From 0ffff02bced3f098c01099f8b5490d65edcde85c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= Date: Wed, 14 May 2025 20:19:40 +0800 Subject: [PATCH] =?UTF-8?q?feat:=E5=A2=9E=E5=8A=A0=E9=BE=99=E9=97=A8?= =?UTF-8?q?=E6=9E=B6=E6=9C=BA=E6=A2=B0=E8=87=82xyz=E5=9B=9E=E5=8E=9F?= =?UTF-8?q?=E7=82=B9=E6=8C=87=E4=BB=A4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../iflytop/gd/app/cmd/GantryOriginCommand.java | 48 ---------------------- .../iflytop/gd/app/cmd/GantryXOriginCommand.java | 33 +++++++++++++++ .../iflytop/gd/app/cmd/GantryYOriginCommand.java | 33 +++++++++++++++ .../iflytop/gd/app/cmd/GantryZOriginCommand.java | 33 +++++++++++++++ 4 files changed, 99 insertions(+), 48 deletions(-) delete mode 100644 src/main/java/com/iflytop/gd/app/cmd/GantryOriginCommand.java create mode 100644 src/main/java/com/iflytop/gd/app/cmd/GantryXOriginCommand.java create mode 100644 src/main/java/com/iflytop/gd/app/cmd/GantryYOriginCommand.java create mode 100644 src/main/java/com/iflytop/gd/app/cmd/GantryZOriginCommand.java diff --git a/src/main/java/com/iflytop/gd/app/cmd/GantryOriginCommand.java b/src/main/java/com/iflytop/gd/app/cmd/GantryOriginCommand.java deleted file mode 100644 index ee520d3..0000000 --- a/src/main/java/com/iflytop/gd/app/cmd/GantryOriginCommand.java +++ /dev/null @@ -1,48 +0,0 @@ -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 lombok.RequiredArgsConstructor; -import lombok.extern.slf4j.Slf4j; -import org.springframework.stereotype.Component; - -import java.util.concurrent.CompletableFuture; - -/** - * 龙门架机械臂指定轴回原点 - */ -@Slf4j -@Component -@RequiredArgsConstructor -@CommandMapping("gantry_origin")//业务指令注解 -public class GantryOriginCommand extends BaseCommandHandler { - private final DeviceCommandUtilService deviceCommandUtilService; - private final SelfTestService selfTestService; - - @Override - public CompletableFuture handle(CmdDTO cmdDTO) { - return runAsync(() -> { - //TODO 回原点指令要拆分成三个 - Boolean x = cmdDTO.getBooleanParam("x");//x轴是否回原点 - Boolean y = cmdDTO.getBooleanParam("y");//y轴是否回原点 - Boolean z = cmdDTO.getBooleanParam("z");//z轴是否回原点 - if (x != null && x) { - deviceCommandUtilService.gantryXMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand()); - selfTestService.getSelfTestState().setGantryXOrigin(true);//设置是否在原点状态 - } - if (y != null && y) { - deviceCommandUtilService.gantryYMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand()); - selfTestService.getSelfTestState().setGantryYOrigin(true);//设置是否在原点状态 - } - - if (z != null && z) { - deviceCommandUtilService.gantryZMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand()); - selfTestService.getSelfTestState().setGantryZOrigin(true);//设置是否在原点状态 - } - }); - } -} - diff --git a/src/main/java/com/iflytop/gd/app/cmd/GantryXOriginCommand.java b/src/main/java/com/iflytop/gd/app/cmd/GantryXOriginCommand.java new file mode 100644 index 0000000..cd709b1 --- /dev/null +++ b/src/main/java/com/iflytop/gd/app/cmd/GantryXOriginCommand.java @@ -0,0 +1,33 @@ +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 lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 龙门架机械臂x轴回原点 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("gantry_x_origin")//业务指令注解 +public class GantryXOriginCommand extends BaseCommandHandler { + private final DeviceCommandUtilService deviceCommandUtilService; + private final SelfTestService selfTestService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + deviceCommandUtilService.gantryXMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand()); + selfTestService.getSelfTestState().setGantryXOrigin(true);//设置是否在原点状态 + }); + } +} + diff --git a/src/main/java/com/iflytop/gd/app/cmd/GantryYOriginCommand.java b/src/main/java/com/iflytop/gd/app/cmd/GantryYOriginCommand.java new file mode 100644 index 0000000..2e3e4a7 --- /dev/null +++ b/src/main/java/com/iflytop/gd/app/cmd/GantryYOriginCommand.java @@ -0,0 +1,33 @@ +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 lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 龙门架机械臂y轴回原点 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("gantry_y_origin")//业务指令注解 +public class GantryYOriginCommand extends BaseCommandHandler { + private final DeviceCommandUtilService deviceCommandUtilService; + private final SelfTestService selfTestService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + deviceCommandUtilService.gantryYMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand()); + selfTestService.getSelfTestState().setGantryYOrigin(true);//设置是否在原点状态 + }); + } +} + diff --git a/src/main/java/com/iflytop/gd/app/cmd/GantryZOriginCommand.java b/src/main/java/com/iflytop/gd/app/cmd/GantryZOriginCommand.java new file mode 100644 index 0000000..1378435 --- /dev/null +++ b/src/main/java/com/iflytop/gd/app/cmd/GantryZOriginCommand.java @@ -0,0 +1,33 @@ +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 lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 龙门架机械臂z轴回原点 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("gantry_z_origin")//业务指令注解 +public class GantryZOriginCommand extends BaseCommandHandler { + private final DeviceCommandUtilService deviceCommandUtilService; + private final SelfTestService selfTestService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + deviceCommandUtilService.gantryZMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand()); + selfTestService.getSelfTestState().setGantryZOrigin(true);//设置是否在原点状态 + }); + } +} +