增加停止所有电机指令

src/main/java/com/iflytop/colortitration/app/command/control/StopAllMotorCommand.java

@@ -0,0 +1,39 @@
+package com.iflytop.colortitration.app.command.control;
+
+import com.iflytop.colortitration.app.common.annotation.CommandMapping;
+import com.iflytop.colortitration.app.common.enums.MultipleModuleCode;
+import com.iflytop.colortitration.app.core.command.BaseCommandHandler;
+import com.iflytop.colortitration.app.model.dto.CommandDTO;
+import com.iflytop.colortitration.app.service.module.TitrationModuleService;
+import com.iflytop.colortitration.app.service.module.TransferModuleService;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 停止所有电机
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("stop_all_motor")
+public class StopAllMotorCommand extends BaseCommandHandler {
+    private final TitrationModuleService titrationModuleService;
+    private final TransferModuleService transferModuleService;
+
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+
+        return runAsync(() -> {
+            //停止转运电机
+            transferModuleService.stopAllMotor();
+            //停止摇匀电机
+            titrationModuleService.shakeStop(MultipleModuleCode.MODULE_1);
+            titrationModuleService.shakeStop(MultipleModuleCode.MODULE_2);
+            //停止所有的泵 todo
+        });
+    }
+}
+

src/main/java/com/iflytop/colortitration/app/controller/PositionController.java

@@ -26,11 +26,11 @@ public class PositionController {
 
     @Operation(summary = "查询设备位置")
     @GetMapping("/list")
-    public List<DevicePositionVO> list() {
+    public Result<List<DevicePositionVO>> list() {
         List<Position> devicePositions = positionService.list();
-        return devicePositions.stream()
+        return Result.success(devicePositions.stream()
                 .map(DevicePositionVO::new)
-                .collect(Collectors.toList());
+                .collect(Collectors.toList()));
     }
 
     @Operation(summary = "添加设备位置")

src/main/java/com/iflytop/colortitration/app/service/module/TransferModuleService.java

@@ -95,8 +95,10 @@ public class TransferModuleService {
      */
     public void roboticMoveToTitration(MultipleModuleCode moduleCode) throws Exception {
         Point3D position = switch (moduleCode) {  //1、首先检测试管所在的托盘传感器的值
-            case MultipleModuleCode.MODULE_1 -> positionService.getPositionByCode(DevicePositionCode.titrationArea_1).getPoint3D();
-            case MultipleModuleCode.MODULE_2 -> positionService.getPositionByCode(DevicePositionCode.titrationArea_2).getPoint3D();
+            case MultipleModuleCode.MODULE_1 ->
+                    positionService.getPositionByCode(DevicePositionCode.titrationArea_1).getPoint3D();
+            case MultipleModuleCode.MODULE_2 ->
+                    positionService.getPositionByCode(DevicePositionCode.titrationArea_2).getPoint3D();
         };
         // Z轴回零点
         DeviceCommand zOriginCommand = DeviceCommandGenerator.zMove(0.0);
@@ -116,8 +118,10 @@ public class TransferModuleService {
      */
     public void roboticMoveToHeat(MultipleModuleCode moduleCode) throws Exception {
         Point3D position = switch (moduleCode) {  //1、首先检测试管所在的托盘传感器的值
-            case MultipleModuleCode.MODULE_1 -> positionService.getPositionByCode(DevicePositionCode.heatArea_1).getPoint3D();
-            case MultipleModuleCode.MODULE_2 -> positionService.getPositionByCode(DevicePositionCode.heatArea_2).getPoint3D();
+            case MultipleModuleCode.MODULE_1 ->
+                    positionService.getPositionByCode(DevicePositionCode.heatArea_1).getPoint3D();
+            case MultipleModuleCode.MODULE_2 ->
+                    positionService.getPositionByCode(DevicePositionCode.heatArea_2).getPoint3D();
         };
         // Z轴回零点
         DeviceCommand zOriginCommand = DeviceCommandGenerator.zMove(0.0);
@@ -194,5 +198,16 @@ public class TransferModuleService {
         CommandUtil.wait(zOriginFuture);
     }
 
+    public void stopAllMotor() throws Exception {
+        DeviceCommand zStopCommand = DeviceCommandGenerator.zStop();
+        CommandFuture zStopFuture = deviceCommandService.sendCommand(zStopCommand);
+        // 机械臂大轴移动
+        DeviceCommand xStopCommand = DeviceCommandGenerator.roboticArmBigMotorStop();
+        CommandFuture xStopFuture = deviceCommandService.sendCommand(xStopCommand);
+        // 机械臂小轴移动
+        DeviceCommand yStopCommand = DeviceCommandGenerator.roboticArmBigMotorStop();
+        CommandFuture yStopFuture = deviceCommandService.sendCommand(yStopCommand);
+    }
+
 
 }