feat:封装指令

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

@@ -1,22 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.annotation.CommandMapping;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 处理冷阱开启循环指令
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("debug_cold_trap_start_recycle")
-public class ColdTrapStartRecycleCommandHandler extends BaseCommandHandler {
-    @Override
-    public void handle(CmdDTO cmdDTO) {
-
-    }
-}

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

@@ -1,22 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.annotation.CommandMapping;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 处理启动冷阱制冷指令
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("debug_cold_trap_start_refrigeration")
-public class ColdTrapStartRefrigerationCommandHandler extends BaseCommandHandler {
-    @Override
-    public void handle(CmdDTO cmdDTO) {
-
-    }
-}

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

@@ -1,22 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.annotation.CommandMapping;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 处理冷阱停止加热指令
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("debug_cold_trap_stop_heating")
-public class ColdTrapStopHeatingCommandHandler extends BaseCommandHandler {
-    @Override
-    public void handle(CmdDTO cmdDTO) {
-
-    }
-}

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

@@ -1,22 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.annotation.CommandMapping;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 处理停止冷阱循环指令
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("debug_cold_trap_stop_recycle")
-public class ColdTrapStopRecycleCommandHandler extends BaseCommandHandler {
-    @Override
-    public void handle(CmdDTO cmdDTO) {
-
-    }
-}

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

@@ -1,22 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.annotation.CommandMapping;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 处理停止冷阱制冷指令
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("debug_cold_trap_stop_refrigeration")
-public class ColdTrapStopRefrigerationCommandHandler extends BaseCommandHandler {
-    @Override
-    public void handle(CmdDTO cmdDTO) {
-
-    }
-}

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

@@ -1,22 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.annotation.CommandMapping;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 处理拍子电机下降指令
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("debug_cover_elevator_lift_down")
-public class CoverElevatorLiftDownCommandHandler extends BaseCommandHandler {
-    @Override
-    public void handle(CmdDTO cmdDTO) {
-
-    }
-}

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

@@ -1,23 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.annotation.CommandMapping;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-
-/**
- * 处理拍子电机抬升指令
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("debug_cover_elevator_lift_up")
-public class CoverElevatorLiftUpCommandHandler extends BaseCommandHandler {
-    @Override
-    public void handle(CmdDTO cmdDTO) {
-
-    }
-}

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

@@ -1,16 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.annotation.CommandMapping;
-
-/**
- * 处理拍子抬升电机复位指令
- */
-@CommandMapping("debug_cover_elevator_reset")
-public class CoverElevatorResetCommandHandler extends BaseCommandHandler {
-    @Override
-    public void handle(CmdDTO cmdDTO) {
-
-    }
-}

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

@@ -1,16 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.annotation.CommandMapping;
-
-/**
- * 处理拍子抬升电机停止指令
- */
-@CommandMapping("debug_cover_elevator_stop")
-public class CoverElevatorStopCommandHandler extends BaseCommandHandler {
-    @Override
-    public void handle(CmdDTO cmdDTO) {
-
-    }
-}

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

@@ -1,21 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.annotation.CommandMapping;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 处理关门指令
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("debug_door_close")
-public class DoorCloseCommandHandler extends BaseCommandHandler {
-    @Override
-    public void handle(CmdDTO cmdDTO) {
-    }
-}

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

@@ -1,21 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.annotation.CommandMapping;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 处理开门指令
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("debug_door_open")
-public class DoorOpenCommandHandler extends BaseCommandHandler {
-    @Override
-    public void handle(CmdDTO cmdDTO) {
-    }
-}

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

@@ -1,21 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.annotation.CommandMapping;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 处理停止门运动指令处理器
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("debug_door_stop")
-public class DoorStopCommandHandler extends BaseCommandHandler {
-    @Override
-    public void handle(CmdDTO cmdDTO) {
-    }
-}

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

@@ -1,22 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.annotation.CommandMapping;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 处理启动加热器指令
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("debug_heater_start")
-public class HeaterStartCommandHandler extends BaseCommandHandler {
-    @Override
-    public void handle(CmdDTO cmdDTO) {
-
-    }
-}

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

@@ -1,22 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.annotation.CommandMapping;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 处理启动加热器恒温指令
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("debug_heater_start_heat_maintaining")
-public class HeaterStartHeatMaintainingCommandHandler extends BaseCommandHandler {
-    @Override
-    public void handle(CmdDTO cmdDTO) {
-
-    }
-}

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

@@ -1,22 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.annotation.CommandMapping;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 处理停止加热器指令
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("debug_heater_stop")
-public class HeaterStopCommandHandler extends BaseCommandHandler {
-    @Override
-    public void handle(CmdDTO cmdDTO) {
-
-    }
-}

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

@@ -1,22 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.annotation.CommandMapping;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 处理停止恒温加热指令
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("debug_heater_stop_heat_maintaining")
-public class HeaterStopMaintainingCommandHandler extends BaseCommandHandler {
-    @Override
-    public void handle(CmdDTO cmdDTO) {
-
-    }
-}

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

@@ -1,22 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.annotation.CommandMapping;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 处理夹爪闭合指令
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("debug_holding_jaw_close")
-public class HoldingJawCloseCommandHandler extends BaseCommandHandler {
-    @Override
-    public void handle(CmdDTO cmdDTO) {
-
-    }
-}

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

@@ -1,22 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.annotation.CommandMapping;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 处理打开夹爪指令
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("debug_holding_jaw_open")
-public class HoldingJawOpenCommandHandler extends BaseCommandHandler {
-    @Override
-    public void handle(CmdDTO cmdDTO) {
-
-    }
-}

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

@@ -1,22 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.annotation.CommandMapping;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 处理暂停夹爪指令
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("debug_holding_jaw_pause")
-public class HoldingJawPauseCommandHandler extends BaseCommandHandler {
-    @Override
-    public void handle(CmdDTO cmdDTO) {
-
-    }
-}

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

@@ -1,22 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.annotation.CommandMapping;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 复位加液臂指令处理器
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("debug_liquid_arm_reset")
-public class LiquidArmResetCommandHandler extends BaseCommandHandler {
-    @Override
-    public void handle(CmdDTO cmdDTO) {
-
-    }
-}

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

@@ -1,22 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.annotation.CommandMapping;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 处理加液臂旋转指令
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("debug_liquid_arm_rotation")
-public class LiquidArmRotateCommandHandler extends BaseCommandHandler {
-    @Override
-    public void handle(CmdDTO cmdDTO) {
-
-    }
-}

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

@@ -1,22 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.annotation.CommandMapping;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 处理加液臂停止指令
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("debug_liquid_arm_stop")
-public class LiquidArmStopCommandHandler extends BaseCommandHandler {
-    @Override
-    public void handle(CmdDTO cmdDTO) {
-
-    }
-}

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

@@ -1,22 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.annotation.CommandMapping;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 处理排空加液头指令
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("debug_liquid_pump_pre_evacuation")
-public class LiquidPumpPreEvacuateCommandHandler extends BaseCommandHandler {
-    @Override
-    public void handle(CmdDTO cmdDTO) {
-
-    }
-}

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

@@ -1,22 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.annotation.CommandMapping;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 处理加液头预充指令
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("debug_liquid_pump_pre_filling")
-public class LiquidPumpPrefillCommandHandler extends BaseCommandHandler {
-    @Override
-    public void handle(CmdDTO cmdDTO) {
-
-    }
-}

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

@@ -1,22 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.annotation.CommandMapping;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 处理加液泵启动指令
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("debug_liquid_pump_start")
-public class LiquidPumpStartCommandHandler extends BaseCommandHandler {
-    @Override
-    public void handle(CmdDTO cmdDTO) {
-
-    }
-}

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

@@ -1,22 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.annotation.CommandMapping;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 处理加液泵停止指令
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("debug_liquid_pump_stop")
-public class LiquidPumpStopCommandHandler extends BaseCommandHandler {
-    @Override
-    public void handle(CmdDTO cmdDTO) {
-
-    }
-}

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

@@ -1,23 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.annotation.CommandMapping;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-
-/**
- * 处理降下托盘指令
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("debug_pallet_elevator_lift_down")
-public class PalletElevatorLiftDownCommandHandler extends BaseCommandHandler {
-    @Override
-    public void handle(CmdDTO cmdDTO) {
-
-    }
-}

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

@@ -1,22 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.annotation.CommandMapping;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 处理托盘电机上升指令
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("debug_pallet_elevator_lift_up")
-public class PalletElevatorLiftUpCommandHandler extends BaseCommandHandler {
-    @Override
-    public void handle(CmdDTO cmdDTO) {
-
-    }
-}

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

@@ -1,23 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.annotation.CommandMapping;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-
-/**
- * 处理停止托盘抬升器指令
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("debug_pallet_elevator_stop")
-public class PalletElevatorStopCommandHandler extends BaseCommandHandler {
-    @Override
-    public void handle(CmdDTO cmdDTO) {
-
-    }
-}

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

@@ -1,22 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.annotation.CommandMapping;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 处理启动摇匀器指令
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("debug_shaker_start")
-public class ShakerStartCommandHandler extends BaseCommandHandler {
-    @Override
-    public void handle(CmdDTO cmdDTO) {
-
-    }
-}

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

@@ -1,22 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.annotation.CommandMapping;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 处理停止摇匀器指令
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("debug_shaker_stop")
-public class ShakerStopCommandHandler extends BaseCommandHandler {
-    @Override
-    public void handle(CmdDTO cmdDTO) {
-
-    }
-}

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

@@ -1,22 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.annotation.CommandMapping;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 处理移动转移机械臂指令
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("debug_transportation_arm_move")
-public class TransportationArmMoveCommandHandler extends BaseCommandHandler {
-    @Override
-    public void handle(CmdDTO cmdDTO) {
-
-    }
-}

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

@@ -1,22 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.annotation.CommandMapping;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 处理复位转移机械臂指令
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("debug_transportation_arm_reset")
-public class TransportationArmResetCommandHandler extends BaseCommandHandler {
-    @Override
-    public void handle(CmdDTO cmdDTO) {
-
-    }
-}

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

@@ -1,22 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.annotation.CommandMapping;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 处理停止转移机械臂移动指令
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("debug_transportation_arm_stop")
-public class TransportationArmStopCommandHandler extends BaseCommandHandler {
-    @Override
-    public void handle(CmdDTO cmdDTO) {
-
-    }
-}

src/main/java/com/iflytop/gd/app/cmd/debug/ColdTrapStartHeatingCommandHandler.java → src/main/java/com/iflytop/gd/app/cmd/debug/debugDoorMove.java

@@ -12,20 +12,19 @@ import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
 /**
- * 处理冷阱开启加热
+ * 门电机 移动指定距离
  */
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandMapping("debug_cold_trap_start_heating")
-public class ColdTrapStartHeatingCommandHandler extends BaseCommandHandler {
+@CommandMapping("debug_door_move")
+public class debugDoorMove extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
-
     @Override
     public void handle(CmdDTO cmdDTO) throws Exception {
-        DeviceCommand deviceCommand = DeviceCommandGenerator.coldTrapOpenHeart();
+        Double position = cmdDTO.getDoubleParam("position");
+        DeviceCommand deviceCommand = DeviceCommandGenerator.doorMove(position);
         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
         commandWait(deviceCommandFuture);
-
     }
 }

src/main/java/com/iflytop/gd/app/controller/CmdController.java

@@ -1,9 +1,8 @@
 package com.iflytop.gd.app.controller;
 
-import com.iflytop.gd.common.cmd.CommandHandler;
 import com.iflytop.gd.app.core.CommandHandlerRegistry;
 import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.exception.UnSupportCommandException;
+import com.iflytop.gd.common.cmd.CommandHandler;
 import com.iflytop.gd.common.result.Result;
 import io.swagger.v3.oas.annotations.Operation;
 import io.swagger.v3.oas.annotations.tags.Tag;
@@ -25,19 +24,11 @@ public class CmdController {
 
     @Operation(summary = "前端统一调用一个接口")
     @PostMapping
-    public Result<?> controlMethod(@Valid @RequestBody CmdDTO cmdDTO) {
+    public Result<?> controlMethod(@Valid @RequestBody CmdDTO cmdDTO) throws Exception {
         String commandName = cmdDTO.getCommand();
-        try {
         CommandHandler commandHandler = registry.getCommandHandler(commandName);
         log.info("业务指令开始执行");
         commandHandler.handle(cmdDTO);
-        } catch (UnSupportCommandException exception) {
-            log.error("未找到对应的业务指令");
-            return Result.failed(exception.getMessage());
-        } catch (Exception e) {
-            log.error("执行业务指令发生异常: {}", cmdDTO, e);
-            return Result.failed(e.getMessage());
-        }
         return Result.success();
     }
 

src/main/java/com/iflytop/gd/app/controller/CmdDebugController.java

@@ -1,10 +1,9 @@
 package com.iflytop.gd.app.controller;
 
+import com.iflytop.gd.app.core.CommandHandlerRegistry;
 import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.common.exception.UnSupportCommandException;
-import com.iflytop.gd.common.result.Result;
 import com.iflytop.gd.common.cmd.CommandHandler;
-import com.iflytop.gd.app.core.CommandHandlerRegistry;
+import com.iflytop.gd.common.result.Result;
 import io.swagger.v3.oas.annotations.Operation;
 import io.swagger.v3.oas.annotations.tags.Tag;
 import jakarta.validation.Valid;
@@ -15,8 +14,6 @@ import org.springframework.web.bind.annotation.RequestBody;
 import org.springframework.web.bind.annotation.RequestMapping;
 import org.springframework.web.bind.annotation.RestController;
 
-import java.util.concurrent.CompletableFuture;
-
 @Tag(name = "前端调试指令")
 @RestController
 @RequestMapping("/api/debug/cmd")
@@ -27,22 +24,11 @@ public class CmdDebugController {
 
     @Operation(summary = "前端调试指令")
     @PostMapping
-    public Result<?> controlMethod(@Valid @RequestBody CmdDTO cmdDTO) {
+    public Result<?> controlMethod(@Valid @RequestBody CmdDTO cmdDTO) throws Exception {
         String commandName = cmdDTO.getCommand();
-        try {
-            log.info("收到调试指令{}", commandName);
         CommandHandler commandHandler = registry.getCommandHandler(commandName);
-            log.info("找到指令处理器{}", commandHandler.getClass().getName());
+        log.info("调试指令开始执行");
         commandHandler.handle(cmdDTO);
-            log.info("指令处理器提交异步执行");
-        } catch (UnSupportCommandException exception) {
-            log.error("未找到对应的调试指令{}", commandName);
-            String errorMsg = "未找到对应的调试指令, commandName=" + commandName;
-            return Result.failed(errorMsg);
-        } catch (Exception e) {
-            log.error("执行调试指令发生异常: {}", cmdDTO, e);
-            return Result.failed(e.getMessage());
-        }
         return Result.success();
     }
 

src/main/java/com/iflytop/gd/app/core/CommandHandlerRegistry.java

@@ -1,8 +1,10 @@
 package com.iflytop.gd.app.core;
 
-import com.iflytop.gd.common.exception.UnSupportCommandException;
 import com.iflytop.gd.common.annotation.CommandMapping;
 import com.iflytop.gd.common.cmd.CommandHandler;
+import com.iflytop.gd.common.exception.AppException;
+import com.iflytop.gd.common.exception.UnSupportCommandException;
+import com.iflytop.gd.common.result.ResultCode;
 import io.micrometer.common.lang.NonNull;
 import jakarta.annotation.PostConstruct;
 import jakarta.validation.constraints.NotNull;
@@ -42,13 +44,14 @@ public class CommandHandlerRegistry implements ApplicationContextAware {
 
     /**
      * 通过模块名称和命令名称获取命令处理器
+     *
      * @param commandName 命令名称
      * @return 命令处理器
      * @throws UnSupportCommandException
      */
     public CommandHandler getCommandHandler(@NotNull String commandName) throws UnSupportCommandException {
         if (!handlerMap.containsKey(commandName)) {
-            throw new UnSupportCommandException("commandName=" + commandName);
+            throw new AppException(ResultCode.COMMAND_NOT_FOUND);
         }
         return handlerMap.get(commandName);
     }

src/main/java/com/iflytop/gd/common/cmd/DeviceCommandParams.java

@@ -20,4 +20,7 @@ public class DeviceCommandParams {
     private CmdAxis axis;
     private CmdColor color;
     private Double brightness;
+    private Double x;
+    private Double y;
+    private Double z;
 }

src/main/java/com/iflytop/gd/common/enums/AcidPumpDevice.java

@@ -0,0 +1,29 @@
+package com.iflytop.gd.common.enums;
+
+import lombok.Getter;
+
+/**
+ * 泵设备id枚举
+ */
+@Getter
+public enum AcidPumpDevice {
+    PUMP_01("acid_pump1"),
+    PUMP_02("acid_pump2"),
+    PUMP_03("acid_pump3"),
+    PUMP_04("acid_pump4"),
+    PUMP_05("acid_pump5"),
+    PUMP_06("acid_pump6"),
+    PUMP_07("acid_pump7"),
+    PUMP_08("acid_pump8");
+
+    private final String id;
+
+    AcidPumpDevice(String id) {
+        this.id = id;
+    }
+
+    @Override
+    public String toString() {
+        return id;
+    }
+}

src/main/java/com/iflytop/gd/common/enums/HeatModuleId.java

@@ -1,9 +1,12 @@
 package com.iflytop.gd.common.enums;
 
+import lombok.Getter;
+
 /**
  * 加热模块id枚举
  * 格式为 "heat_module_01" ~ "heat_module_06"
  */
+@Getter
 public enum HeatModuleId {
     MODULE_01("heat_module_01"),
     MODULE_02("heat_module_02"),
@@ -18,15 +21,6 @@ public enum HeatModuleId {
         this.id = id;
     }
 
-    /**
-     * 获取对应的加热模块 ID
-     *
-     * @return 模块唯一标识
-     */
-    public String getId() {
-        return id;
-    }
-
     @Override
     public String toString() {
         return id;

src/main/java/com/iflytop/gd/common/enums/cmd/CmdAction.java

@@ -1,6 +1,6 @@
 package com.iflytop.gd.common.enums.cmd;
 
 public enum CmdAction {
-    open, close, stop, start, origin, move, move_x_joint, move_y_joint, move_joint, move_point, set, get, tight, loose,
+    open, close, stop, start, origin, move, move_joint, move_point, set, get, tight, loose,
     open_power, close_power, open_circle, close_circle, open_heart, close_heart, open_cool, close_cool, take_photo
 }

src/main/java/com/iflytop/gd/common/enums/cmd/CmdColor.java

@@ -1,5 +1,5 @@
 package com.iflytop.gd.common.enums.cmd;
 
 public enum CmdColor {
-    red,green,blue
+    red, green, blue
 }

src/main/java/com/iflytop/gd/common/enums/cmd/CmdDevice.java

@@ -1,10 +1,44 @@
 package com.iflytop.gd.common.enums.cmd;
 
 public enum CmdDevice {
-    door, shake_motor, tray_motor, dual_robot, hbot_x, hbot_y, hbot_z,
-    heater_motor_1, heater_motor_2, heater_motor_3, heater_motor_4, heater_motor_5, heater_motor_6,
-    acid_pump1, acid_pump2, acid_pump3, acid_pump4, acid_pump5, acid_pump6, acid_pump7, acid_pump8,
-    claw, fan1, fan2, fan3, fan4, fan5, fan6, water_pump_power, ventilator_power,
-    heat_rod_1, heat_rod_2, heat_rod_3, heat_rod_4, heat_rod_5, heat_rod_6,
-    tricolor_light, fill_light, cold_trap, photo
+    door_motor,
+    shake_motor,
+    tray_motor,
+    dual_robot,
+    gantry_x,
+    gantry_y,
+    gantry_z,
+    heater_motor_1,
+    heater_motor_2,
+    heater_motor_3,
+    heater_motor_4,
+    heater_motor_5,
+    heater_motor_6,
+    acid_pump1,
+    acid_pump2,
+    acid_pump3,
+    acid_pump4,
+    acid_pump5,
+    acid_pump6,
+    acid_pump7,
+    acid_pump8,
+    claw,
+    fan1,
+    fan2,
+    fan3,
+    fan4,
+    fan5,
+    fan6,
+    water_pump_power,
+    ventilator_power,
+    heat_rod_1,
+    heat_rod_2,
+    heat_rod_3,
+    heat_rod_4,
+    heat_rod_5,
+    heat_rod_6,
+    tricolor_light,
+    fill_light,
+    cold_trap,
+    photo
 }

src/main/java/com/iflytop/gd/common/result/ResultCode.java

@@ -44,8 +44,9 @@ public enum ResultCode implements IResultCode, Serializable {
     SERVICE_UNAVAILABLE("5001", "服务暂不可用"),
     EXTERNAL_API_ERROR("5002", "第三方服务调用失败"),
     COMMAND_EXEC_TIMEOUT("5003", "命令执行超时"),
-    HARDWARE_ERROR("5004", "硬件错误");
-
+    HARDWARE_ERROR("5004", "硬件错误"),
+    //============================ 6xxx：指令相关 ============================
+    COMMAND_NOT_FOUND("6000", "指令未找到");
     /** 状态码 */
     private final String code;
     /** 提示信息 */