增加自检指令

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

@@ -0,0 +1,70 @@
+package com.qyft.ms.app.front.cmd.test;
+
+import com.qyft.ms.app.core.SelfMoveTestGenerator;
+import com.qyft.ms.app.device.status.DeviceStatus;
+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.WebSocketService;
+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;
+
+/**
+ * 自检移动测试
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("move_test")//业务指令注解
+public class MoveTestCommand extends BaseCommandHandler {
+    private final WebSocketService webSocketService;
+    private final DeviceCommandService deviceCommandService;
+    private final DeviceStatus deviceStatus;
+
+    @Override
+    public CompletableFuture<Void> handle(FrontCmdControlForm form) {
+        return runAsync(() -> {
+            try {
+                //deviceSensorService.collectSensorState();//收集传感器转态
+                webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(form.getCmdId(), form.getCmdCode(), "1、各项传感器正常", 25, "success"));
+                DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(200.0); //移动到200mm处
+                CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXPositionSetCommand);
+                commandWait(motorXPositionSetCommandFuture);
+
+                DeviceCommand motorXOriginCommand = DeviceCommandGenerator.motorXOrigin();//x轴回原点
+                CommandFuture motorXOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXOriginCommand);
+                commandWait(motorXOriginCommandFuture);
+                webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(form.getCmdId(), form.getCmdCode(), "2、x轴电机检测完毕", 50, "success"));
+
+
+                DeviceCommand motorYPositionSetCommand = DeviceCommandGenerator.motorYPositionSet(100.0);//y轴移动100mm
+                CommandFuture motorYPositionSetCommandFuture =  deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYPositionSetCommand);
+                commandWait(motorYPositionSetCommandFuture);
+
+                DeviceCommand motorYOriginCommand = DeviceCommandGenerator.motorYOrigin();//y轴回原点
+                CommandFuture motorYOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYOriginCommand);
+                commandWait(motorYOriginCommandFuture);
+                webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(form.getCmdId(), form.getCmdCode(), "3、y轴电机检测完毕", 75, "success"));
+
+                DeviceCommand motorZPositionCommand = DeviceCommandGenerator.motorZPositionSet(50.0);//z轴50mm处
+                CommandFuture motorZPositionCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZPositionCommand);
+                commandWait(motorZPositionCommandFuture);
+
+                DeviceCommand motorZOriginCommand = DeviceCommandGenerator.motorZOrigin();//z轴回原点
+                CommandFuture motorZOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZOriginCommand);
+                commandWait(motorZOriginCommandFuture);
+                webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(form.getCmdId(), form.getCmdCode(), "4、z轴电机检测完毕", 100, "success"));
+            } finally {
+               // deviceStatus.setSelfTestCompleted(true);
+            }
+        });
+    }
+}
+