1 上料后 机械臂 回零 后 出现了一次 没有上电的操作，涉及到的 机械臂回零判断流程 优化。

2 实时数据 根据 托盘编号排序
3 如果设备号为空，则不设置各种状态信息，防止出现 没有板子的位置也报错，不能解绑的问题。

zhmes-agecal-system/src/main/java/com/zehong/system/netty/event/CalibrationResultEventHandler.java

@@ -93,6 +93,8 @@ public class CalibrationResultEventHandler {
 
         for (PalletDeviceBinding palletDeviceBinding : palletDeviceBindings) {
             MesDeviceDomain mesDeviceDomain = new MesDeviceDomain();
+            // 如果设备编号为空 则不处理改设备
+            if(StringUtils.isBlank(palletDeviceBinding.getDeviceCode())) continue;
             // 主板码
             mesDeviceDomain.setMotherboardCode(palletDeviceBinding.getDeviceCode());
             // 浓度

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

@@ -25,6 +25,7 @@ import java.util.Date;
 import java.util.List;
 import java.util.Map;
 import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.atomic.AtomicReference;
 import java.util.concurrent.locks.ReentrantLock;
 
 /**
@@ -44,10 +45,6 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
     private static final SimpleDateFormat DATE_FORMATTER = new SimpleDateFormat("yyyyMMdd");
     private static final SimpleDateFormat TIME_FORMATTER = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
     private volatile long lastActivityTime = System.currentTimeMillis();
-    /**
-     * 当前正在处理的指令信息
-     */
-    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();
@@ -59,11 +56,26 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
     private IRobotArmCommandService robotArmCommandService;
     @Resource
     private ApplicationEventPublisher eventPublisher; // 新增事件发布器
+
+    // 使用原子引用，确保状态变更的原子性
+    private final AtomicReference<CommandState> commandState = new AtomicReference<>(CommandState.IDLE);
+
+    // 当前执行的指令ID
+    private volatile Long currentCommandId = null;
+
+    private enum CommandState {
+        IDLE,           // 空闲
+        EXECUTING,      // 执行中
+        COMPLETING,     // 正在完成（防止重复）
+        ERROR           // 错误
+    }
+
+
     /**
      * 接收UDP消息
      */
     @Override
-    protected void channelRead0(ChannelHandlerContext ctx, DatagramPacket packet) throws Exception {
+    protected void channelRead0(ChannelHandlerContext ctx, DatagramPacket packet) {
         try {
             // 获取消息内容的字节缓冲区
             ByteBuf content = packet.content();
@@ -93,9 +105,6 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
             // 保存消息到文件
             //saveMessageToFile(packet.sender().toString(), correctMessage);
 
-            // 处理消息逻辑
-            String response = "服务器已收到UDP消息：" + correctMessage;
-
             // 记录最后活动时间
             lastActivityTime = System.currentTimeMillis();
             // 判断消息类型并进行相应处理
@@ -106,26 +115,6 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
                 // 处理普通状态消息（原有逻辑）
                 handleNormalMessage(ctx, packet, correctMessage);
             }
-//            // 解析消息
-//            RobotArmMessageParser.RobotArmStatus status =
-//                    RobotArmMessageParser.parseMessage(correctMessage);
-//
-//            if (status != null) {
-//                // 处理状态消息
-//                processStatusMessage(status);
-//
-//                // 检查是否为完全空闲状态
-//                if (status.isFullyIdle()) {
-//                    handleFullyIdleState();
-//                }
-//            }
-//
-//            // 回复客户端
-//            byte[] responseBytes = response.getBytes(StandardCharsets.UTF_8);
-//            ctx.writeAndFlush(new DatagramPacket(
-//                    io.netty.buffer.Unpooled.copiedBuffer(responseBytes),
-//                    packet.sender()));
-
         } catch (Exception e) {
             log.error("处理UDP消息异常", e);
             // 出现异常时发送故障状态
@@ -144,17 +133,11 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
                 packet.sender()));
 
         // 解析消息
-        RobotArmMessageParser.RobotArmStatus status =
-                RobotArmMessageParser.parseMessage(message);
+        RobotArmMessageParser.RobotArmStatus status = RobotArmMessageParser.parseMessage(message);
 
         if (status != null) {
             // 处理状态消息
             processStatusMessage(status);
-
-            // 检查是否为完全空闲状态
-            if (status.isFullyIdle()) {
-                handleFullyIdleState();
-            }
         }
     }
 
@@ -176,25 +159,54 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
     }
 
     /**
-     * 仅处理已完成的指令
+     * 仅处理已完成的指令 - 已修改为使用currentCommandId
      */
     public void onlyCompleted() {
-        // 每次只能有一个指令正在执行
-        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) {
+        Long commandId = null;
+
+        // 优先从currentCommandId获取
+        if (currentCommandId != null) {
+            commandId = currentCommandId;
+        } else {
+            // 如果currentCommandId为空，从数据库查询正在执行的任务
             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 (robotArmCommands != null && !robotArmCommands.isEmpty()) {
+                commandId = robotArmCommands.get(0).getRobotArmCommandId();
+                // 如果找到了指令ID，更新currentCommandId
+                currentCommandId = commandId;
+            }
+        }
+
+        if (commandId != null) {
+            // 使用状态机完成指令
+            completeCommandWithStateMachine(commandId);
         }
     }
 
-        if (execution != null) {
-            robotArmCommandService.completeCommand(execution.commandId);
-            currentCommands.remove("127.0.0.1");
-            log.info("指令完成: {}", execution.commandId);
+    /**
+     * 使用状态机完成指令
+     */
+    private void completeCommandWithStateMachine(Long commandId) {
+        // 检查当前状态和指令ID是否匹配
+        if (commandId.equals(currentCommandId) &&
+                commandState.compareAndSet(CommandState.EXECUTING, CommandState.COMPLETING)) {
+            try {
+                robotArmCommandService.completeCommand(commandId);
+                log.info("指令完成: {}", commandId);
+
+                // 清理状态
+                currentCommandId = null;
+                commandState.set(CommandState.IDLE);
+
+                // 处理待执行指令
+                handleFullyIdleState();
+            } catch (Exception e) {
+                log.error("指令完成失败: {}", commandId, e);
+                commandState.set(CommandState.ERROR);
+            }
+        } else {
+            log.warn("无法完成指令 {}，当前状态: {}, 当前指令ID: {}",
+                    commandId, commandState.get(), currentCommandId);
         }
     }
 
@@ -207,45 +219,55 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
         } else {
             sendStatusToWebSocket("error");
         }
-
-        // 处理指令完成
+        // 处理指令完成逻辑 - 使用状态机防止重复
         if (status.isFullyIdle()) {
-            // 记录详细状态
-            log.debug("机械臂状态: code={}, text={}, position=({},{},{},{})",
-                    status.getCode(), status.getText(),
-                    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();
+            handleCompleteState();
+        } else {
+            log.info("status.isFullyIdle() = false");
         }
     }
 
-            if (execution != null) {
-                robotArmCommandService.completeCommand(execution.commandId);
-                currentCommands.remove("127.0.0.1");
-                log.info("指令完成: {}", execution.commandId);
+    private void handleCompleteState() {
+        // 原子地获取并清空当前指令ID
+        Long commandIdToComplete = currentCommandId;
+
+        if (commandIdToComplete != null) {
+            // 尝试将状态从 EXECUTING 转为 COMPLETING
+            if (commandState.compareAndSet(CommandState.EXECUTING, CommandState.COMPLETING)) {
+                try {
+                    // 完成指令
+                    robotArmCommandService.completeCommand(commandIdToComplete);
+                    log.info("指令完成: {}", commandIdToComplete);
+
+                    // 清空当前指令
+                    currentCommandId = null;
+
+                    // 状态转为空闲
+                    commandState.set(CommandState.IDLE);
+
+                    // 处理待执行指令
+                    handleFullyIdleState();
+                } catch (Exception e) {
+                    log.error("指令完成失败: {}", commandIdToComplete, e);
+                    commandState.set(CommandState.ERROR);
+                }
             }
         } else {
-            log.info("status.isFullyIdle() = false");
+            // 没有当前指令，直接处理待执行
+            handleFullyIdleState();
         }
-
     }
+
     /**
      * 记录当前执行的指令
      */
     public void registerCommandExecution(Long commandId) {
-        CommandExecution execution = new CommandExecution();
-        execution.commandId = commandId;
-        execution.startTime = System.currentTimeMillis();
-        // 每次只能有一个正在执行中的，所以先暂时用使用了127.0.0.1
-        currentCommands.put("127.0.0.1", execution);
+        if (commandState.compareAndSet(CommandState.IDLE, CommandState.EXECUTING)) {
+            currentCommandId = commandId;
             log.info("注册指令跟踪: {}", commandId);
+        } else {
+            throw new IllegalStateException("机械臂当前状态不能执行新指令");
+        }
     }
 
 
@@ -288,11 +310,8 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
             IdleStateEvent event = (IdleStateEvent) evt;
             if (event.state() == IdleState.ALL_IDLE) {
                 log.info("UDP服务器超过规定时间未收到数据");
-
                 long now = System.currentTimeMillis();
                 long idleDuration = now - lastActivityTime;
-
-                // 如果长时间空闲（>2秒）
                 if (idleDuration > 20000) {
                     handleLongIdleState();
                 }
@@ -301,12 +320,14 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
             super.userEventTriggered(ctx, evt);
         }
     }
-    private void handleLongIdleState() {
-        // 检查是否有超时的指令
 
-        // 如果当前没有执行中的指令，尝试处理待执行指令
-        if (currentCommands.isEmpty()) {
+
+    private void handleLongIdleState() {
+        // 检查当前是否有执行中的指令（使用currentCommandId）
+        if (currentCommandId == null) {
             handleFullyIdleState();
+        } else {
+            log.info("当前有指令正在执行中，指令ID: {}", currentCommandId);
         }
     }
     /**
@@ -320,13 +341,6 @@ public class NettyUdpServerHandler extends SimpleChannelInboundHandler<DatagramP
         }
     }
 
-    // 添加指令执行状态
-    private static class CommandExecution {
-        Long commandId;
-        long startTime;
-    }
-
-
     /**
      * 将消息保存到本地文件
      *

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

@@ -89,6 +89,10 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
         }
     }
 
+    /**
+     * 机械臂空闲状态下 需要执行的待执行的指令
+     */
+
     @Override
     @Transactional
     public void processPendingCommands() {
@@ -336,6 +340,10 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
         return 0;
     }
 
+    /**
+     * 完成指令
+     * @param commandId c
+     */
     @Override
     @Transactional
     public void completeCommand(Long commandId) {
@@ -346,7 +354,6 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
             log.info("command != null && \"2\".equals(command.getStatus()");
             // 发送上电指令
             try {
-
                 String storeyCode = command.getStoreyCode();
                 String equitmentCode;
                 int registerOffset;
@@ -361,6 +368,7 @@ public class RobotArmCommandServiceImpl implements IRobotArmCommandService
                         log.info("tEquipmentInfo != null");
                         String powerOutageIp = tEquipmentInfo.getfPowerOutageIp();
                         Integer powerOutagePort = tEquipmentInfo.getfPowerOutagePort();
+                        log.info("powerOutageIp: {}, powerOutagePort: {},command.getType:{}", powerOutageIp, powerOutagePort, command.getType());
                         if(StringUtils.isNotBlank(powerOutageIp) && powerOutagePort != null) {
                             if("0".equals(command.getType())) {
                                 eventPublisher.publishEvent(new CheckPowerOnCommandEvent(

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

@@ -114,12 +114,12 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="createTime != null "> and palDeviceBinding.f_create_time = #{createTime}</if>
             <if test="status != null and status != '' "> and palDeviceBinding.f_status = #{status}</if>
         </where>
-        order by trayInfo.f_tray_code ,palDeviceBinding.f_index asc
+        order by trayInfo.f_tray_code ,palDeviceBinding.f_number asc
     </select>
     <select id="getAllExcludeUnbindingTimeByTrayId" parameterType="long" resultMap="PalletDeviceBindingResult">
         <include refid="selectPalletDeviceBindingVo"/>
         where palDeviceBinding.f_tray_id = #{trayId}
-        order by palDeviceBinding.f_index asc
+        order by palDeviceBinding.f_number asc
     </select>
     <select id="listByTrayCode" parameterType="string" resultMap="PalletDeviceBindingResult">
         <include refid="selectPalletDeviceBindingVo"/>
@@ -327,7 +327,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="simCardStatus != null">f_sim_card_status = #{simCardStatus},</if>
             <if test="networkStatus != null">f_network_status = #{networkStatus},</if>
         </trim>
-        where f_pallet_device_binding_id = #{palletDeviceBindingId}
+        where f_pallet_device_binding_id = #{palletDeviceBindingId} and f_device_code is not null
     </update>
     <update id="batchUpdateDeviceCode" parameterType="list">
         <foreach collection="palletDeviceBindingList" item="item"  index="index" separator=";">
@@ -350,7 +350,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
                 <if test="item.calibrationConcentration != null">f_calibration_concentration = #{item.calibrationConcentration},</if>
                 <if test="item.calibrationConcentrationStatus != null">f_calibration_concentration_status = #{item.calibrationConcentrationStatus},</if>
             </trim>
-            where f_pallet_device_binding_id = #{item.palletDeviceBindingId}
+            where f_pallet_device_binding_id = #{item.palletDeviceBindingId} and f_device_code is not null
         </foreach>
     </update>
     <update id="batchUpdateDeviceCodeAndUnbindingTime" parameterType="list">