1 测试分支，单独测试 不需要 机械臂 获取iot数据

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

@@ -165,10 +165,6 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
     public void onlyCompleted() {
         Long commandId = null;
 
-        // 优先从currentCommandId获取
-        if (currentCommandId != null) {
-            commandId = currentCommandId;
-        } 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()) {
@@ -176,14 +172,26 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
             // 如果找到了指令ID，更新currentCommandId
             currentCommandId = commandId;
         }
+        if(currentCommandId != null){
+            robotArmCommandService.completeCommand(currentCommandId);
         }
 
-        if (commandId != null) {
-            robotArmCommandService.completeCommand(commandId);
-
-            // 使用状态机完成指令
+        // 优先从currentCommandId获取
+//        if (currentCommandId != null) {
+//            commandId = currentCommandId;
+//        } 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);
-        }
+//        }
     }
 
     /**