feat:完善设备定义

src/main/java/com/iflytop/gd/app/service/WebSocketService.java

@@ -1,6 +1,7 @@
 package com.iflytop.gd.app.service;
 
 import cn.hutool.json.JSONUtil;
+import com.iflytop.gd.common.notification.Notification;
 import com.iflytop.gd.infrastructure.config.WebSocketServer;
 import com.iflytop.gd.app.model.dto.WebsocketResult;
 import org.springframework.stereotype.Service;
@@ -15,4 +16,9 @@ public class WebSocketService {
         WebSocketServer.sendMessageToClients(JSONUtil.toJsonStr(websocketResult));
     }
 
+
+    public void pushNotification(Notification notification) {
+        push("notification", notification);
+    }
+
 }

src/main/java/com/iflytop/gd/common/notification/Notification.java

@@ -1,6 +1,7 @@
 package com.iflytop.gd.common.notification;
 
 import cn.hutool.core.date.DateTime;
+import com.iflytop.gd.app.model.dto.CmdDTO;
 import lombok.Getter;
 
 
@@ -41,6 +42,14 @@ public class Notification {
         return new Notification(commandId, command, "info", title, content);
     }
 
+    public static Notification infoNotification(String commandId, String command, String title) {
+        return new Notification(commandId, command, "info", title, "");
+    }
+
+    public static Notification infoNotification(CmdDTO cmdDTO,  String title) {
+        return new Notification(cmdDTO.getCommandId(), cmdDTO.getCommand(), "info", title, "");
+    }
+
 
     /**
      * 创建Warn级别通知
@@ -60,6 +69,11 @@ public class Notification {
         return new Notification(commandId, command, "error", title, content);
     }
 
+    public static Notification errorNotification(CmdDTO cmdDTO, Exception e) {
+        String title = String.format("执行{}出错", cmdDTO.getCommand());
+        return new Notification(cmdDTO.getCommandId(), cmdDTO.getCommand(), "error", title, e.getMessage());
+    }
+
 
     /**
      * 创建Fatal级别通知

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

@@ -1,6 +1,7 @@
 package com.iflytop.gd.debug.controller;
 
 import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.WebSocketService;
 import com.iflytop.gd.app.service.exceptions.UnSupportCommandException;
 import com.iflytop.gd.common.result.Result;
 import com.iflytop.gd.common.cmd.CommandHandler;
@@ -15,6 +16,8 @@ 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")
@@ -28,10 +31,11 @@ public class CmdDebugController {
     public Result<?> controlMethod(@Valid @RequestBody CmdDTO cmdDTO) {
         String commandName = cmdDTO.getCommand();
         try {
+            log.info("收到调试指令{}", commandName);
             CommandHandler commandHandler = registry.getCommandHandler(commandName);
-            log.info("调试指令{}开始执行", commandName);
-            commandHandler.handle(cmdDTO);
-            log.info("调试指令{}执行结束", commandName);
+            log.info("找到指令处理器{}", commandHandler.getClass().getName());
+            CompletableFuture.runAsync(() -> 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;

src/main/java/com/iflytop/gd/debug/services/cmds/ColdTrapStartHeatingCommandHandler.java

@@ -3,6 +3,7 @@ package com.iflytop.gd.debug.services.cmds;
 import com.iflytop.gd.app.model.dto.CmdDTO;
 import com.iflytop.gd.common.annotation.CommandMapping;
 import com.iflytop.gd.common.cmd.CommandHandler;
+import com.iflytop.gd.system.devices.ColdTray;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -15,6 +16,8 @@ import org.springframework.stereotype.Component;
 @RequiredArgsConstructor
 @CommandMapping("debug_cold_trap_start_heating")
 public class ColdTrapStartHeatingCommandHandler implements CommandHandler {
+    private final ColdTray coldTray;
+
     @Override
     public void handle(CmdDTO cmdDTO) {
 

src/main/java/com/iflytop/gd/debug/services/cmds/DoorCloseCommandHandler.java

@@ -3,7 +3,6 @@ package com.iflytop.gd.debug.services.cmds;
 import com.iflytop.gd.app.model.dto.CmdDTO;
 import com.iflytop.gd.common.annotation.CommandMapping;
 import com.iflytop.gd.common.cmd.CommandHandler;
-import com.iflytop.gd.infrastructure.devices.MotorDrivenDoor;
 import com.iflytop.gd.system.devices.Door;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;

src/main/java/com/iflytop/gd/debug/services/cmds/DoorOpenCommandHandler.java

@@ -1,9 +1,10 @@
 package com.iflytop.gd.debug.services.cmds;
 
 import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.WebSocketService;
 import com.iflytop.gd.common.annotation.CommandMapping;
 import com.iflytop.gd.common.cmd.CommandHandler;
-import com.iflytop.gd.infrastructure.devices.MotorDrivenDoor;
+import com.iflytop.gd.common.notification.Notification;
 import com.iflytop.gd.system.devices.Door;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -19,8 +20,16 @@ import org.springframework.stereotype.Component;
 public class DoorOpenCommandHandler implements CommandHandler {
     private final Door door;
 
+    private final WebSocketService webSocketService;
+
     @Override
     public void handle(CmdDTO cmdDTO) {
-        door.open();
+        webSocketService.pushNotification(Notification.infoNotification(cmdDTO.getCommandId(), cmdDTO.getCommand(), "开始执行开门指令"));
+        try {
+            door.open();
+        } catch (Exception e) {
+            webSocketService.pushNotification(Notification.errorNotification(cmdDTO, e));
+        }
+        webSocketService.pushNotification( Notification.infoNotification(cmdDTO.getCommandId(), cmdDTO.getCommand(), "开门指令执行完成"));
     }
 }

src/main/java/com/iflytop/gd/infrastructure/devices/physical/PhysicalColdTray.java

@@ -0,0 +1,43 @@
+package com.iflytop.gd.infrastructure.devices.physical;
+
+import com.iflytop.gd.system.devices.ColdTray;
+
+/**
+ * 物理冷阱
+ */
+public class PhysicalColdTray implements ColdTray {
+    @Override
+    public boolean setTemperature(Double temperature) {
+        return false;
+    }
+
+    @Override
+    public boolean openRecycle() {
+        return false;
+    }
+
+    @Override
+    public boolean closeRecycle() {
+        return false;
+    }
+
+    @Override
+    public boolean openHeating() {
+        return false;
+    }
+
+    @Override
+    public boolean closeHeating() {
+        return false;
+    }
+
+    @Override
+    public boolean openRefrigeration() {
+        return false;
+    }
+
+    @Override
+    public boolean closeRefrigeration() {
+        return false;
+    }
+}

src/main/java/com/iflytop/gd/infrastructure/devices/MotorDrivenDoor.java → src/main/java/com/iflytop/gd/infrastructure/devices/physical/PhysicalDoor.java

@@ -1,7 +1,8 @@
-package com.iflytop.gd.infrastructure.devices;
+package com.iflytop.gd.infrastructure.devices.physical;
 
 import com.iflytop.gd.common.exception.AppException;
 import com.iflytop.gd.common.result.ResultCode;
+import com.iflytop.gd.infrastructure.devices.virtual.VirtualStepMotor;
 import com.iflytop.gd.infrastructure.drivers.ModuleId;
 import com.iflytop.gd.system.constants.DistanceUnit;
 import com.iflytop.gd.system.devices.Door;
@@ -15,15 +16,14 @@ import org.springframework.stereotype.Component;
 import java.io.IOException;
 
 /**
- * 步进电机驱动的门实现
+ * 物理门
  */
-@Profile("test")
-@Component
-public class MotorDrivenDoor implements Door {
+
+public class PhysicalDoor implements Door {
 
     private final StepMotor doorMotor;
 
-    public MotorDrivenDoor(CommandBus commandBus) {
+    public PhysicalDoor(CommandBus commandBus) {
         this.doorMotor = new VirtualStepMotor(ModuleId.DoorM);
     }
 

src/main/java/com/iflytop/gd/infrastructure/devices/physical/PhysicalFan.java

@@ -0,0 +1,18 @@
+package com.iflytop.gd.infrastructure.devices.physical;
+
+import com.iflytop.gd.system.devices.Fan;
+
+/**
+ * 物理风扇
+ */
+public class PhysicalFan implements Fan {
+    @Override
+    public boolean open() {
+        return false;
+    }
+
+    @Override
+    public boolean close() {
+        return false;
+    }
+}

src/main/java/com/iflytop/gd/infrastructure/devices/physical/PhysicalHoldingJaw.java

@@ -0,0 +1,33 @@
+package com.iflytop.gd.infrastructure.devices.physical;
+
+import com.iflytop.gd.system.devices.HoldingJaw;
+
+/**
+ * 物理夹爪
+ */
+public class PhysicalHoldingJaw implements HoldingJaw {
+    @Override
+    public void open() {
+
+    }
+
+    @Override
+    public void close() {
+
+    }
+
+    @Override
+    public void pause() {
+
+    }
+
+    @Override
+    public void resume() {
+
+    }
+
+    @Override
+    public void setSpeed(int speed) {
+
+    }
+}

src/main/java/com/iflytop/gd/infrastructure/devices/MotorDrivenLiquidFillingArm.java → src/main/java/com/iflytop/gd/infrastructure/devices/physical/PhysicalLiquidFillingArm.java

@@ -1,4 +1,4 @@
-package com.iflytop.gd.infrastructure.devices;
+package com.iflytop.gd.infrastructure.devices.physical;
 
 
 import com.iflytop.gd.infrastructure.drivers.ModuleId;
@@ -13,17 +13,15 @@ import org.springframework.context.annotation.Profile;
 import org.springframework.stereotype.Component;
 
 /**
- * 液体加注机械臂
+ * 物理液体加注机械臂
  */
-@Profile("test")
-@Component
-public class MotorDrivenLiquidFillingArm implements LiquidFillingArm {
+public class PhysicalLiquidFillingArm implements LiquidFillingArm {
     private final StepMotor largeArmMotor;
     private final StepMotor smallArmMotor;
 
-    public MotorDrivenLiquidFillingArm(CommandBus commandBus) {
-        this.largeArmMotor = new StandardStepMotor(ModuleId.DualRobotAxis1M, commandBus);
-        this.smallArmMotor = new StandardStepMotor(ModuleId.DualRobotAxis2M, commandBus);
+    public PhysicalLiquidFillingArm(CommandBus commandBus) {
+        this.largeArmMotor = new PhysicalStepMotor(ModuleId.DualRobotAxis1M, commandBus);
+        this.smallArmMotor = new PhysicalStepMotor(ModuleId.DualRobotAxis2M, commandBus);
     }
 
     @Override

src/main/java/com/iflytop/gd/infrastructure/devices/physical/PhysicalPump.java

@@ -0,0 +1,9 @@
+package com.iflytop.gd.infrastructure.devices.physical;
+
+import com.iflytop.gd.system.devices.Pump;
+
+/**
+ * 物理泵
+ */
+public class PhysicalPump implements Pump {
+}

src/main/java/com/iflytop/gd/infrastructure/devices/physical/PhysicalRelay.java

@@ -0,0 +1,18 @@
+package com.iflytop.gd.infrastructure.devices.physical;
+
+import com.iflytop.gd.system.devices.Relay;
+
+/**
+ * 物理继电器
+ */
+public class PhysicalRelay implements Relay {
+    @Override
+    public boolean open() {
+        return false;
+    }
+
+    @Override
+    public boolean close() {
+        return false;
+    }
+}

src/main/java/com/iflytop/gd/infrastructure/devices/StandardServoMotor.java → src/main/java/com/iflytop/gd/infrastructure/devices/physical/PhysicalServoMotor.java

@@ -1,13 +1,13 @@
-package com.iflytop.gd.infrastructure.devices;
+package com.iflytop.gd.infrastructure.devices.physical;
 
 import com.iflytop.gd.infrastructure.drivers.RegIndex;
 import com.iflytop.gd.system.devices.ServoMotor;
 
 
 /**
- * 标准物理伺服电机
+ * 物理伺服电机
  */
-public class StandardServoMotor implements ServoMotor {
+public class PhysicalServoMotor implements ServoMotor {
     @Override
     public void enable() {
 

src/main/java/com/iflytop/gd/infrastructure/devices/StandardStepMotor.java → src/main/java/com/iflytop/gd/infrastructure/devices/physical/PhysicalStepMotor.java

@@ -1,4 +1,4 @@
-package com.iflytop.gd.infrastructure.devices;
+package com.iflytop.gd.infrastructure.devices.physical;
 
 import com.iflytop.gd.infrastructure.drivers.CmdId;
 import com.iflytop.gd.infrastructure.drivers.ModuleId;
@@ -16,14 +16,14 @@ import java.util.Map;
 import java.util.concurrent.TimeUnit;
 
 /**
- * 标准电机实现
+ * 物理步进电机实现
  */
-public class StandardStepMotor implements StepMotor {
+public class PhysicalStepMotor implements StepMotor {
     protected final ModuleId moduleId;
     protected final CommandBus commandBus;
     protected final Integer DEFAULT_COMMAND_EXEC_TIMEOUT_SECONDS = 10;
 
-    protected StandardStepMotor(ModuleId moduleId, CommandBus commandBus) {
+    public PhysicalStepMotor(ModuleId moduleId, CommandBus commandBus) {
         this.moduleId = moduleId;
         this.commandBus = commandBus;
     }

src/main/java/com/iflytop/gd/infrastructure/devices/physical/PhysicalSwitchSensor.java

@@ -0,0 +1,14 @@
+package com.iflytop.gd.infrastructure.devices.physical;
+
+import com.iflytop.gd.system.devices.SwitchSensor;
+
+/**
+ * 物理传感器
+ */
+
+public class PhysicalSwitchSensor implements SwitchSensor {
+    @Override
+    public boolean isOpen() {
+        return false;
+    }
+}

src/main/java/com/iflytop/gd/infrastructure/devices/MotorDrivenTransportationArm.java → src/main/java/com/iflytop/gd/infrastructure/devices/physical/PhysicalTransportationArm.java

@@ -1,4 +1,4 @@
-package com.iflytop.gd.infrastructure.devices;
+package com.iflytop.gd.infrastructure.devices.physical;
 
 import com.iflytop.gd.infrastructure.drivers.ModuleId;
 import com.iflytop.gd.system.constants.Dim;
@@ -7,25 +7,21 @@ import com.iflytop.gd.system.constants.SpeedUnit;
 import com.iflytop.gd.system.devices.StepMotor;
 import com.iflytop.gd.system.devices.TransportationArm;
 import com.iflytop.gd.system.drivers.CommandBus;
-import com.iflytop.gd.system.models.Point3D;
-import org.springframework.context.annotation.Profile;
-import org.springframework.stereotype.Component;
 
 /**
- * 电机驱动转移机械臂
+ * 物理转移机械臂
  */
-@Profile("test")
-@Component
-public class MotorDrivenTransportationArm implements TransportationArm {
+
+public class PhysicalTransportationArm implements TransportationArm {
 
     private final StepMotor xDimMotor;
     private final StepMotor yDimMotor;
     private final StepMotor zDimMotor;
 
-    public MotorDrivenTransportationArm(CommandBus commandBus) {
-        this.xDimMotor = new StandardStepMotor(ModuleId.HBotXM, commandBus);
-        this.yDimMotor = new StandardStepMotor(ModuleId.HBotYM, commandBus);
-        this.zDimMotor = new StandardStepMotor(ModuleId.HBotZM, commandBus);
+    public PhysicalTransportationArm(CommandBus commandBus) {
+        this.xDimMotor = new PhysicalStepMotor(ModuleId.HBotXM, commandBus);
+        this.yDimMotor = new PhysicalStepMotor(ModuleId.HBotYM, commandBus);
+        this.zDimMotor = new PhysicalStepMotor(ModuleId.HBotZM, commandBus);
     }
 
     @Override

src/main/java/com/iflytop/gd/infrastructure/devices/virtual/VirtualColdTray.java

@@ -0,0 +1,43 @@
+package com.iflytop.gd.infrastructure.devices.virtual;
+
+import com.iflytop.gd.system.devices.ColdTray;
+
+/**
+ * 虚拟冷阱
+ */
+public class VirtualColdTray implements ColdTray {
+    @Override
+    public boolean setTemperature(Double temperature) {
+        return false;
+    }
+
+    @Override
+    public boolean openRecycle() {
+        return false;
+    }
+
+    @Override
+    public boolean closeRecycle() {
+        return false;
+    }
+
+    @Override
+    public boolean openHeating() {
+        return false;
+    }
+
+    @Override
+    public boolean closeHeating() {
+        return false;
+    }
+
+    @Override
+    public boolean openRefrigeration() {
+        return false;
+    }
+
+    @Override
+    public boolean closeRefrigeration() {
+        return false;
+    }
+}

src/main/java/com/iflytop/gd/infrastructure/devices/VirtualDoor.java → src/main/java/com/iflytop/gd/infrastructure/devices/virtual/VirtualDoor.java

@@ -1,11 +1,11 @@
-package com.iflytop.gd.infrastructure.devices;
+package com.iflytop.gd.infrastructure.devices.virtual;
 
 import com.iflytop.gd.system.devices.Door;
-import org.springframework.context.annotation.Profile;
-import org.springframework.stereotype.Component;
 
-@Component
-@Profile("dev")
+/**
+ * 虚拟门
+ */
+
 public class VirtualDoor implements Door {
     private boolean isOpen = false;
     @Override

src/main/java/com/iflytop/gd/infrastructure/devices/virtual/VirtualFan.java

@@ -0,0 +1,18 @@
+package com.iflytop.gd.infrastructure.devices.virtual;
+
+import com.iflytop.gd.system.devices.Fan;
+
+/**
+ * 虚拟风扇
+ */
+public class VirtualFan implements Fan {
+    @Override
+    public boolean open() {
+        return false;
+    }
+
+    @Override
+    public boolean close() {
+        return false;
+    }
+}

src/main/java/com/iflytop/gd/infrastructure/devices/VirtualHeater.java → src/main/java/com/iflytop/gd/infrastructure/devices/virtual/VirtualHeater.java

@@ -1,4 +1,4 @@
-package com.iflytop.gd.infrastructure.devices;
+package com.iflytop.gd.infrastructure.devices.virtual;
 
 import com.iflytop.gd.system.devices.Heater;
 import com.iflytop.gd.system.models.HeaterStatus;

src/main/java/com/iflytop/gd/infrastructure/devices/virtual/VirtualHoldingJaw.java

@@ -0,0 +1,33 @@
+package com.iflytop.gd.infrastructure.devices.virtual;
+
+import com.iflytop.gd.system.devices.HoldingJaw;
+
+/**
+ * 虚拟夹爪
+ */
+public class VirtualHoldingJaw implements HoldingJaw {
+    @Override
+    public void open() {
+
+    }
+
+    @Override
+    public void close() {
+
+    }
+
+    @Override
+    public void pause() {
+
+    }
+
+    @Override
+    public void resume() {
+
+    }
+
+    @Override
+    public void setSpeed(int speed) {
+
+    }
+}

src/main/java/com/iflytop/gd/infrastructure/devices/VirtualLiquidFillingArm.java → src/main/java/com/iflytop/gd/infrastructure/devices/virtual/VirtualLiquidFillingArm.java

@@ -1,18 +1,16 @@
-package com.iflytop.gd.infrastructure.devices;
+package com.iflytop.gd.infrastructure.devices.virtual;
 
 import com.iflytop.gd.system.constants.LiquidFillArmMotorIndex;
 import com.iflytop.gd.system.constants.RotationDirection;
 import com.iflytop.gd.system.constants.SpeedUnit;
 import com.iflytop.gd.system.devices.LiquidFillingArm;
 import com.iflytop.gd.system.models.Point3D;
-import org.springframework.context.annotation.Profile;
-import org.springframework.stereotype.Component;
+
 
 /**
  * 虚拟加液机械臂
  */
-@Profile("dev")
-@Component
+
 public class VirtualLiquidFillingArm implements LiquidFillingArm {
     @Override
     public void moveTo(Point3D point) {

src/main/java/com/iflytop/gd/infrastructure/devices/virtual/VirtualPump.java

@@ -0,0 +1,9 @@
+package com.iflytop.gd.infrastructure.devices.virtual;
+
+import com.iflytop.gd.system.devices.Pump;
+
+/**
+ * 虚拟泵
+ */
+public class VirtualPump implements Pump {
+}

src/main/java/com/iflytop/gd/infrastructure/devices/virtual/VirtualRelay.java

@@ -0,0 +1,15 @@
+package com.iflytop.gd.infrastructure.devices.virtual;
+
+import com.iflytop.gd.system.devices.Relay;
+
+public class VirtualRelay implements Relay {
+    @Override
+    public boolean open() {
+        return false;
+    }
+
+    @Override
+    public boolean close() {
+        return false;
+    }
+}

src/main/java/com/iflytop/gd/infrastructure/devices/VirtualServoMotor.java → src/main/java/com/iflytop/gd/infrastructure/devices/virtual/VirtualServoMotor.java

@@ -1,4 +1,4 @@
-package com.iflytop.gd.infrastructure.devices;
+package com.iflytop.gd.infrastructure.devices.virtual;
 
 import com.iflytop.gd.infrastructure.drivers.RegIndex;
 import com.iflytop.gd.system.devices.ServoMotor;
@@ -13,8 +13,6 @@ import java.util.Map;
 /**
  * 虚拟伺服电机
  */
-@Component
-@Profile("dev")
 public class VirtualServoMotor implements ServoMotor {
     private final ServoMotorStatus servoMotorStatus = new ServoMotorStatus();
     private final Map<RegIndex, Integer> registers = new HashMap<RegIndex, Integer>();

src/main/java/com/iflytop/gd/infrastructure/devices/VirtualStepMotor.java → src/main/java/com/iflytop/gd/infrastructure/devices/virtual/VirtualStepMotor.java

@@ -1,4 +1,4 @@
-package com.iflytop.gd.infrastructure.devices;
+package com.iflytop.gd.infrastructure.devices.virtual;
 
 import cn.hutool.json.JSONUtil;
 import com.iflytop.gd.infrastructure.drivers.ModuleId;

src/main/java/com/iflytop/gd/infrastructure/devices/virtual/VirtualSwitchSensor.java

@@ -0,0 +1,13 @@
+package com.iflytop.gd.infrastructure.devices.virtual;
+
+import com.iflytop.gd.system.devices.SwitchSensor;
+
+/**
+ * 虚拟传感器
+ */
+public class VirtualSwitchSensor implements SwitchSensor {
+    @Override
+    public boolean isOpen() {
+        return false;
+    }
+}

src/main/java/com/iflytop/gd/infrastructure/devices/VirtualTransportationArm.java → src/main/java/com/iflytop/gd/infrastructure/devices/virtual/VirtualTransportationArm.java

@@ -1,4 +1,4 @@
-package com.iflytop.gd.infrastructure.devices;
+package com.iflytop.gd.infrastructure.devices.virtual;
 
 import com.iflytop.gd.common.exception.AppException;
 import com.iflytop.gd.common.result.ResultCode;
@@ -10,7 +10,6 @@ import com.iflytop.gd.system.devices.StepMotor;
 import com.iflytop.gd.system.devices.TransportationArm;
 import com.iflytop.gd.system.exceptions.CommandExecTimeoutException;
 import com.iflytop.gd.system.exceptions.HardwareErrorException;
-import com.iflytop.gd.system.models.Point3D;
 import org.springframework.context.annotation.Profile;
 import org.springframework.stereotype.Component;
 
@@ -21,8 +20,6 @@ import java.util.Map;
 /**
  * 虚拟转移机械臂
  */
-@Component
-@Profile("dev")
 public class VirtualTransportationArm implements TransportationArm {
     private final StepMotor xDimMotor;
     private final StepMotor yDimMotor;

src/main/java/com/iflytop/gd/infrastructure/repository/DeviceFactory.java

@@ -0,0 +1,27 @@
+package com.iflytop.gd.infrastructure.repository;
+
+import com.iflytop.gd.infrastructure.devices.physical.PhysicalStepMotor;
+import com.iflytop.gd.infrastructure.devices.virtual.VirtualStepMotor;
+import com.iflytop.gd.infrastructure.drivers.ModuleId;
+import com.iflytop.gd.system.devices.StepMotor;
+import com.iflytop.gd.system.drivers.CommandBus;
+import com.iflytop.gd.system.constants.SystemMode;
+import lombok.RequiredArgsConstructor;
+import org.springframework.stereotype.Component;
+
+@RequiredArgsConstructor
+@Component
+public class DeviceFactory {
+    private final CommandBus commandBus;
+    public StepMotor createStepMotor(SystemMode systemMode, ModuleId moduleId) {
+        if (SystemMode.VIRTUAL.equals(systemMode)) {
+            return new VirtualStepMotor(moduleId);
+        }
+
+        if (SystemMode.PHYSICAL.equals(systemMode)) {
+            return new PhysicalStepMotor(moduleId, commandBus);
+        }
+
+        throw new IllegalArgumentException("Unsupported system mode: " + systemMode);
+    }
+}

src/main/java/com/iflytop/gd/system/constants/SystemMode.java

@@ -0,0 +1,8 @@
+package com.iflytop.gd.system.constants;
+
+/**
+ * 系统运行模式
+ */
+public enum SystemMode {
+    VIRTUAL, PHYSICAL
+}

src/main/java/com/iflytop/gd/system/devices/Sensor.java

@@ -1,4 +0,0 @@
-package com.iflytop.gd.system.devices;
-
-public interface Sensor {
-}

src/main/java/com/iflytop/gd/system/devices/SwitchSensor.java

@@ -0,0 +1,5 @@
+package com.iflytop.gd.system.devices;
+
+public interface SwitchSensor {
+    boolean isOpen();
+}