graphite-digester-service/src/main/java/com/iflytop/gd/app/cmd/DualRobotJointOriginCommand.java

package com.iflytop.gd.app.cmd;

import com.iflytop.gd.app.core.BaseCommandHandler;
import com.iflytop.gd.app.model.dto.CmdDTO;
import com.iflytop.gd.app.service.DeviceCommandUtilService;
import com.iflytop.gd.app.service.SelfTestService;
import com.iflytop.gd.common.annotation.CommandMapping;
import com.iflytop.gd.common.enums.cmd.CmdAxis;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;

import java.util.concurrent.CompletableFuture;

/**
 * 指定加液机械臂回原点
 */
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("dual_robot_joint_origin")//业务指令注解
public class DualRobotJointOriginCommand extends BaseCommandHandler {
    private final DeviceCommandUtilService deviceCommandUtilService;
    private final SelfTestService selfTestService;

    @Override
    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
        Boolean joint1 = cmdDTO.getBooleanParam("joint1");
        Boolean joint2 = cmdDTO.getBooleanParam("joint1");
        return runAsync(() -> {

            if(joint1){
                deviceCommandUtilService.dualRobotOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand(), CmdAxis.joint1);
                selfTestService.getSelfTestState().setDualRobotJoint1Origin(true);
            }
            if(joint2){
                deviceCommandUtilService.dualRobotOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand(), CmdAxis.joint2);
                selfTestService.getSelfTestState().setDualRobotJoint2Origin(true);
            }
        });
    }
}