feat:增加循环次数

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

@@ -22,14 +22,44 @@ import java.util.concurrent.CompletableFuture;
 @CommandMapping("debug_holding_jaw_close")
 public class HoldingJawCloseCommandHandler extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
+    private boolean stop = false;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        this.stop = false;
         return runAsync(() -> {
-            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.clawMove(34.0);
+            Double velocity = cmdDTO.getDoubleParam("velocity");
+            Double distance = cmdDTO.getDoubleParam("distance");
+            Integer times = cmdDTO.getIntegerParam("times");
+            if (velocity != null) {
+                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.clawSet(velocity);
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                 commandWait(deviceCommandFuture);
+            }
+            if (times != null) {
+                for (int i = 0; i < times; i++) {
+                    if (stop) {
+                        return;
+                    }
+                    DeviceCommandBundle deviceCommand = DeviceCommandGenerator.clawMove(-distance);
+                    CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+                    commandWait(deviceCommandFuture);
+
+                    DeviceCommandBundle backDeviceCommand = DeviceCommandGenerator.clawMove(distance);
+                    CommandFuture backDeviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), backDeviceCommand);
+                    commandWait(backDeviceCommandFuture);
+                }
+            } else {
+                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.clawMove(-distance);
+                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+                commandWait(deviceCommandFuture);
+            }
+
         });
     }
+
+    public synchronized void stop() {
+        this.stop = true;
+    }
 }
 

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

@@ -29,7 +29,8 @@ public class HoldingJawOpenCommandHandler extends BaseCommandHandler {
         this.stop = false;
         return runAsync(() -> {
             Double velocity = cmdDTO.getDoubleParam("velocity");
-            Double distance = cmdDTO.getDoubleParam("distance");
+            Double openDistance = cmdDTO.getDoubleParam("openDistance");
+            Double closeDistance = cmdDTO.getDoubleParam("closeDistance");
             Integer times = cmdDTO.getIntegerParam("times");
             if (velocity != null) {
                 DeviceCommandBundle deviceCommand = DeviceCommandGenerator.clawSet(velocity);
@@ -41,16 +42,16 @@ public class HoldingJawOpenCommandHandler extends BaseCommandHandler {
                     if (stop) {
                         return;
                     }
-                    DeviceCommandBundle deviceCommand = DeviceCommandGenerator.clawMove(distance);
+                    DeviceCommandBundle deviceCommand = DeviceCommandGenerator.clawMove(openDistance);
                     CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                     commandWait(deviceCommandFuture);
 
-                    DeviceCommandBundle backDeviceCommand = DeviceCommandGenerator.clawMove(-distance);
+                    DeviceCommandBundle backDeviceCommand = DeviceCommandGenerator.clawMove(closeDistance);
                     CommandFuture backDeviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), backDeviceCommand);
                     commandWait(backDeviceCommandFuture);
                 }
             } else {
-                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.clawMove(distance);
+                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.clawMove(openDistance);
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                 commandWait(deviceCommandFuture);
             }

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

@@ -31,7 +31,7 @@ public class PalletElevatorLiftDownCommandHandler extends BaseCommandHandler {
         this.stop = false;
         return runAsync(() -> {
             String index = cmdDTO.getStringParam("index");
-            Double distance = -cmdDTO.getDoubleParam("distance");
+            Double distance = cmdDTO.getDoubleParam("distance");
             Double velocity = cmdDTO.getDoubleParam("velocity");
             Integer times = cmdDTO.getIntegerParam("times");
             DeviceCommandBundle deviceCommand;

src/main/java/com/iflytop/gd/app/model/dto/CmdDTO.java

@@ -27,6 +27,7 @@ public class CmdDTO {
     public Double getDoubleParam(String key) {
         return Optional.ofNullable(params.get(key))
                 .map(Object::toString)
+                .filter(value -> !value.isEmpty())
                 .map(Double::parseDouble)
                 .orElse(null);
     }
@@ -38,6 +39,7 @@ public class CmdDTO {
     public Integer getIntegerParam(String key) {
         return Optional.ofNullable(params.get(key))
                 .map(Object::toString)
+                .filter(value -> !value.isEmpty())
                 .map(Integer::parseInt)
                 .orElse(null);
     }
@@ -45,6 +47,7 @@ public class CmdDTO {
     public Boolean getBooleanParam(String key) {
         return Optional.ofNullable(params.get(key))
                 .map(Object::toString)
+                .filter(value -> !value.isEmpty())
                 .map(Boolean::parseBoolean)
                 .orElse(null);
     }