From 11d4be466c98eac221926886045a5e6fdd3396a4 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= <baifengji@163.com>
Date: Mon, 12 May 2025 02:34:08 +0800
Subject: [PATCH] =?UTF-8?q?feat:=E6=95=B4=E7=90=86=E6=A0=BC=E5=BC=8F?=
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---
 src/main/java/com/iflytop/gd/app/controller/SystemController.java | 7 +++++++
 src/main/java/com/iflytop/gd/app/service/DeviceInitService.java   | 7 ++++---
 src/main/java/com/iflytop/gd/app/service/SystemConfigService.java | 6 ++++++
 .../iflytop/gd/hardware/drivers/MiniServoDriver/ClawDriver.java   | 8 +++++---
 4 files changed, 22 insertions(+), 6 deletions(-)

diff --git a/src/main/java/com/iflytop/gd/app/controller/SystemController.java b/src/main/java/com/iflytop/gd/app/controller/SystemController.java
index 939596c..81b88e9 100644
--- a/src/main/java/com/iflytop/gd/app/controller/SystemController.java
+++ b/src/main/java/com/iflytop/gd/app/controller/SystemController.java
@@ -28,6 +28,13 @@ public class SystemController {
         return Result.success();
     }
 
+    @Operation(summary = "模拟向硬件写入完毕")
+    @GetMapping("/initComplete")
+    public Result<?> setInitComplete(Boolean initComplete) {
+        deviceStateService.setInitComplete(initComplete);
+        return Result.success();
+    }
+
     @Operation(summary = "系统状态")
     @GetMapping("/device-status")
     public Result<DeviceState> getDeviceStatus() {
diff --git a/src/main/java/com/iflytop/gd/app/service/DeviceInitService.java b/src/main/java/com/iflytop/gd/app/service/DeviceInitService.java
index 232eb27..d69c0e8 100644
--- a/src/main/java/com/iflytop/gd/app/service/DeviceInitService.java
+++ b/src/main/java/com/iflytop/gd/app/service/DeviceInitService.java
@@ -34,15 +34,17 @@ public class DeviceInitService {
     public void init() {
         new Thread(() -> {
             try {
-                initDeviceSetData();
                 initDeviceState();
+                initDeviceSetData();
+
+                deviceStateService.setInitComplete(true);
             } catch (Exception ignored) {
             }
         }).start();
     }
 
     public void initDeviceSetData() {
-        if (deviceStateService.getDeviceState().isVirtual()) {
+        if (deviceStateService.getDeviceState().isVirtual() || deviceStateService.getDeviceState().isInitComplete()) {
             return;
         }
         try {
@@ -86,6 +88,5 @@ public class DeviceInitService {
                 solutionBucket.add(new SolutionContainerState(container.getId(), ContainerCode.valueOf(container.getCode()), ContainerType.neutralization));
             }
         }
-        deviceStateService.setInitComplete(true);
     }
 }
diff --git a/src/main/java/com/iflytop/gd/app/service/SystemConfigService.java b/src/main/java/com/iflytop/gd/app/service/SystemConfigService.java
index 335380c..197c3b2 100644
--- a/src/main/java/com/iflytop/gd/app/service/SystemConfigService.java
+++ b/src/main/java/com/iflytop/gd/app/service/SystemConfigService.java
@@ -19,6 +19,12 @@ import java.io.InputStreamReader;
 public class SystemConfigService extends ServiceImpl<SystemConfigMapper, SystemConfig> {
 
     private final SystemConfigMapper systemConfigMapper;
+    private final DeviceStateService deviceStateService;
+
+
+    public void setInitComplete(boolean initComplete) {
+        deviceStateService.setInitComplete(initComplete);
+    }
 
     /**
      * 设置系统日期和时间。
diff --git a/src/main/java/com/iflytop/gd/hardware/drivers/MiniServoDriver/ClawDriver.java b/src/main/java/com/iflytop/gd/hardware/drivers/MiniServoDriver/ClawDriver.java
index e7e84d6..0d93d66 100644
--- a/src/main/java/com/iflytop/gd/hardware/drivers/MiniServoDriver/ClawDriver.java
+++ b/src/main/java/com/iflytop/gd/hardware/drivers/MiniServoDriver/ClawDriver.java
@@ -1,5 +1,6 @@
 package com.iflytop.gd.hardware.drivers.MiniServoDriver;
 
+import com.iflytop.gd.hardware.exception.HardwareException;
 import com.iflytop.gd.hardware.type.Servo.MiniServoMId;
 import com.iflytop.gd.hardware.utils.Math.ServoPositionConverter;
 import lombok.RequiredArgsConstructor;
@@ -81,13 +82,14 @@ public class ClawDriver {
     }
 
     // ==== ==== ==== ==== ==== ==== Ctrl ==== ==== ==== ==== ==== ====
-    public void moveToHome(MiniServoMId servoMid) throws Exception
+    public void moveToHome(MiniServoMId servoMid) throws HardwareException
     {
         log.info("[ {} ] moveToHome", servoMid.mid.getDescription());
+
         this.moveTo(servoMid, MIN_DISTANCE);
     }
 
-    public void moveTo(MiniServoMId servoMid, double position) throws Exception
+    public void moveTo(MiniServoMId servoMid, double position) throws HardwareException
     {
         // 检查位置是否合法
         if (position < MIN_DISTANCE || position > MAX_DISTANCE) {
@@ -101,7 +103,7 @@ public class ClawDriver {
         miniServoDriver.miniServoEnable(servoMid, 0);
     }
 
-    public void stop(MiniServoMId servoMid) throws Exception {
+    public void stop(MiniServoMId servoMid) throws HardwareException {
         log.info("[ {} ] stop", servoMid.mid.getDescription());
         miniServoDriver.miniServoStop(servoMid);
         miniServoDriver.miniServoEnable(servoMid, 0);