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zhmes-agecal
Commit a0364038 authored by wanghao's avatar wanghao
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1 扫托盘 上料 测试

parent 025b3b12
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zhmes-agecal-system/src/main/java/com/zehong/system/netty/handler/NettyUdpServerHandler.java
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...@@ -140,12 +140,16 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP ...@@ -140,12 +140,16 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
// 处理指令完成 // 处理指令完成
if (status.isFullyIdle()) { if (status.isFullyIdle()) {
log.info("status.isFullyIdle 了 吗？ ");
CommandExecution execution = currentCommands.get(sender); CommandExecution execution = currentCommands.get(sender);
log.info("currentCommands.get(sender) = " + execution);
if (execution != null) { if (execution != null) {
robotArmCommandService.completeCommand(execution.commandId); robotArmCommandService.completeCommand(execution.commandId);
currentCommands.remove(sender); currentCommands.remove(sender);
log.info("指令完成: {}", execution.commandId); log.info("指令完成: {}", execution.commandId);
} }
} else {
log.info("status.isFullyIdle() = false");
} }
// 记录详细状态 // 记录详细状态
......
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