1 指令追踪调整

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

@@ -128,8 +128,8 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
     /**
      * 仅处理已完成的指令
      */
-    public void onlyCompleted() {
-        CommandExecution execution = currentCommands.get("127.0.0.1");
+    public void onlyCompleted(String commandId) {
+        CommandExecution execution = currentCommands.get(commandId);
         // 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();
@@ -142,7 +142,7 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
 
         if (execution != null) {
             robotArmCommandService.completeCommand(execution.commandId);
-            currentCommands.remove("127.0.0.1");
+            currentCommands.remove(commandId);
             log.info("指令完成: {}", execution.commandId);
         }
     }
@@ -164,9 +164,9 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
                     status.getCode(), status.getText(),
                     status.getX(), status.getY(), status.getZ(), status.getR());
 
-            CommandExecution execution = currentCommands.get("127.0.0.1");
+            CommandExecution execution = null;
             // 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) {
+            if(currentCommands.size() == 0) {
                 List<RobotArmCommand> robotArmCommands = robotArmCommandService.selectTopRunningRobotArmCommands();
                 if(robotArmCommands != null && !robotArmCommands.isEmpty()) {
                     // 注册指令跟踪
@@ -177,7 +177,7 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
 
             if (execution != null) {
                 robotArmCommandService.completeCommand(execution.commandId);
-                currentCommands.remove("127.0.0.1");
+                currentCommands.remove(execution.commandId + "");
                 log.info("指令完成: {}", execution.commandId);
             }
         } else {
@@ -188,12 +188,12 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
     /**
      * 记录当前执行的指令
      */
-    public void registerCommandExecution(String  address, Long commandId) {
+    public void registerCommandExecution(Long commandId) {
         CommandExecution execution = new CommandExecution();
         execution.commandId = commandId;
         execution.startTime = System.currentTimeMillis();
-        currentCommands.put(address, execution);
-        log.info("注册指令跟踪: {} -> {}", address, commandId);
+        currentCommands.put(commandId + "", execution);
+        log.info("注册指令跟踪: {}", commandId);
     }
 
 

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

@@ -160,7 +160,7 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
         );
 
         // 注册指令跟踪
-        nettyUdpServerHandler.registerCommandExecution("127.0.0.1", command.getRobotArmCommandId());
+        nettyUdpServerHandler.registerCommandExecution(command.getRobotArmCommandId());
     }
 
     /**
@@ -400,7 +400,7 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
             return AjaxResult.error("只有待执行状态的指令才能确认完成");
         }
         try {
-            nettyUdpServerHandler.onlyCompleted();
+            nettyUdpServerHandler.onlyCompleted(commandId +"");
         } catch (Exception e) {
             return AjaxResult.error("执行确认完成指令时发生异常: " + e.getMessage());
         }

zhmes-agecal-system/src/main/java/com/zehong/system/task/DeviceCommunicationJob.java

@@ -182,6 +182,8 @@ public class DeviceCommunicationJob implements Job {
                     writeCurrentTimeToDevice(master, deviceId, binding);
                 }
 
+                binding.setWriteTimeStatus("1");
+
                 // 5. 更新数据库
                 palletDeviceBindingMapper.updatePalletDeviceBinding(binding);