1 扫托盘 上料 测试

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

@@ -140,12 +140,16 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
 
         // 处理指令完成
         if (status.isFullyIdle()) {
+            log.info("status.isFullyIdle 了 吗？ ");
             CommandExecution execution = currentCommands.get(sender);
+            log.info("currentCommands.get(sender) =  " + execution);
             if (execution != null) {
                 robotArmCommandService.completeCommand(execution.commandId);
                 currentCommands.remove(sender);
                 log.info("指令完成: {}", execution.commandId);
             }
+        } else {
+            log.info("status.isFullyIdle() = false");
         }
 
         // 记录详细状态