1测试上电断电操作

zhmes-agecal-system/src/main/java/com/zehong/system/mapper/RobotArmCommandMapper.java

@@ -35,6 +35,8 @@ public interface RobotArmCommandMapper
      */
     public List<RobotArmCommand> selectRobotArmCommandList(RobotArmCommand robotArmCommand);
 
+    public List<RobotArmCommand> selectTopRunningRobotArmCommands();
+
     public List<RobotArmCommand> findByType(String type);
 
     /**

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

 package com.zehong.system.netty.handler;
 
+import com.zehong.system.domain.RobotArmCommand;
 import com.zehong.system.service.IRobotArmCommandService;
 import com.zehong.system.service.websocket.RobotArmWebSocketHandler;
 import com.zehong.system.udp.RobotArmMessageParser;
@@ -19,6 +20,7 @@ import java.net.SocketAddress;
 import java.nio.charset.StandardCharsets;
 import java.text.SimpleDateFormat;
 import java.util.Iterator;
+import java.util.List;
 import java.util.Map;
 import java.util.concurrent.ConcurrentHashMap;
 import java.util.concurrent.locks.ReentrantLock;
@@ -43,6 +45,8 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
     private static final SimpleDateFormat TIME_FORMATTER = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
     private volatile long lastActivityTime = System.currentTimeMillis();
 
+    @Resource
+    private NettyUdpServerHandler nettyUdpServerHandler;
     /**
      * 当前正在处理的指令信息
      */
@@ -142,6 +146,16 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
                     status.getX(), status.getY(), status.getZ(), status.getR());
 
             CommandExecution execution = currentCommands.get("127.0.0.1");
+            // 如果指令追踪为空，则可能是 刚启动，再去 查一下有没有正在执行的任务
+            if(execution == null) {
+                List<RobotArmCommand> robotArmCommands = robotArmCommandService.selectTopRunningRobotArmCommands();
+                if(robotArmCommands != null && !robotArmCommands.isEmpty()) {
+                    // 注册指令跟踪
+                    execution = new CommandExecution();
+                    execution.commandId = robotArmCommands.get(0).getRobotArmCommandId();
+                }
+            }
+
             if (execution != null) {
                 robotArmCommandService.completeCommand(execution.commandId);
                 currentCommands.remove("127.0.0.1");

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

@@ -27,6 +27,8 @@ public interface IRobotArmCommandService
      */
     public List<RobotArmCommand> selectRobotArmCommandList(RobotArmCommand robotArmCommand);
 
+    public List<RobotArmCommand> selectTopRunningRobotArmCommands();
+
     public List<RobotArmCommand> findByType(String type);
 
     public int insertBlankingRobotArmCommand(RobotArmCommand robotArmCommand);

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

@@ -305,6 +305,11 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
         return robotArmCommandMapper.selectRobotArmCommandList(robotArmCommand);
     }
 
+    @Override
+    public List<RobotArmCommand> selectTopRunningRobotArmCommands() {
+        return robotArmCommandMapper.selectTopRunningRobotArmCommands();
+    }
+
     @Override
     public List<RobotArmCommand> findByType(String type) {
         return robotArmCommandMapper.findByType( type);

zhmes-agecal-system/src/main/resources/mapper/system/RobotArmCommandMapper.xml

@@ -46,6 +46,10 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="createTime != null "> and f_create_time = #{createTime}</if>
         </where>
     </select>
+    <select id="selectTopRunningRobotArmCommands" resultMap="RobotArmCommandResult">
+        <include refid="selectRobotArmCommandVo"/>
+        where f_status = '2'
+    </select>
     
     <select id="selectRobotArmCommandById" parameterType="Long" resultMap="RobotArmCommandResult">
         <include refid="selectRobotArmCommandVo"/>