1 扫托盘 上料 测试

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

@@ -50,7 +50,7 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
     /**
      * 当前正在处理的指令信息
      */
-    private final Map<SocketAddress, CommandExecution> currentCommands = new ConcurrentHashMap<>();
+    private final Map<String, CommandExecution> currentCommands = new ConcurrentHashMap<>();
 
     // 线程安全锁，确保文件写入安全
     private final ReentrantLock fileLock = new ReentrantLock();
@@ -140,8 +140,7 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
 
         // 处理指令完成
         if (status.isFullyIdle()) {
-            log.info("处理指令完成跟踪: {}", sender);
-            CommandExecution execution = currentCommands.get(sender);
+            CommandExecution execution = currentCommands.get("127.0.0.1");
             if (execution != null) {
                 robotArmCommandService.completeCommand(execution.commandId);
                 currentCommands.remove(sender);
@@ -159,7 +158,7 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
     /**
      * 记录当前执行的指令
      */
-    public void registerCommandExecution(SocketAddress address, Long commandId) {
+    public void registerCommandExecution(String  address, Long commandId) {
         CommandExecution execution = new CommandExecution();
         execution.commandId = commandId;
         execution.startTime = System.currentTimeMillis();

zhmes-agecal-system/src/main/java/com/zehong/system/service/impl/RobotArmCommandServiceImpl.java

@@ -130,7 +130,7 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
         );
 
         // 注册指令跟踪
-        nettyUdpServerHandler.registerCommandExecution(address, command.getRobotArmCommandId());
+        nettyUdpServerHandler.registerCommandExecution("127.0.0.1", command.getRobotArmCommandId());
     }
 
     /**