fix:加液泵去掉方向

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

@@ -29,10 +29,8 @@ public class LiquidPumpStartCommandHandler extends BaseCommandHandler {
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
             String index = cmdDTO.getStringParam("index");
-            String direction = cmdDTO.getStringParam("direction");
             Double volume = cmdDTO.getDoubleParam("volume");
             Double velocity = cmdDTO.getDoubleParam("velocity");
-            CmdDirection directionEnum = CmdDirection.valueOf(direction);
             AcidPumpDevice acidPumpDevice = AcidPumpDevice.valueOf(index);
             DeviceCommandBundle deviceCommand;
             if(velocity != null) {
@@ -53,14 +51,14 @@ public class LiquidPumpStartCommandHandler extends BaseCommandHandler {
             }
 
             switch (acidPumpDevice) {
-                case acid_pump_01 -> deviceCommand = DeviceCommandGenerator.acidPump1Move(directionEnum, volume);
-                case acid_pump_02 -> deviceCommand = DeviceCommandGenerator.acidPump2Move(directionEnum, volume);
-                case acid_pump_03 -> deviceCommand = DeviceCommandGenerator.acidPump3Move(directionEnum, volume);
-                case acid_pump_04 -> deviceCommand = DeviceCommandGenerator.acidPump4Move(directionEnum, volume);
-                case acid_pump_05 -> deviceCommand = DeviceCommandGenerator.acidPump5Move(directionEnum, volume);
-                case acid_pump_06 -> deviceCommand = DeviceCommandGenerator.acidPump6Move(directionEnum, volume);
-                case acid_pump_07 -> deviceCommand = DeviceCommandGenerator.acidPump7Move(directionEnum, volume);
-                case acid_pump_08 -> deviceCommand = DeviceCommandGenerator.acidPump8Move(directionEnum, volume);
+                case acid_pump_01 -> deviceCommand = DeviceCommandGenerator.acidPump1MoveBy(volume);
+                case acid_pump_02 -> deviceCommand = DeviceCommandGenerator.acidPump2MoveBy(volume);
+                case acid_pump_03 -> deviceCommand = DeviceCommandGenerator.acidPump3MoveBy(volume);
+                case acid_pump_04 -> deviceCommand = DeviceCommandGenerator.acidPump4MoveBy(volume);
+                case acid_pump_05 -> deviceCommand = DeviceCommandGenerator.acidPump5MoveBy(volume);
+                case acid_pump_06 -> deviceCommand = DeviceCommandGenerator.acidPump6MoveBy(volume);
+                case acid_pump_07 -> deviceCommand = DeviceCommandGenerator.acidPump7MoveBy(volume);
+                case acid_pump_08 -> deviceCommand = DeviceCommandGenerator.acidPump8MoveBy(volume);
                 default -> throw new RuntimeException("index 未找到");
             }
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);

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

@@ -1,7 +1,10 @@
 package com.iflytop.gd.common.cmd;
 
 
-import com.iflytop.gd.common.enums.cmd.*;
+import com.iflytop.gd.common.enums.cmd.CmdAction;
+import com.iflytop.gd.common.enums.cmd.CmdAxis;
+import com.iflytop.gd.common.enums.cmd.CmdColor;
+import com.iflytop.gd.common.enums.cmd.CmdDevice;
 
 /**
  * 生成给设备发送的指令
@@ -743,86 +746,77 @@ public class DeviceCommandGenerator {
     }
 
     /**
-     * 加液泵 泵1移动
+     * 加液泵 泵1相对移动
      *
-     * @param direction 方向 forward | backward
-     * @param volume    加液量 单位mL
+     * @param position 加液量 单位mL
      */
-    public static DeviceCommandBundle acidPump1Move(CmdDirection direction, Double volume) {
+    public static DeviceCommandBundle acidPump1MoveBy(Double position) {
         DeviceCommandParams params = new DeviceCommandParams();
-        params.setDirection(direction);
-        params.setVolume(volume);
-        return setInfoCmd(CmdDevice.acid_pump_1, CmdAction.move, params, "加液泵1 移动");
+        params.setPosition(position);
+        return setInfoCmd(CmdDevice.acid_pump_1, CmdAction.move_by, params, "加液泵1 相对移动");
     }
 
     /**
-     * 加液泵 泵2移动
+     * 加液泵 泵2相对移动
      */
-    public static DeviceCommandBundle acidPump2Move(CmdDirection direction, Double volume) {
+    public static DeviceCommandBundle acidPump2MoveBy(Double position) {
         DeviceCommandParams params = new DeviceCommandParams();
-        params.setDirection(direction);
-        params.setVolume(volume);
-        return setInfoCmd(CmdDevice.acid_pump_2, CmdAction.move, params, "加液泵2 移动");
+        params.setPosition(position);
+        return setInfoCmd(CmdDevice.acid_pump_2, CmdAction.move_by, params, "加液泵2 相对移动");
     }
 
     /**
-     * 加液泵 泵3移动
+     * 加液泵 泵3相对移动
      */
-    public static DeviceCommandBundle acidPump3Move(CmdDirection direction, Double volume) {
+    public static DeviceCommandBundle acidPump3MoveBy(Double position) {
         DeviceCommandParams params = new DeviceCommandParams();
-        params.setDirection(direction);
-        params.setVolume(volume);
-        return setInfoCmd(CmdDevice.acid_pump_3, CmdAction.move, params, "加液泵3 移动");
+        params.setPosition(position);
+        return setInfoCmd(CmdDevice.acid_pump_3, CmdAction.move_by, params, "加液泵3 相对移动");
     }
 
     /**
-     * 加液泵 泵4移动
+     * 加液泵 泵4相对移动
      */
-    public static DeviceCommandBundle acidPump4Move(CmdDirection direction, Double volume) {
+    public static DeviceCommandBundle acidPump4MoveBy(Double position) {
         DeviceCommandParams params = new DeviceCommandParams();
-        params.setDirection(direction);
-        params.setVolume(volume);
-        return setInfoCmd(CmdDevice.acid_pump_4, CmdAction.move, params, "加液泵4 移动");
+        params.setPosition(position);
+        return setInfoCmd(CmdDevice.acid_pump_4, CmdAction.move_by, params, "加液泵4 相对移动");
     }
 
     /**
-     * 加液泵 泵5移动
+     * 加液泵 泵5相对移动
      */
-    public static DeviceCommandBundle acidPump5Move(CmdDirection direction, Double volume) {
+    public static DeviceCommandBundle acidPump5MoveBy(Double position) {
         DeviceCommandParams params = new DeviceCommandParams();
-        params.setDirection(direction);
-        params.setVolume(volume);
-        return setInfoCmd(CmdDevice.acid_pump_5, CmdAction.move, params, "加液泵5 移动");
+        params.setPosition(position);
+        return setInfoCmd(CmdDevice.acid_pump_5, CmdAction.move_by, params, "加液泵5 相对移动");
     }
 
     /**
-     * 加液泵 泵6移动
+     * 加液泵 泵6相对移动
      */
-    public static DeviceCommandBundle acidPump6Move(CmdDirection direction, Double volume) {
+    public static DeviceCommandBundle acidPump6MoveBy(Double position) {
         DeviceCommandParams params = new DeviceCommandParams();
-        params.setDirection(direction);
-        params.setVolume(volume);
-        return setInfoCmd(CmdDevice.acid_pump_6, CmdAction.move, params, "加液泵6 移动");
+        params.setPosition(position);
+        return setInfoCmd(CmdDevice.acid_pump_6, CmdAction.move_by, params, "加液泵6 相对移动");
     }
 
     /**
-     * 加液泵 泵7移动
+     * 加液泵 泵7相对移动
      */
-    public static DeviceCommandBundle acidPump7Move(CmdDirection direction, Double volume) {
+    public static DeviceCommandBundle acidPump7MoveBy(Double position) {
         DeviceCommandParams params = new DeviceCommandParams();
-        params.setDirection(direction);
-        params.setVolume(volume);
-        return setInfoCmd(CmdDevice.acid_pump_7, CmdAction.move, params, "加液泵7 移动");
+        params.setPosition(position);
+        return setInfoCmd(CmdDevice.acid_pump_7, CmdAction.move_by, params, "加液泵7 相对移动");
     }
 
     /**
-     * 加液泵 泵8移动
+     * 加液泵 泵8相对移动
      */
-    public static DeviceCommandBundle acidPump8Move(CmdDirection direction, Double volume) {
+    public static DeviceCommandBundle acidPump8MoveBy(Double position) {
         DeviceCommandParams params = new DeviceCommandParams();
-        params.setDirection(direction);
-        params.setVolume(volume);
-        return setInfoCmd(CmdDevice.acid_pump_8, CmdAction.move, params, "加液泵8 移动");
+        params.setPosition(position);
+        return setInfoCmd(CmdDevice.acid_pump_8, CmdAction.move_by, params, "加液泵8 相对移动");
     }
 
     /**