feat:加液机械臂调试指令

src/main/java/com/iflytop/gd/app/cmd/debug/DebugSualRobotMoveJoint.java

@@ -0,0 +1,34 @@
+package com.iflytop.gd.app.cmd.debug;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.DeviceCommandService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import com.iflytop.gd.common.cmd.CommandFuture;
+import com.iflytop.gd.common.cmd.DeviceCommand;
+import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * 加液机械臂 轴移动到指定角度
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_sual_robot_move_joint")
+public class DebugSualRobotMoveJoint extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public void handle(CmdDTO cmdDTO) throws Exception {
+        Double joint1 = cmdDTO.getDoubleParam("joint1");
+        Double joint2 = cmdDTO.getDoubleParam("joint2");
+        DeviceCommand deviceCommandJoint1 = DeviceCommandGenerator.dualRobotJoint1Move(joint1);
+        CommandFuture deviceCommandJoint1Future = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommandJoint1);
+        DeviceCommand deviceCommandJoint2 = DeviceCommandGenerator.dualRobotJoint1Move(joint2);
+        CommandFuture deviceCommandJoint2Future = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommandJoint2);
+        commandWait(deviceCommandJoint1Future, deviceCommandJoint2Future);
+    }
+}

src/main/java/com/iflytop/gd/app/cmd/debug/DebugSualRobotMovePoint.java

@@ -0,0 +1,32 @@
+package com.iflytop.gd.app.cmd.debug;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.DeviceCommandService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import com.iflytop.gd.common.cmd.CommandFuture;
+import com.iflytop.gd.common.cmd.DeviceCommand;
+import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * 加液机械臂 移动到指定坐标
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_sual_robot_move_point")
+public class DebugSualRobotMovePoint extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public void handle(CmdDTO cmdDTO) throws Exception {
+        Double x = cmdDTO.getDoubleParam("x");
+        Double y = cmdDTO.getDoubleParam("y");
+        DeviceCommand deviceCommand = DeviceCommandGenerator.dualRobotMovePoint(x, y);
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+}

src/main/java/com/iflytop/gd/app/cmd/debug/DebugSualRobotOrigin.java

@@ -0,0 +1,45 @@
+package com.iflytop.gd.app.cmd.debug;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.DeviceCommandService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import com.iflytop.gd.common.cmd.CommandFuture;
+import com.iflytop.gd.common.cmd.DeviceCommand;
+import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 加液机械臂 回原点
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_sual_robot_origin")
+public class DebugSualRobotOrigin extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public void handle(CmdDTO cmdDTO) throws Exception {
+        Boolean joint1 = cmdDTO.getBooleanParam("joint1");
+        Boolean joint2 = cmdDTO.getBooleanParam("joint2");
+        List<CommandFuture> futuresList = new ArrayList<>();
+        if (joint1) {
+            DeviceCommand deviceCommand = DeviceCommandGenerator.dualRobotJoint1Origin();
+            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+            futuresList.add(deviceCommandFuture);
+        }
+        if (joint2) {
+            DeviceCommand deviceCommand = DeviceCommandGenerator.dualRobotJoint2Origin();
+            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+            futuresList.add(deviceCommandFuture);
+        }
+
+        commandWait(futuresList.toArray(new CommandFuture[0]));
+    }
+}

src/main/java/com/iflytop/gd/app/cmd/debug/DebugSualRobotSet.java

@@ -0,0 +1,45 @@
+package com.iflytop.gd.app.cmd.debug;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.DeviceCommandService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import com.iflytop.gd.common.cmd.CommandFuture;
+import com.iflytop.gd.common.cmd.DeviceCommand;
+import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 加液机械臂 设置参数
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_sual_robot_set")
+public class DebugSualRobotSet extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public void handle(CmdDTO cmdDTO) throws Exception {
+        Double joint1Speed = cmdDTO.getDoubleParam("joint1Speed");
+        Double joint2Speed = cmdDTO.getDoubleParam("joint2Speed");
+        List<CommandFuture> futuresList = new ArrayList<>();
+        if (joint1Speed != null) {
+            DeviceCommand deviceCommand = DeviceCommandGenerator.dualRobotJoint1Set(joint1Speed);
+            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+            futuresList.add(deviceCommandFuture);
+        }
+        if (joint2Speed != null) {
+            DeviceCommand deviceCommand = DeviceCommandGenerator.dualRobotJoint2Set(joint2Speed);
+            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+            futuresList.add(deviceCommandFuture);
+        }
+
+        commandWait(futuresList.toArray(new CommandFuture[0]));
+    }
+}

src/main/java/com/iflytop/gd/app/cmd/debug/DebugSualRobotStop.java

@@ -0,0 +1,45 @@
+package com.iflytop.gd.app.cmd.debug;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.DeviceCommandService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import com.iflytop.gd.common.cmd.CommandFuture;
+import com.iflytop.gd.common.cmd.DeviceCommand;
+import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 加液机械臂 停止移动
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_sual_robot_stop")
+public class DebugSualRobotStop extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public void handle(CmdDTO cmdDTO) throws Exception {
+        Boolean joint1 = cmdDTO.getBooleanParam("joint1");
+        Boolean joint2 = cmdDTO.getBooleanParam("joint2");
+        List<CommandFuture> futuresList = new ArrayList<>();
+        if (joint1) {
+            DeviceCommand deviceCommand = DeviceCommandGenerator.dualRobotJoint1Stop();
+            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+            futuresList.add(deviceCommandFuture);
+        }
+        if (joint2) {
+            DeviceCommand deviceCommand = DeviceCommandGenerator.dualRobotJoint2Stop();
+            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+            futuresList.add(deviceCommandFuture);
+        }
+
+        commandWait(futuresList.toArray(new CommandFuture[0]));
+    }
+}

src/main/java/com/iflytop/gd/common/cmd/DeviceCommandGenerator.java

@@ -116,13 +116,11 @@ public class DeviceCommandGenerator {
      * 双轴械臂 移动关节1
      *
      * @param position 位置 单位°
-     * @param speed    速度 单位 °/s
      */
-    public static DeviceCommand dualRobotJoint1Move(Double position, Double speed) {
+    public static DeviceCommand dualRobotJoint1Move(Double position) {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setAxis(CmdAxis.joint1);
         params.setPosition(position);
-        params.setSpeed(speed);
         return controlCmd(CmdDevice.dual_robot, CmdAction.move_joint, params, "双轴械臂 移动关节1");
     }
 
@@ -130,26 +128,22 @@ public class DeviceCommandGenerator {
      * 双轴械臂 移动关节2
      *
      * @param position 位置 单位°
-     * @param speed    速度 单位 °/s
      */
-    public static DeviceCommand dualRobotJoint2Move(Double position, Double speed) {
+    public static DeviceCommand dualRobotJoint2Move(Double position) {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setAxis(CmdAxis.joint2);
         params.setPosition(position);
-        params.setSpeed(speed);
         return controlCmd(CmdDevice.dual_robot, CmdAction.move_joint, params, "双轴械臂 移动关节2");
     }
 
     /**
      * 双轴械臂 移动至指定点
      *
-     * @param speed 速度 单位 °/s
      * @param x 位置x
      * @param y 位置y
      */
-    public static DeviceCommand dualRobotMovePoint(Double speed, Double x, Double y) {
+    public static DeviceCommand dualRobotMovePoint(Double x, Double y) {
         DeviceCommandParams params = new DeviceCommandParams();
-        params.setSpeed(speed);
         params.setX(x);
         params.setY(y);
         return controlCmd(CmdDevice.dual_robot, CmdAction.move_point, params, "双轴械臂 移动至指定点");