graphite-digester-service/src/main/java/com/iflytop/gd/app/cmd/GantryXOriginCommand.java

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.SelfTestService;
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;

/**
 * 龙门架机械臂指定轴回原点
 */
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("gantry_origin")//业务指令注解
public class GantryXOriginCommand extends BaseCommandHandler {
    private final DeviceCommandUtilService deviceCommandUtilService;
    private final SelfTestService selfTestService;

    @Override
    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
        return runAsync(() -> {
            Boolean x = cmdDTO.getBooleanParam("x");//x轴是否回原点
            Boolean y = cmdDTO.getBooleanParam("y");//y轴是否回原点
            Boolean z = cmdDTO.getBooleanParam("z");//z轴是否回原点
            if (x != null && x) {
                deviceCommandUtilService.gantryXMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
                selfTestService.getSelfTestState().setGantryXOrigin(true);//设置是否在原点状态
            }
            if (y != null && y) {
                deviceCommandUtilService.gantryYMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
                selfTestService.getSelfTestState().setGantryYOrigin(true);//设置是否在原点状态
            }

            if (z != null && z) {
                deviceCommandUtilService.gantryZMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
                selfTestService.getSelfTestState().setGantryZOrigin(true);//设置是否在原点状态
            }
        });
    }
}