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43 lines
1.5 KiB
43 lines
1.5 KiB
package com.iflytop.gd.app.cmd;
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import com.iflytop.gd.app.core.BaseCommandHandler;
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import com.iflytop.gd.app.model.dto.CmdDTO;
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import com.iflytop.gd.app.service.DeviceCommandUtilService;
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import com.iflytop.gd.app.service.SelfTestService;
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import com.iflytop.gd.common.annotation.CommandMapping;
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import com.iflytop.gd.common.enums.cmd.CmdAxis;
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import lombok.RequiredArgsConstructor;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.stereotype.Component;
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import java.util.concurrent.CompletableFuture;
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/**
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* 指定加液机械臂回原点
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*/
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@Slf4j
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@Component
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@RequiredArgsConstructor
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@CommandMapping("dual_robot_joint_origin")//业务指令注解
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public class DualRobotJointOriginCommand extends BaseCommandHandler {
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private final DeviceCommandUtilService deviceCommandUtilService;
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private final SelfTestService selfTestService;
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@Override
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public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
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Boolean joint1 = cmdDTO.getBooleanParam("joint1");
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Boolean joint2 = cmdDTO.getBooleanParam("joint1");
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return runAsync(() -> {
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if(joint1){
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deviceCommandUtilService.dualRobotOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand(), CmdAxis.joint1);
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selfTestService.getSelfTestState().setDualRobotJoint1Origin(true);
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}
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if(joint2){
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deviceCommandUtilService.dualRobotOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand(), CmdAxis.joint2);
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selfTestService.getSelfTestState().setDualRobotJoint2Origin(true);
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}
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});
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}
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}
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