fix: 硬件状态bug

src/main/java/com/qyft/ms/app/controller/CMDController.java

@@ -49,6 +49,30 @@ public class CMDController {
         }
     }
 
+    @Operation(summary = "电机移动到原点")
+    @PostMapping("/motorMoveToHome")
+    public Result<String> motorMoveToHome(@RequestBody CMDForm cmdForm) {
+        try {
+
+            if (cmdForm.getCommandId() == null || cmdForm.getCommandId().isEmpty()) {
+                String commandId = UUID.randomUUID().toString();
+                cmdForm.setCommandId(commandId);
+            }
+            if (cmdForm.getCommandName() == null || cmdForm.getCommandName().isEmpty()) {
+                cmdForm.setCommandName("motorMoveToHome");
+            }
+            log.info("接收到指令: {}", JSONUtil.toJsonStr(cmdForm));
+            if (cmdService.motorMoveToHome(cmdForm)) {
+                return Result.success(cmdForm.getCommandId());
+            } else {
+                return Result.failed("参数错误");
+            }
+        } catch (Exception e) {
+            log.error("指令执行异常: {}", JSONUtil.toJsonStr(cmdForm), e);
+            return Result.failed("执行失败");
+        }
+    }
+
     @Operation(summary = "三通阀切换")
     @PostMapping("/switchThreeWayValve")
     public Result<String> switchThreeWayValve(@RequestBody CMDForm cmdForm) {
@@ -280,6 +304,29 @@ public class CMDController {
         }
     }
 
+    @Operation(summary = "设定指定轴的速度")
+    @PostMapping("/setMotorSpeed")
+    public Result<String> setMotorSpeed(@RequestBody CMDForm cmdForm) {
+        try {
+            if (cmdForm.getCommandId() == null || cmdForm.getCommandId().isEmpty()) {
+                String commandId = UUID.randomUUID().toString();
+                cmdForm.setCommandId(commandId);
+            }
+            if (cmdForm.getCommandName() == null || cmdForm.getCommandName().isEmpty()) {
+                cmdForm.setCommandName("setMotorSpeed");
+            }
+            log.info("接收到指令: {}", JSONUtil.toJsonStr(cmdForm));
+            if (cmdService.setMotorSpeed(cmdForm)) {
+                return Result.success(cmdForm.getCommandId());
+            } else {
+                return Result.failed("参数错误");
+            }
+        } catch (Exception e) {
+            log.error("指令执行异常: {}", JSONUtil.toJsonStr(cmdForm), e);
+            return Result.failed("执行失败");
+        }
+    }
+
     @Operation(summary = "测试: 停止指定轴运动")
     @PostMapping("/stopMotor")
     public Result<String> stopMotor(@RequestBody CMDForm cmdForm) {

src/main/java/com/qyft/ms/app/service/CMDService.java

@@ -235,7 +235,7 @@ public class CMDService {
             // 移动到指定高度(位置)
             int height  = (Integer) params.get("height");
 
-            if(z - height < 6.2) {
+            if(z - height < 6.5) {
                 return "高度设置太低,有撞针的风险";
             }
             cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("Z",z - height ));
@@ -430,6 +430,16 @@ public class CMDService {
         return true;
     }
 
+    // 电机回到原点
+    public boolean motorMoveToHome(CMDForm form) {
+        List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        Map<String, Object> params = form.getParams();
+        String axis = (String) params.get("axis");
+        cmdList.add(() -> deviceTcpCMDService.motorMoveToHome(axis));
+        initExecutorThread(cmdList, form);
+        return true;
+    }
+
     // 开始除湿
     public boolean startDehumidify(CMDForm form) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
@@ -452,6 +462,21 @@ public class CMDService {
         return true;
     }
 
+    // 设置电机速度
+    public boolean setMotorSpeed(CMDForm form) {
+        List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        Map<String, Object> params = form.getParams();
+        String axis = (String) params.get("axis");
+        double speed = Optional.ofNullable(params.get("speed"))
+                .filter(Number.class::isInstance)
+                .map(Number.class::cast)
+                .map(Number::doubleValue)
+                .orElse(0.0);
+        cmdList.add(() -> deviceTcpCMDService.setMotorSpeed(axis, speed));
+        initExecutorThread(cmdList, form);
+        return true;
+    }
+
 
     public void run(List<Supplier<Boolean>> cmdList, CMDForm form) {
         ExecutionResult executionResult = new ExecutionResult();
@@ -476,4 +501,5 @@ public class CMDService {
     }
 
 
+
 }

src/main/java/com/qyft/ms/device/common/constant/DeviceCommands.java

@@ -34,7 +34,7 @@ public class DeviceCommands {
     public static final String SET_SYRINGE_PUMP_PARAMETERS = "setSyringePumpParameters";
     // 推送指定容量的液体
     public static final String PUSH_VOLUME = "pushVolume";
-    public static final String ROTATE = "rotate";
+    public static final String ROTATE_MOTOR = "rotateMotor";
     public static final String SYRINGE_PUMP_MOVE_AT_SPEED = "syringePumpMoveAtSpeed";
     public static final String SYRINGE_PUMP_STOP = "syringePumpStop";
     public static final String SYRINGE_PUMP_START = "syringePumpStart";

src/main/java/com/qyft/ms/device/service/DeviceTcpCMDService.java

@@ -266,7 +266,7 @@ public class DeviceTcpCMDService {
         params.put("axis", axis);
         params.put("rotationSpeed", rotationSpeed);
         params.put("time", time);
-        return this.putTask(DeviceCommands.ROTATE, params);
+        return this.putTask(DeviceCommands.ROTATE_MOTOR, params);
     }
 
     // 停止指定轴的电机运动
@@ -309,4 +309,5 @@ public class DeviceTcpCMDService {
         params.put("humidity", humidity);
         return this.putTask(DeviceCommands.START_DEHUMIDIFY, params);
     }
+
 }