graphite-digester-service/src/main/java/com/iflytop/gd/app/cmd/CapLiftingOriginCommand.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.DeviceStateService;
import com.iflytop.gd.app.service.SelfTestService;
import com.iflytop.gd.common.annotation.CommandMapping;
import com.iflytop.gd.hardware.drivers.DODriver.OutputIOCtrlDriver;
import com.iflytop.gd.hardware.service.IOService;
import com.iflytop.gd.hardware.type.IO.OutputIOMId;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;

import java.util.concurrent.CompletableFuture;

/**
 * 拍子升降回原点
 */
@Slf4j
@Component
@RequiredArgsConstructor
@CommandMapping("cap_lifting_origin")//业务指令注解
public class CapLiftingOriginCommand extends BaseCommandHandler {
    private final DeviceCommandUtilService deviceCommandUtilService;
    private final SelfTestService selfTestService;
    private final OutputIOCtrlDriver outputIOCtrlDriver;

    @Override
    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
        return runAsync(() -> {
            outputIOCtrlDriver.open(OutputIOMId.DO_TRAY_MOTOR_CLAMP);
            //拍子升降回原点
            deviceCommandUtilService.trayMotorOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
            outputIOCtrlDriver.close(OutputIOMId.DO_TRAY_MOTOR_CLAMP);
            //将拍子升降是否在原点状态设置为true
            selfTestService.getSelfTestState().setCapLiftingOrigin(true);

        });
    }
}