fix:龙门架机械臂调试指令改为相对移动

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

@@ -33,17 +33,17 @@ public class TransportationArmMoveCommandHandler extends BaseCommandHandler {
             Double z = cmdDTO.getDoubleParam("zDimDistance");
             List<CommandFuture> futuresList = new ArrayList<>();
             if (x != null) {
-                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMove(x);
+                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMoveBy(x);
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                 futuresList.add(deviceCommandFuture);
             }
             if (y != null) {
-                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYMove(y);
+                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYMoveBy(y);
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                 futuresList.add(deviceCommandFuture);
             }
             if (z != null) {
-                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMove(z);
+                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMoveBy(z);
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                 futuresList.add(deviceCommandFuture);
             }

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

@@ -306,6 +306,39 @@ public class DeviceCommandGenerator {
     }
 
     /**
+     * 龙门架 x轴相对移动
+     *
+     * @param position 位置 单位 mm
+     */
+    public static DeviceCommandBundle gantryXMoveBy(Double position) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setPosition(position);
+        return controlMotorCmd(CmdDevice.gantry_x, CmdAction.move_by, params, "龙门架 x轴移动");
+    }
+
+    /**
+     * 龙门架 y轴相对移动
+     *
+     * @param position 位置 单位 mm
+     */
+    public static DeviceCommandBundle gantryYMoveBy(Double position) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setPosition(position);
+        return controlMotorCmd(CmdDevice.gantry_y, CmdAction.move_by, params, "龙门架 y轴移动");
+    }
+
+    /**
+     * 龙门架 z轴相对移动
+     *
+     * @param position 位置 单位 mm
+     */
+    public static DeviceCommandBundle gantryZMoveBy(Double position) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setPosition(position);
+        return controlMotorCmd(CmdDevice.gantry_z, CmdAction.move_by, params, "龙门架 z轴移动");
+    }
+
+    /**
      * 龙门架 x轴停止
      */
     public static DeviceCommandBundle gantryXStop() {

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_joint, move_point, set, get, tight, loose,
+    open, close, stop, start, origin, move, move_by, 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
 }