1 测试分支，单独测试不需要机械臂获取iot数据

307fa9cd · wanghao · 927e9662 · 307fa9cd
Commit 307fa9cd authored Oct 09, 2026 by wanghao
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Showing with 24 additions and 16 deletions

NettyUdpServerHandler.java ...om/zehong/system/netty/handler/NettyUdpServerHandler.java +24 -16

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--- a/zhmes-agecal-system/src/main/java/com/zehong/system/netty/handler/NettyUdpServerHandler.java
+++ b/zhmes-agecal-system/src/main/java/com/zehong/system/netty/handler/NettyUdpServerHandler.java
@@ -165,25 +165,33 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
    public void onlyCompleted() {
        Long commandId = null;
-        // 优先从currentCommandId获取
+        // 如果currentCommandId为空，从数据库查询正在执行的任务
-        if (currentCommandId != null) {
+        List<RobotArmCommand> robotArmCommands = robotArmCommandService.selectTopRunningRobotArmCommands();
-            commandId = currentCommandId;
+        if (robotArmCommands != null && !robotArmCommands.isEmpty()) {
-        } else {
+            commandId = robotArmCommands.get(0).getRobotArmCommandId();
-            // 如果currentCommandId为空，从数据库查询正在执行的任务
+            // 如果找到了指令ID，更新currentCommandId
-            List<RobotArmCommand> robotArmCommands = robotArmCommandService.selectTopRunningRobotArmCommands();
+            currentCommandId = commandId;
-            if (robotArmCommands != null && !robotArmCommands.isEmpty()) {
+        }
-                commandId = robotArmCommands.get(0).getRobotArmCommandId();
+        if(currentCommandId != null){
-                // 如果找到了指令ID，更新currentCommandId
+            robotArmCommandService.completeCommand(currentCommandId);
-                currentCommandId = commandId;
-            }
        }
-        if (commandId != null) {
+        // 优先从currentCommandId获取
-            robotArmCommandService.completeCommand(commandId);
+//        if (currentCommandId != null) {
+//            commandId = currentCommandId;
-            // 使用状态机完成指令
+//        } else {
+//            // 如果currentCommandId为空，从数据库查询正在执行的任务
+//            List<RobotArmCommand> robotArmCommands = robotArmCommandService.selectTopRunningRobotArmCommands();
+//            if (robotArmCommands != null && !robotArmCommands.isEmpty()) {
+//                commandId = robotArmCommands.get(0).getRobotArmCommandId();
+//                // 如果找到了指令ID，更新currentCommandId
+//                currentCommandId = commandId;
+//            }
+//        }
+//
+//        if (commandId != null) {
 //            completeCommandWithStateMachine(commandId);
-        }
+//        }
    }
    /**