1 机械臂回零位置非零点导致指令提前完成的问题

- 问题现象：回零位置为(-1,0,0,0)等非零点时，系统误认为fullyIdle立即执行completeCommand，导致界面上的上料指令消失并错误执行下一条指令。
- 解决方案：在handleCompleteState中增加10秒持续时间校验，仅当从注册开始执行指令5秒后才允许指令完成操作

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

@@ -23,8 +23,6 @@ import java.nio.charset.StandardCharsets;
 import java.text.SimpleDateFormat;
 import java.util.Date;
 import java.util.List;
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
 import java.util.concurrent.atomic.AtomicReference;
 import java.util.concurrent.locks.ReentrantLock;
 
@@ -62,7 +60,9 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
     private final AtomicReference<CommandState> commandState = new AtomicReference<>(CommandState.IDLE);
 
     // 当前执行的指令ID
-    private volatile Long currentCommandId = null;
+    private volatile Long currentCommandId = null;// 记录最近一次收到 fullyIdle 状态的时间（毫秒）
+
+    private volatile long lastFullyIdleTime = 0L;
 
     private enum CommandState {
         IDLE,           // 空闲
@@ -229,6 +229,13 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
     }
 
     private void handleCompleteState() {
+        // 检查时间条件：必须连续 fullyIdle 超过10秒
+        long now = System.currentTimeMillis();
+        if (now - lastFullyIdleTime < 5000) {
+            log.info("机械臂 fullyIdle 状态持续时间不足10秒，暂不完成指令。已持续 {} 毫秒", now - lastFullyIdleTime);
+            return;
+        }
+
         // 只在完全空闲时处理
         Long commandIdToComplete = currentCommandId;
 
@@ -271,6 +278,7 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
     public void registerCommandExecution(Long commandId) {
         if (commandState.compareAndSet(CommandState.IDLE, CommandState.EXECUTING)) {
             currentCommandId = commandId;
+            lastFullyIdleTime = System.currentTimeMillis();
             log.info("注册指令跟踪: {}", commandId);
         } else {
             throw new IllegalStateException("机械臂当前状态不能执行新指令");