现场代码同步

src/main/java/com/iflytop/gd/app/cmd/ShakeOriginCommand.java

@@ -0,0 +1,33 @@
+package com.iflytop.gd.app.cmd;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.DeviceCommandUtilService;
+import com.iflytop.gd.app.service.DeviceStateService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 摇匀回原点
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("shake_origin")//业务指令注解
+public class ShakeOriginCommand extends BaseCommandHandler {
+    private final DeviceCommandUtilService deviceCommandUtilService;
+    private final DeviceStateService deviceStateService;
+
+    @Override
+    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        return runAsync(() -> {
+            deviceCommandUtilService.shakeOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());//摇匀回原点
+            deviceStateService.setSolutionModuleStateShaking(true);
+        });
+    }
+}
+

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

@@ -0,0 +1,35 @@
+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.app.service.DeviceCommandService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import com.iflytop.gd.common.cmd.CommandFuture;
+import com.iflytop.gd.common.cmd.DeviceCommandBundle;
+import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 处理摇匀回原点
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_shaker_reset")
+public class DebugShakerResetCommand extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        return runAsync(() -> {
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.shakeMotorOrigin();
+            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+            commandWait(deviceCommandFuture);
+        });
+    }
+}
+