From ce8cd1c2380dbbe519f615128e8d93d5b161e1b3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= <baifengji@163.com>
Date: Mon, 19 May 2025 17:14:15 +0800
Subject: [PATCH] =?UTF-8?q?=E7=8E=B0=E5=9C=BA=E4=BB=A3=E7=A0=81=E5=90=8C?=
 =?UTF-8?q?=E6=AD=A5?=
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---
 .../com/iflytop/gd/app/cmd/ShakeOriginCommand.java | 33 ++++++++++++++++++++
 .../gd/app/cmd/debug/DebugShakerResetCommand.java  | 35 ++++++++++++++++++++++
 2 files changed, 68 insertions(+)
 create mode 100644 src/main/java/com/iflytop/gd/app/cmd/ShakeOriginCommand.java
 create mode 100644 src/main/java/com/iflytop/gd/app/cmd/debug/DebugShakerResetCommand.java

diff --git a/src/main/java/com/iflytop/gd/app/cmd/ShakeOriginCommand.java b/src/main/java/com/iflytop/gd/app/cmd/ShakeOriginCommand.java
new file mode 100644
index 0000000..294956b
--- /dev/null
+++ b/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);
+        });
+    }
+}
+
diff --git a/src/main/java/com/iflytop/gd/app/cmd/debug/DebugShakerResetCommand.java b/src/main/java/com/iflytop/gd/app/cmd/debug/DebugShakerResetCommand.java
new file mode 100644
index 0000000..c2fd73e
--- /dev/null
+++ b/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);
+        });
+    }
+}
+