feat:增加龙门架机械臂xyz回原点指令

src/main/java/com/iflytop/gd/app/cmd/GantryOriginCommand.java

@@ -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<Void> 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
-            }
-        });
-    }
-}
-

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<Void> handle(CmdDTO cmdDTO) {
+        return runAsync(() -> {
+            deviceCommandUtilService.gantryXMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
+            selfTestService.getSelfTestState().setGantryXOrigin(true);//设置是否在原点状态
+        });
+    }
+}
+

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<Void> handle(CmdDTO cmdDTO) {
+        return runAsync(() -> {
+            deviceCommandUtilService.gantryYMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
+            selfTestService.getSelfTestState().setGantryYOrigin(true);//设置是否在原点状态
+        });
+    }
+}
+

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<Void> handle(CmdDTO cmdDTO) {
+        return runAsync(() -> {
+            deviceCommandUtilService.gantryZMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
+            selfTestService.getSelfTestState().setGantryZOrigin(true);//设置是否在原点状态
+        });
+    }
+}
+