;
 import com.zehong.system.domain.RobotArmCommand;
 
 /**
@@ -42,6 +44,13 @@ public interface IRobotArmCommandService
     public int insertRobotArmCommand(RobotArmCommand robotArmCommand);
 
     public void powerOnCommand(Long commandId);
+
+    /**
+     * 确认完成指令
+     * @param commandId c
+     * @return r
+     */
+    public AjaxResult sureCompletedCommand(Long commandId);
     /**
      * 修改机械臂指令
      * 

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

@@ -10,6 +10,7 @@ import java.util.List;
 import com.serotonin.modbus4j.ModbusMaster;
 import com.serotonin.modbus4j.exception.ModbusInitException;
 import com.serotonin.modbus4j.exception.ModbusTransportException;
+import com.zehong.common.core.domain.AjaxResult;
 import com.zehong.common.utils.DateUtils;
 import com.zehong.common.utils.StringUtils;
 import com.zehong.system.domain.TEquipmentInfo;
@@ -71,7 +72,6 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
 
     @Value("${robot.arm.udp.port}")
     private int robotArmPort;
-
     @Resource
     private ApplicationEventPublisher eventPublisher; // 新增事件发布器
 
@@ -383,6 +383,34 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
         return i;
     }
 
+    /**
+     * 修改机械臂指令
+     *
+     * @param commandId 机械臂指令
+     * @return 结果
+     */
+    @Override
+    public AjaxResult sureCompletedCommand(Long commandId) {
+
+        if(commandId == null) {
+            return AjaxResult.error("参数错误");
+        }
+        RobotArmCommand command = robotArmCommandMapper.selectRobotArmCommandById(commandId);
+        if (command == null) {
+            return AjaxResult.error("指令不存在");
+        }
+        if(!"1".equals(command.getStatus())) {
+            return AjaxResult.error("只有待执行状态的指令才能确认完成");
+        }
+        try {
+            nettyUdpServerHandler.onlyCompleted();
+        } catch (Exception e) {
+            return AjaxResult.error("执行确认完成指令时发生异常: " + e.getMessage());
+        }
+
+        return AjaxResult.success();
+    }
+
     @Override
     @Transactional
     public void powerOnCommand(Long commandId) {

zhmes-agecal-web/src/api/robotArm/robotArmCommand.js

@@ -62,6 +62,13 @@ export function powerOnCommand(commandId) {
   })
 }
 
+export function sureCompletedCommand(commandId) {
+  return request({
+    url: '/robotArm/command/sureCompletedCommand/' + commandId,
+    method: 'get'
+  })
+}
+
 // 修改机械臂指令
 export function updateCommand(data) {
   return request({

zhmes-agecal-web/src/views/screen/components/RoboticArm.vue

@@ -147,12 +147,32 @@
         </div>
       </div>
     </div>
+
+    <!-- 确认执行完成对话框 -->
+    <div class="dialog-mask" v-if="showSureCompleteDialog" @click.self="closePowerOnDialog">
+      <div class="dialog-container">
+        <div class="dialog-header">确认执行完成</div>
+        <div class="dialog-body">
+          <div class="dialog-content">
+            <div class="scan-prompt">确认此条指令执行完成？</div>
+            <div class="power-on-info">
+              <div><span class="label">托盘编号:</span> {{ selectedCommand.trayCode }}</div>
+              <div><span class="label">位置:</span> {{ selectedCommand.position }}</div>
+            </div>
+          </div>
+        </div>
+        <div class="dialog-footer">
+          <button class="cancel-button" @click="closeSureCompleteDialog">取消</button>
+          <button class="confirm-button" @click="confirmSureComplete">确认上电</button>
+        </div>
+      </div>
+    </div>
   </div>
 </template>
 
 <script>
 
-import {addCommand,powerOnCommand,sendHomeCommand,sendStopCommand} from "@/api/robotArm/robotArmCommand"
+import {addCommand,powerOnCommand,sendHomeCommand,sendStopCommand,sureCompletedCommand} from "@/api/robotArm/robotArmCommand"
 
 export default {
   name: 'RoboticArm',
@@ -168,6 +188,7 @@ export default {
       websocket: null,
       reconnectInterval: null,
       showPowerOnDialog: false,
+      showSureCompleteDialog: false,
       selectedCommand: null
     };
   },
@@ -368,14 +389,34 @@ export default {
       if (cmd.status === '3') {
         this.selectedCommand = cmd;
         this.showPowerOnDialog = true;
+      } else if(cmd.status === '2') {
+        this.selectedCommand = cmd;
+        this.showSureCompleteDialog = true;
       }
     },
 
+    closeSureCompleteDialog() {
+      this.showSureCompleteDialog = false;
+      this.selectedCommand = null;
+    },
     closePowerOnDialog() {
       this.showPowerOnDialog = false;
       this.selectedCommand = null;
     },
+    confirmSureComplete() {
+      if (!this.selectedCommand) return;
+      sureCompletedCommand(this.selectedCommand.robotArmCommandId).then(res => {
+        if(res.code === 200) {
+          this.msgSuccess("确认完成成功");
 
+          this.closeSureCompleteDialog();
+        } else {
+          this.msgError("确认完成失败");
+        }
+      }).catch(err => {
+        this.msgError("确认完成失败");
+      })
+    },
     confirmPowerOn() {
       if (!this.selectedCommand) return;