feat:启动虚拟模式的时候自检完毕

src/main/java/com/qyft/ms/app/controller/TestController.java

@@ -1,6 +1,7 @@
 package com.qyft.ms.app.controller;
 
 import com.qyft.ms.app.device.status.DeviceStatus;
+import com.qyft.ms.app.model.vo.SelfTestVO;
 import com.qyft.ms.system.common.result.Result;
 import io.swagger.v3.oas.annotations.Operation;
 import io.swagger.v3.oas.annotations.tags.Tag;
@@ -27,4 +28,12 @@ public class TestController {
         deviceStatus.setVirtual(true);
         return Result.success();
     }
+
+    @Operation(summary = "启动虚拟模式并且自检完毕")
+    @PostMapping("/finish")
+    public Result<SelfTestVO> selfTestFinish() {
+        deviceStatus.setVirtual(true);
+        deviceStatus.setSelfTestCompleted(true);
+        return Result.success();
+    }
 }

src/main/java/com/qyft/ms/app/front/cmd/test/TestCoherence.java

@@ -0,0 +1,40 @@
+package com.qyft.ms.app.front.cmd.test;
+
+import com.qyft.ms.system.common.annotation.CommandMapping;
+import com.qyft.ms.system.common.device.command.CommandFuture;
+import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
+import com.qyft.ms.system.core.handler.BaseCommandHandler;
+import com.qyft.ms.system.model.bo.DeviceCommand;
+import com.qyft.ms.system.model.form.FrontCmdControlForm;
+import com.qyft.ms.system.service.device.DeviceCommandService;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 指令连贯性测试
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("test_coherence")
+public class TestCoherence extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public CompletableFuture<Void> handle(FrontCmdControlForm form) {
+        return runAsync(() -> {
+            for (int i = 0; i < 10; i++) {
+                DeviceCommand washValveOpenToCommand = DeviceCommandGenerator.motorXPositionSet(20.0);
+                CommandFuture washValveOpenToCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), washValveOpenToCommand);
+                commandWait(washValveOpenToCommandFuture);
+                DeviceCommand washValveOpenBackCommand = DeviceCommandGenerator.motorXPositionSet(0.0);
+                CommandFuture washValveOpenBackCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), washValveOpenBackCommand);
+                commandWait(washValveOpenBackCommandFuture);
+            }
+
+        });
+    }
+}