feat:增加循环次数

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

@@ -34,7 +34,7 @@ public class CoverElevatorLiftDownCommandHandler extends BaseCommandHandler {
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                 commandWait(deviceCommandFuture);
             }
-            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.trayMotorMoveBy(distance);
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.trayMotorMoveBy(-distance);
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
             commandWait(deviceCommandFuture);
         });

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

@@ -22,21 +22,44 @@ import java.util.concurrent.CompletableFuture;
 @CommandMapping("debug_holding_jaw_open")
 public class HoldingJawOpenCommandHandler extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
+    private boolean stop = false;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        this.stop = false;
         return runAsync(() -> {
             Double velocity = cmdDTO.getDoubleParam("velocity");
             Double distance = cmdDTO.getDoubleParam("distance");
-            if(velocity != null) {
+            Integer times = cmdDTO.getIntegerParam("times");
+            if (velocity != null) {
                 DeviceCommandBundle deviceCommand = DeviceCommandGenerator.clawSet(velocity);
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                 commandWait(deviceCommandFuture);
             }
-            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.clawMove(distance);
-            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/HoldingJawPauseCommandHandler.java

@@ -22,9 +22,11 @@ import java.util.concurrent.CompletableFuture;
 @CommandMapping("debug_holding_jaw_pause")
 public class HoldingJawPauseCommandHandler extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
+    private final HoldingJawOpenCommandHandler holdingJawOpenCommandHandler;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        holdingJawOpenCommandHandler.stop();
         return runAsync(() -> {
             DeviceCommandBundle deviceCommand = DeviceCommandGenerator.clawStop();
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);

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

@@ -24,13 +24,16 @@ import java.util.concurrent.CompletableFuture;
 @CommandMapping("debug_pallet_elevator_lift_down")
 public class PalletElevatorLiftDownCommandHandler extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
+    private boolean stop = false;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        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;
             HeatModuleId heatModuleId = HeatModuleId.valueOf(index);
             if (velocity != null) {
@@ -47,18 +50,54 @@ public class PalletElevatorLiftDownCommandHandler extends BaseCommandHandler {
                 commandWait(deviceCommandFuture);
             }
 
-            switch (heatModuleId) {
-                case heat_module_01 -> deviceCommand = DeviceCommandGenerator.heaterMotor1MoveBy(distance);
-                case heat_module_02 -> deviceCommand = DeviceCommandGenerator.heaterMotor2MoveBy(distance);
-                case heat_module_03 -> deviceCommand = DeviceCommandGenerator.heaterMotor3MoveBy(distance);
-                case heat_module_04 -> deviceCommand = DeviceCommandGenerator.heaterMotor4MoveBy(distance);
-                case heat_module_05 -> deviceCommand = DeviceCommandGenerator.heaterMotor5MoveBy(distance);
-                case heat_module_06 -> deviceCommand = DeviceCommandGenerator.heaterMotor6MoveBy(distance);
-                default -> throw new RuntimeException("index 未找到");
+            if (times != null) {
+                for (int i = 0; i < times; i++) {
+                    if (stop) {
+                        return;
+                    }
+                    switch (heatModuleId) {
+                        case heat_module_01 -> deviceCommand = DeviceCommandGenerator.heaterMotor1MoveBy(-distance);
+                        case heat_module_02 -> deviceCommand = DeviceCommandGenerator.heaterMotor2MoveBy(-distance);
+                        case heat_module_03 -> deviceCommand = DeviceCommandGenerator.heaterMotor3MoveBy(-distance);
+                        case heat_module_04 -> deviceCommand = DeviceCommandGenerator.heaterMotor4MoveBy(-distance);
+                        case heat_module_05 -> deviceCommand = DeviceCommandGenerator.heaterMotor5MoveBy(-distance);
+                        case heat_module_06 -> deviceCommand = DeviceCommandGenerator.heaterMotor6MoveBy(-distance);
+                        default -> throw new RuntimeException("index 未找到");
+                    }
+                    CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+                    commandWait(deviceCommandFuture);
+
+                    switch (heatModuleId) {
+                        case heat_module_01 -> deviceCommand = DeviceCommandGenerator.heaterMotor1MoveBy(distance);
+                        case heat_module_02 -> deviceCommand = DeviceCommandGenerator.heaterMotor2MoveBy(distance);
+                        case heat_module_03 -> deviceCommand = DeviceCommandGenerator.heaterMotor3MoveBy(distance);
+                        case heat_module_04 -> deviceCommand = DeviceCommandGenerator.heaterMotor4MoveBy(distance);
+                        case heat_module_05 -> deviceCommand = DeviceCommandGenerator.heaterMotor5MoveBy(distance);
+                        case heat_module_06 -> deviceCommand = DeviceCommandGenerator.heaterMotor6MoveBy(distance);
+                        default -> throw new RuntimeException("index 未找到");
+                    }
+                    CommandFuture backDeviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+                    commandWait(backDeviceCommandFuture);
+
+                }
+            } else {
+                switch (heatModuleId) {
+                    case heat_module_01 -> deviceCommand = DeviceCommandGenerator.heaterMotor1MoveBy(-distance);
+                    case heat_module_02 -> deviceCommand = DeviceCommandGenerator.heaterMotor2MoveBy(-distance);
+                    case heat_module_03 -> deviceCommand = DeviceCommandGenerator.heaterMotor3MoveBy(-distance);
+                    case heat_module_04 -> deviceCommand = DeviceCommandGenerator.heaterMotor4MoveBy(-distance);
+                    case heat_module_05 -> deviceCommand = DeviceCommandGenerator.heaterMotor5MoveBy(-distance);
+                    case heat_module_06 -> deviceCommand = DeviceCommandGenerator.heaterMotor6MoveBy(-distance);
+                    default -> throw new RuntimeException("index 未找到");
+                }
+                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+                commandWait(deviceCommandFuture);
             }
-            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/PalletElevatorLiftUpCommandHandler.java

@@ -23,13 +23,16 @@ import java.util.concurrent.CompletableFuture;
 @CommandMapping("debug_pallet_elevator_lift_up")
 public class PalletElevatorLiftUpCommandHandler extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
+    private boolean stop = false;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        this.stop = false;
         return runAsync(() -> {
             String index = cmdDTO.getStringParam("index");
             Double distance = cmdDTO.getDoubleParam("distance");
             Double velocity = cmdDTO.getDoubleParam("velocity");
+            Integer times = cmdDTO.getIntegerParam("times");
             DeviceCommandBundle deviceCommand;
             HeatModuleId heatModuleId = HeatModuleId.valueOf(index);
             if (velocity != null) {
@@ -45,19 +48,55 @@ public class PalletElevatorLiftUpCommandHandler extends BaseCommandHandler {
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                 commandWait(deviceCommandFuture);
             }
+            if (times != null) {
+                for (int i = 0; i < times; i++) {
+                    if (stop) {
+                        return;
+                    }
+                    switch (heatModuleId) {
+                        case heat_module_01 -> deviceCommand = DeviceCommandGenerator.heaterMotor1MoveBy(distance);
+                        case heat_module_02 -> deviceCommand = DeviceCommandGenerator.heaterMotor2MoveBy(distance);
+                        case heat_module_03 -> deviceCommand = DeviceCommandGenerator.heaterMotor3MoveBy(distance);
+                        case heat_module_04 -> deviceCommand = DeviceCommandGenerator.heaterMotor4MoveBy(distance);
+                        case heat_module_05 -> deviceCommand = DeviceCommandGenerator.heaterMotor5MoveBy(distance);
+                        case heat_module_06 -> deviceCommand = DeviceCommandGenerator.heaterMotor6MoveBy(distance);
+                        default -> throw new RuntimeException("index 未找到");
+                    }
+                    CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+                    commandWait(deviceCommandFuture);
 
-            switch (heatModuleId) {
-                case heat_module_01 -> deviceCommand = DeviceCommandGenerator.heaterMotor1MoveBy(distance);
-                case heat_module_02 -> deviceCommand = DeviceCommandGenerator.heaterMotor2MoveBy(distance);
-                case heat_module_03 -> deviceCommand = DeviceCommandGenerator.heaterMotor3MoveBy(distance);
-                case heat_module_04 -> deviceCommand = DeviceCommandGenerator.heaterMotor4MoveBy(distance);
-                case heat_module_05 -> deviceCommand = DeviceCommandGenerator.heaterMotor5MoveBy(distance);
-                case heat_module_06 -> deviceCommand = DeviceCommandGenerator.heaterMotor6MoveBy(distance);
-                default -> throw new RuntimeException("index 未找到");
+                    switch (heatModuleId) {
+                        case heat_module_01 -> deviceCommand = DeviceCommandGenerator.heaterMotor1MoveBy(-distance);
+                        case heat_module_02 -> deviceCommand = DeviceCommandGenerator.heaterMotor2MoveBy(-distance);
+                        case heat_module_03 -> deviceCommand = DeviceCommandGenerator.heaterMotor3MoveBy(-distance);
+                        case heat_module_04 -> deviceCommand = DeviceCommandGenerator.heaterMotor4MoveBy(-distance);
+                        case heat_module_05 -> deviceCommand = DeviceCommandGenerator.heaterMotor5MoveBy(-distance);
+                        case heat_module_06 -> deviceCommand = DeviceCommandGenerator.heaterMotor6MoveBy(-distance);
+                        default -> throw new RuntimeException("index 未找到");
+                    }
+                    CommandFuture backDeviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+                    commandWait(backDeviceCommandFuture);
+
+                }
+            } else {
+                switch (heatModuleId) {
+                    case heat_module_01 -> deviceCommand = DeviceCommandGenerator.heaterMotor1MoveBy(distance);
+                    case heat_module_02 -> deviceCommand = DeviceCommandGenerator.heaterMotor2MoveBy(distance);
+                    case heat_module_03 -> deviceCommand = DeviceCommandGenerator.heaterMotor3MoveBy(distance);
+                    case heat_module_04 -> deviceCommand = DeviceCommandGenerator.heaterMotor4MoveBy(distance);
+                    case heat_module_05 -> deviceCommand = DeviceCommandGenerator.heaterMotor5MoveBy(distance);
+                    case heat_module_06 -> deviceCommand = DeviceCommandGenerator.heaterMotor6MoveBy(distance);
+                    default -> throw new RuntimeException("index 未找到");
+                }
+                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+                commandWait(deviceCommandFuture);
             }
-            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/PalletElevatorStopCommandHandler.java

@@ -24,9 +24,13 @@ import java.util.concurrent.CompletableFuture;
 @CommandMapping("debug_pallet_elevator_stop")
 public class PalletElevatorStopCommandHandler extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
+    private final PalletElevatorLiftUpCommandHandler palletElevatorLiftUpCommandHandler;
+    private final PalletElevatorLiftDownCommandHandler palletElevatorLiftDownCommandHandler;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        palletElevatorLiftUpCommandHandler.stop();
+        palletElevatorLiftDownCommandHandler.stop();
         return runAsync(() -> {
             String index = cmdDTO.getStringParam("index");
             HeatModuleId heatModuleId = HeatModuleId.valueOf(index);

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

@@ -24,9 +24,11 @@ import java.util.concurrent.CompletableFuture;
 @CommandMapping("debug_transportation_arm_move")
 public class TransportationArmMoveCommandHandler extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
+    private boolean stop = false;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        this.stop = false;
         return runAsync(() -> {
             Double xDimDistance = cmdDTO.getDoubleParam("xDimDistance");
             Double yDimDistance = cmdDTO.getDoubleParam("yDimDistance");
@@ -35,18 +37,20 @@ public class TransportationArmMoveCommandHandler extends BaseCommandHandler {
             Double xDimVelocity = cmdDTO.getDoubleParam("xDimVelocity");
             Double yDimVelocity = cmdDTO.getDoubleParam("yDimVelocity");
             Double zDimVelocity = cmdDTO.getDoubleParam("zDimVelocity");
+            Integer times = cmdDTO.getIntegerParam("times");
+
             List<CommandFuture> futuresList = new ArrayList<>();
-            if(xDimVelocity != null){
+            if (xDimVelocity != null) {
                 DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXSet(xDimVelocity);
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                 futuresList.add(deviceCommandFuture);
             }
-            if(yDimVelocity != null){
+            if (yDimVelocity != null) {
                 DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYSet(yDimVelocity);
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                 futuresList.add(deviceCommandFuture);
             }
-            if(zDimVelocity != null){
+            if (zDimVelocity != null) {
                 DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZSet(zDimVelocity);
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                 futuresList.add(deviceCommandFuture);
@@ -54,24 +58,70 @@ public class TransportationArmMoveCommandHandler extends BaseCommandHandler {
             commandWait(futuresList.toArray(new CommandFuture[0]));
 
             futuresList.clear();
-            if (xDimDistance != null) {
-                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMoveBy(xDimDistance);
-                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-                futuresList.add(deviceCommandFuture);
-            }
-            if (yDimDistance != null) {
-                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYMoveBy(yDimDistance);
-                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-                futuresList.add(deviceCommandFuture);
-            }
-            if (zDimDistance != null) {
-                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMoveBy(zDimDistance);
-                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-                futuresList.add(deviceCommandFuture);
+            if (times != null) {
+                for (int i = 0; i < times; i++) {
+                    if (stop) {
+                        return;
+                    }
+                    if (xDimDistance != null) {
+                        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMoveBy(xDimDistance);
+                        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+                        futuresList.add(deviceCommandFuture);
+                    }
+                    if (yDimDistance != null) {
+                        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYMoveBy(yDimDistance);
+                        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+                        futuresList.add(deviceCommandFuture);
+                    }
+                    if (zDimDistance != null) {
+                        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMoveBy(zDimDistance);
+                        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+                        futuresList.add(deviceCommandFuture);
+                    }
+                    commandWait(futuresList.toArray(new CommandFuture[0]));
+                    if (xDimDistance != null) {
+                        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMoveBy(-xDimDistance);
+                        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+                        futuresList.add(deviceCommandFuture);
+                    }
+                    if (yDimDistance != null) {
+                        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYMoveBy(-yDimDistance);
+                        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+                        futuresList.add(deviceCommandFuture);
+                    }
+                    if (zDimDistance != null) {
+                        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMoveBy(-zDimDistance);
+                        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+                        futuresList.add(deviceCommandFuture);
+                    }
+                    commandWait(futuresList.toArray(new CommandFuture[0]));
+                }
+            } else {
+                if (xDimDistance != null) {
+                    DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMoveBy(xDimDistance);
+                    CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+                    futuresList.add(deviceCommandFuture);
+                }
+                if (yDimDistance != null) {
+                    DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYMoveBy(yDimDistance);
+                    CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+                    futuresList.add(deviceCommandFuture);
+                }
+                if (zDimDistance != null) {
+                    DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMoveBy(zDimDistance);
+                    CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+                    futuresList.add(deviceCommandFuture);
+                }
+
+                commandWait(futuresList.toArray(new CommandFuture[0]));
             }
 
-            commandWait(futuresList.toArray(new CommandFuture[0]));
+
         });
     }
+
+    public synchronized void stop() {
+        this.stop = true;
+    }
 }
 

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

@@ -24,9 +24,11 @@ import java.util.concurrent.CompletableFuture;
 @CommandMapping("debug_transportation_arm_stop")
 public class TransportationArmStopCommandHandler extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
+    private final TransportationArmMoveCommandHandler transportationArmMoveCommandHandler;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        transportationArmMoveCommandHandler.stop();
         return runAsync(() -> {
             List<String> dim = (List<String>) cmdDTO.getParams().get("dim");
             List<CommandFuture> futuresList = new ArrayList<>();