From 02d7fc58a11c38c82b18ea13294b163bd366b428 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E7=8E=8B=E6=A2=A6=E8=BF=9C?= <1063331231@qq.com>
Date: Thu, 31 Jul 2025 14:49:00 +0800
Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E6=B3=B5=E6=A0=B9=E6=8D=AEco?=
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---
 .../handacid/app/command/control/PumpRotateStartCommand.java |  6 +++++-
 .../com/iflytop/handacid/app/service/ChannelCtrlService.java | 12 ++++++++++++
 2 files changed, 17 insertions(+), 1 deletion(-)

diff --git a/src/main/java/com/iflytop/handacid/app/command/control/PumpRotateStartCommand.java b/src/main/java/com/iflytop/handacid/app/command/control/PumpRotateStartCommand.java
index ea896fb..0de86cd 100644
--- a/src/main/java/com/iflytop/handacid/app/command/control/PumpRotateStartCommand.java
+++ b/src/main/java/com/iflytop/handacid/app/command/control/PumpRotateStartCommand.java
@@ -40,13 +40,17 @@ public class PumpRotateStartCommand extends BaseCommandHandler {
         if (direction == null) {
             throw new IllegalArgumentException("参数 direction 不能为空");
         }
+        Double position = commandDTO.getDoubleParam("position");
+        if (position == null) {
+            throw new IllegalArgumentException("参数 position 不能为空");
+        }
         return runAsync(() -> {
             if (Direction.FORWARD.equals(direction)) {
                 DeviceCommand getPositionDeviceCommand = channelCtrlService.getPumpForwardRotateCommandByChannel(channelCode);
                 CommandFuture positionCommandFuture = deviceCommandService.sendCommand(getPositionDeviceCommand);
                 CommandUtil.wait(positionCommandFuture);
                 Integer currentPosition = (Integer) positionCommandFuture.getResponseResult().get("position");
-                DeviceCommand deviceCommand = channelCtrlService.getPumpForwardRotateCommandByChannel(channelCode);
+                DeviceCommand deviceCommand = channelCtrlService.getPumpMoveCommandByChannel(channelCode, position);
                 CommandFuture commandFuture = deviceCommandService.sendCommand(deviceCommand);
                 CommandUtil.wait(commandFuture);
                 Integer newPosition = (Integer) commandFuture.getResponseResult().get("position");
diff --git a/src/main/java/com/iflytop/handacid/app/service/ChannelCtrlService.java b/src/main/java/com/iflytop/handacid/app/service/ChannelCtrlService.java
index fc9adf6..ecfe275 100644
--- a/src/main/java/com/iflytop/handacid/app/service/ChannelCtrlService.java
+++ b/src/main/java/com/iflytop/handacid/app/service/ChannelCtrlService.java
@@ -165,6 +165,18 @@ public class ChannelCtrlService {
         };
     }
 
+    /**
+     * 根据通道code获取泵移动指令
+     */
+    public DeviceCommand getPumpMoveCommandByChannel(ChannelCode channelCode, Double position) {
+        return switch (channelCode) {
+            case CHANNEL_1 -> DeviceCommandGenerator.pump1MoveBy(position);
+            case CHANNEL_2 -> DeviceCommandGenerator.pump2MoveBy(position);
+            case CHANNEL_3 -> DeviceCommandGenerator.pump3MoveBy(position);
+            case CHANNEL_4 -> DeviceCommandGenerator.pump4MoveBy(position);
+        };
+    }
+
 
     /**
      * 根据通道code获取泵转数指令