From 1654ac991c3602e10ce48e6d7f14293ce37dbccf Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= Date: Wed, 28 May 2025 19:03:38 +0800 Subject: [PATCH] =?UTF-8?q?tray=5Fout=E6=8C=87=E4=BB=A4=E6=8E=A5=E6=94=B6?= =?UTF-8?q?=E4=B8=80=E4=B8=AAheatId?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/main/java/com/iflytop/gd/app/command/selftest/TrayOutCommand.java | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/iflytop/gd/app/command/selftest/TrayOutCommand.java b/src/main/java/com/iflytop/gd/app/command/selftest/TrayOutCommand.java index fb799a5..e31ce11 100644 --- a/src/main/java/com/iflytop/gd/app/command/selftest/TrayOutCommand.java +++ b/src/main/java/com/iflytop/gd/app/command/selftest/TrayOutCommand.java @@ -11,6 +11,7 @@ import com.iflytop.gd.app.service.device.module.*; import com.iflytop.gd.common.annotation.CommandMapping; import com.iflytop.gd.common.enums.HeatModuleCode; import com.iflytop.gd.common.enums.data.DevicePositionCode; +import io.swagger.v3.oas.annotations.media.Schema; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; import org.springframework.stereotype.Component; @@ -37,7 +38,8 @@ public class TrayOutCommand extends BaseCommandHandler { @Override public CompletableFuture handle(CmdDTO cmdDTO) { //TODO 通过传感器获取一个有托盘的加热模块，顺序按照1-6 - HeatModuleCode heatModuleCode = HeatModuleCode.heat_module_01; + String heatId = cmdDTO.getStringParam("heatId"); + HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatId); double clawCapPick = devicePositionService.getPosition(DevicePositionCode.clawCapPick).getDistance(); //获取拍子夹取距离 double clawCapGrip = devicePositionService.getPosition(DevicePositionCode.clawCapGrip).getDistance(); //获取拍子夹紧距离