feat:实现调试业务指令

# Conflicts:
#	src/main/java/com/iflytop/gd/debug/services/cmds/ColdTrapStartHeatingCommandHandler.java
#	src/main/java/com/iflytop/gd/debug/services/cmds/ColdTrapStartRecycleCommandHandler.java
#	src/main/java/com/iflytop/gd/debug/services/cmds/ColdTrapStartRefrigerationCommandHandler.java
#	src/main/java/com/iflytop/gd/debug/services/cmds/ColdTrapStopHeatingCommandHandler.java
#	src/main/java/com/iflytop/gd/debug/services/cmds/ColdTrapStopRecycleCommandHandler.java
#	src/main/java/com/iflytop/gd/debug/services/cmds/ColdTrapStopRefrigerationCommandHandler.java
#	src/main/java/com/iflytop/gd/debug/services/cmds/CoverElevatorLiftDownCommandHandler.java
#	src/main/java/com/iflytop/gd/debug/services/cmds/DoorCloseCommandHandler.java

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

@@ -50,6 +50,16 @@ public class Notification {
         return new Notification(cmdDTO.getCommandId(), cmdDTO.getCommand(), "info", title, "");
     }
 
+    public static Notification infoHandleStartNotification(CmdDTO cmdDTO) {
+        String title = String.format("开始执行{}指令", cmdDTO.getCommand());
+        return new Notification(cmdDTO.getCommandId(), cmdDTO.getCommand(), "info", title, "");
+    }
+
+    public static Notification infoHandleEndNotification(CmdDTO cmdDTO) {
+        String title = String.format("{}指令执行完成", cmdDTO.getCommand());
+        return new Notification(cmdDTO.getCommandId(), cmdDTO.getCommand(), "info", title, "");
+    }
+
 
     /**
      * 创建Warn级别通知

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

@@ -2,8 +2,10 @@ package com.iflytop.gd.debug.services.cmds;
 
 import com.iflytop.gd.app.core.BaseCommandHandler;
 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.common.notification.Notification;
 import com.iflytop.gd.system.devices.ColdTray;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;

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

@@ -2,17 +2,37 @@ package com.iflytop.gd.debug.services.cmds;
 
 import com.iflytop.gd.app.core.BaseCommandHandler;
 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.common.notification.Notification;
+import com.iflytop.gd.system.constants.VelocityUnit;
+import com.iflytop.gd.system.devices.StepMotor;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
 
 /**
  * 处理拍子电机下降指令
  */
+@Slf4j
+@Component
+@RequiredArgsConstructor
 @CommandMapping("debug_cover_elevator_lift_down")
-public class CoverElevatorLiftDownCommandHandler extends BaseCommandHandler {
-
+public class CoverElevatorLiftDownCommandHandler implements CommandHandler {
+    private final WebSocketService webSocketService;
+    private final StepMotor stepMotor;
     @Override
     public void handle(CmdDTO cmdDTO) {
-
+        webSocketService.pushNotification(Notification.infoHandleStartNotification(cmdDTO));
+        try {
+            Integer velocity = cmdDTO.getIntegerParam("velocity");
+            String velocityUnitStr = cmdDTO.getStringParam("velocityUnit");
+            VelocityUnit velocityUnit = VelocityUnit.toVelocityUnit(velocityUnitStr);
+            stepMotor.setDefaultVelocity(velocityUnit.toMM_PER_SEC(velocity));
+        } catch (Exception e) {
+            webSocketService.pushNotification(Notification.errorNotification(cmdDTO, e));
+        }
+        webSocketService.pushNotification(Notification.infoHandleEndNotification(cmdDTO));
     }
 }

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

@@ -4,11 +4,17 @@ import com.iflytop.gd.app.core.BaseCommandHandler;
 import com.iflytop.gd.app.model.dto.CmdDTO;
 import com.iflytop.gd.common.annotation.CommandMapping;
 import com.iflytop.gd.common.cmd.CommandHandler;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
 
 
 /**
  * 处理拍子电机抬升指令
  */
+@Slf4j
+@Component
+@RequiredArgsConstructor
 @CommandMapping("debug_cover_elevator_lift_up")
 public class CoverElevatorLiftUpCommandHandler extends BaseCommandHandler {
     @Override

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

@@ -12,32 +12,32 @@ public class PhysicalColdTray implements ColdTray {
     }
 
     @Override
-    public boolean openRecycle() {
+    public boolean startRecycle() {
         return false;
     }
 
     @Override
-    public boolean closeRecycle() {
+    public boolean stopRecycle() {
         return false;
     }
 
     @Override
-    public boolean openHeating() {
+    public boolean startHeating() {
         return false;
     }
 
     @Override
-    public boolean closeHeating() {
+    public boolean stopHeating() {
         return false;
     }
 
     @Override
-    public boolean openRefrigeration() {
+    public boolean startRefrigeration() {
         return false;
     }
 
     @Override
-    public boolean closeRefrigeration() {
+    public boolean stopRefrigeration() {
         return false;
     }
 }

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

@@ -4,13 +4,11 @@ package com.iflytop.gd.infrastructure.devices.physical;
 import com.iflytop.gd.infrastructure.drivers.ModuleId;
 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.constants.VelocityUnit;
 import com.iflytop.gd.system.devices.LiquidFillingArm;
 import com.iflytop.gd.system.devices.StepMotor;
 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;
 
 /**
  * 物理液体加注机械臂
@@ -35,7 +33,7 @@ public class PhysicalLiquidFillingArm implements LiquidFillingArm {
     }
 
     @Override
-    public void setRotationSpeed(Integer speed, SpeedUnit speedUnit) {
+    public void setRotationSpeed(Integer speed, VelocityUnit speedUnit) {
 
     }
 }

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

@@ -3,7 +3,7 @@ package com.iflytop.gd.infrastructure.devices.physical;
 import com.iflytop.gd.infrastructure.drivers.ModuleId;
 import com.iflytop.gd.system.constants.Dim;
 import com.iflytop.gd.system.constants.DistanceUnit;
-import com.iflytop.gd.system.constants.SpeedUnit;
+import com.iflytop.gd.system.constants.VelocityUnit;
 import com.iflytop.gd.system.devices.StepMotor;
 import com.iflytop.gd.system.devices.TransportationArm;
 import com.iflytop.gd.system.drivers.CommandBus;
@@ -41,7 +41,7 @@ public class PhysicalTransportationArm implements TransportationArm {
     }
 
     @Override
-    public void setSpeed(Dim dim, Integer speed, SpeedUnit unit) {
+    public void setSpeed(Dim dim, Integer speed, VelocityUnit unit) {
 
     }
 }

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

@@ -12,32 +12,32 @@ public class VirtualColdTray implements ColdTray {
     }
 
     @Override
-    public boolean openRecycle() {
+    public boolean startRecycle() {
         return false;
     }
 
     @Override
-    public boolean closeRecycle() {
+    public boolean stopRecycle() {
         return false;
     }
 
     @Override
-    public boolean openHeating() {
+    public boolean startHeating() {
         return false;
     }
 
     @Override
-    public boolean closeHeating() {
+    public boolean stopHeating() {
         return false;
     }
 
     @Override
-    public boolean openRefrigeration() {
+    public boolean startRefrigeration() {
         return false;
     }
 
     @Override
-    public boolean closeRefrigeration() {
+    public boolean stopRefrigeration() {
         return false;
     }
 }

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

@@ -2,7 +2,7 @@ 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.constants.VelocityUnit;
 import com.iflytop.gd.system.devices.LiquidFillingArm;
 import com.iflytop.gd.system.models.Point3D;
 
@@ -21,6 +21,6 @@ public class VirtualLiquidFillingArm implements LiquidFillingArm {
     }
 
     @Override
-    public void setRotationSpeed(Integer speed, SpeedUnit speedUnit) {
+    public void setRotationSpeed(Integer speed, VelocityUnit speedUnit) {
     }
 }

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

@@ -5,13 +5,11 @@ import com.iflytop.gd.common.result.ResultCode;
 import com.iflytop.gd.infrastructure.drivers.ModuleId;
 import com.iflytop.gd.system.constants.Dim;
 import com.iflytop.gd.system.constants.DistanceUnit;
-import com.iflytop.gd.system.constants.SpeedUnit;
+import com.iflytop.gd.system.constants.VelocityUnit;
 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 org.springframework.context.annotation.Profile;
-import org.springframework.stereotype.Component;
 
 import java.io.IOException;
 import java.util.HashMap;
@@ -75,7 +73,7 @@ public class VirtualTransportationArm implements TransportationArm {
     }
 
     @Override
-    public void setSpeed(Dim dim, Integer speed, SpeedUnit unit) {
+    public void setSpeed(Dim dim, Integer speed, VelocityUnit unit) {
         try {
             stepMotors.get(dim).setDefaultVelocity(unit.toMM_PER_SEC(speed));
         } catch (HardwareErrorException e) {

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

@@ -14,4 +14,17 @@ public enum DistanceUnit {
 
         return value;
     }
+
+
+    public static DistanceUnit toDistanceUnit(String unitString) {
+        if ("mm".equals(unitString)) {
+            return MM;
+        }
+
+        if ("cm".equals(unitString)) {
+            return CM;
+        }
+
+        throw new IllegalArgumentException("Unknown distance unit " + unitString);
+    }
 }

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

@@ -1,15 +0,0 @@
-package com.iflytop.gd.system.constants;
-
-/**
- * 移动速度单位
- */
-public enum SpeedUnit {
-    MM_PER_SEC, CM_PER_SEC;
-
-    public Integer toMM_PER_SEC(Integer value) {
-        if (this == SpeedUnit.CM_PER_SEC) {
-            return value * 10;
-        }
-        return value;
-    }
-}

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

@@ -0,0 +1,28 @@
+package com.iflytop.gd.system.constants;
+
+/**
+ * 移动速度单位
+ */
+public enum VelocityUnit {
+    MM_PER_SEC, CM_PER_SEC;
+
+    public Integer toMM_PER_SEC(Integer value) {
+        if (this == VelocityUnit.CM_PER_SEC) {
+            return value * 10;
+        }
+        return value;
+    }
+
+
+    public static VelocityUnit toVelocityUnit(String unitString) {
+        if ("mm/s".equals(unitString)) {
+            return VelocityUnit.MM_PER_SEC;
+        }
+
+        if ("cm/s".equals(unitString)) {
+            return VelocityUnit.CM_PER_SEC;
+        }
+
+        throw new IllegalArgumentException("Unrecognized SpeedUnit: " + unitString);
+    }
+}

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

@@ -16,39 +16,39 @@ public interface ColdTray {
      * 开启循环
      * @return
      */
-    boolean openRecycle();
+    boolean startRecycle();
 
 
     /**
      * 关闭循环
      * @return
      */
-    boolean closeRecycle();
+    boolean stopRecycle();
 
 
     /**
      * 开启加热
      * @return
      */
-    boolean openHeating();
+    boolean startHeating();
 
 
     /**
      * 关闭加热
      * @return
      */
-    boolean closeHeating();
+    boolean stopHeating();
 
     /**
      * 开启制冷
      * @return
      */
-    boolean openRefrigeration();
+    boolean startRefrigeration();
 
 
     /**
      * 关闭制冷
      * @return
      */
-    boolean closeRefrigeration();
+    boolean stopRefrigeration();
 }

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

@@ -2,7 +2,7 @@ package com.iflytop.gd.system.devices;
 
 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.constants.VelocityUnit;
 import com.iflytop.gd.system.models.Point3D;
 
 
@@ -34,5 +34,5 @@ public interface LiquidFillingArm {
      * @param speedUnit 速率单位
      * @return 是否设置成功
      */
-    void setRotationSpeed(Integer speed, SpeedUnit speedUnit);
+    void setRotationSpeed(Integer speed, VelocityUnit speedUnit);
 }

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

@@ -2,7 +2,7 @@ package com.iflytop.gd.system.devices;
 
 import com.iflytop.gd.system.constants.Dim;
 import com.iflytop.gd.system.constants.DistanceUnit;
-import com.iflytop.gd.system.constants.SpeedUnit;
+import com.iflytop.gd.system.constants.VelocityUnit;
 
 public interface TransportationArm {
 
@@ -36,5 +36,5 @@ public interface TransportationArm {
      * @param unit 速率单位
      * @return 是否设置完成
      */
-    void setSpeed(Dim dim, Integer speed, SpeedUnit unit);
+    void setSpeed(Dim dim, Integer speed, VelocityUnit unit);
 }