1 当机械臂返回 PPP OK 完成 -1,0,0,0的时候检测不到 完成问题调整

zhmes-agecal-system/src/main/java/com/zehong/system/udp/RobotArmMessageParser.java

 package com.zehong.system.udp;
 
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
 import java.util.regex.Matcher;
 import java.util.regex.Pattern;
 
@@ -9,27 +12,41 @@ import java.util.regex.Pattern;
  * @description TODO
  */
 public class RobotArmMessageParser {
+    private static final Logger log = LoggerFactory.getLogger(RobotArmMessageParser.class);
+//    private static final Pattern STATUS_PATTERN = Pattern.compile(
+//            "PPP (\\w+) (\\S+)(?: (\\d+),(\\d+),(\\d+),(\\d+),)?"
+//    );
+    // 修改正则表达式，支持负数的坐标
     private static final Pattern STATUS_PATTERN = Pattern.compile(
-            "PPP (\\w+) (\\S+)(?: (\\d+),(\\d+),(\\d+),(\\d+),)?"
+            "PPP (\\w+) (\\S+)(?: (-?\\d+),(-?\\d+),(-?\\d+),(-?\\d+),)?"
     );
-
     // 坐标判定的误差范围（-2到2之间）
     private static final int COORDINATE_TOLERANCE = 2;
 
     public static RobotArmStatus parseMessage(String message) {
+        log.info("正在解析消息: {}", message);
         Matcher matcher = STATUS_PATTERN.matcher(message);
         if (matcher.find()) {
+            log.info("正则匹配成功:");
             String statusCode = matcher.group(1);
             String statusText = matcher.group(2);
             String x = matcher.group(3);
             String y = matcher.group(4);
             String z = matcher.group(5);
             String r = matcher.group(6);
-
-            return new RobotArmStatus(statusCode, statusText,
+            RobotArmStatus status = new RobotArmStatus(statusCode, statusText,
                     parseCoord(x), parseCoord(y),
                     parseCoord(z), parseCoord(r));
+            log.debug("解析结果: code={}, text={}, x={}, y={}, z={}, r={}, isFullyIdle={}",
+                    statusCode, statusText, status.x, status.y, status.z, status.r,
+                    status.isFullyIdle());
+
+            return status;
+//            return new RobotArmStatus(statusCode, statusText,
+//                    parseCoord(x), parseCoord(y),
+//                    parseCoord(z), parseCoord(r));
         }
+        log.info("正则匹配失败，消息格式不正确: {}", message);
         return null;
     }