feat:增加获取自检状态接口，设备自检业务指令

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

@@ -19,10 +19,10 @@ import org.springframework.web.bind.annotation.RestController;
 public class SelfTestController {
     private final SelfTestService selfTestService;
 
-    @Operation(summary = "开始自检")
+    @Operation(summary = "获取自检状态")
     @GetMapping("/")
-    public Result<SelfTestVO> startTest() {
-        return Result.success(selfTestService.startTest());
+    public Result<SelfTestVO> getSelfTestStatus() {
+        return Result.success(selfTestService.getSelfTestStatus());
     }
 
 }

src/main/java/com/qyft/ms/app/front/cmd/business/MotorXTZOrigin.java

@@ -1,5 +1,7 @@
 package com.qyft.ms.app.front.cmd.business;
 
+import com.qyft.ms.app.device.status.DeviceStatus;
+import com.qyft.ms.app.service.SelfTestService;
 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;
@@ -14,14 +16,16 @@ import org.springframework.stereotype.Component;
 import java.util.concurrent.CompletableFuture;
 
 /**
- * xyz轴回原点方法
+ * 设备自检指令
  */
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandMapping("motor_xyz_origin")
+@CommandMapping("device_self_test")
 public class MotorXTZOrigin extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
+    private final SelfTestService selfTestService;
+    private final DeviceStatus deviceStatus;
 
     @Override
     public CompletableFuture<Void> handle(FrontCmdControlForm form) {
@@ -35,6 +39,12 @@ public class MotorXTZOrigin extends BaseCommandHandler {
             DeviceCommand motorZOriginCommand = DeviceCommandGenerator.motorZOrigin();//z轴回原点
             CommandFuture motorZOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZOriginCommand);
             commandWait(motorXOriginCommandFuture, motorYOriginCommandFuture, motorZOriginCommandFuture);
+
+            selfTestService.getSelfTestStatus().setXAxisAtOrigin(true);
+            selfTestService.getSelfTestStatus().setYAxisAtOrigin(true);
+            selfTestService.getSelfTestStatus().setZAxisAtOrigin(true);
+
+            deviceStatus.setSelfTestCompleted(true);
         });
     }
 }

src/main/java/com/qyft/ms/app/model/vo/SelfTestVO.java

@@ -13,77 +13,77 @@ public class SelfTestVO {
      * X 轴是否正常
      */
     @Schema(description = "X 轴是否正常")
-    private boolean xAxisNormal;
+    private boolean xAxisNormal = false;
 
     /**
      * Y 轴是否正常
      */
     @Schema(description = "Y 轴是否正常")
-    private boolean yAxisNormal;
+    private boolean yAxisNormal = false;
 
     /**
      * Z 轴是否正常
      */
     @Schema(description = "Z 轴是否正常")
-    private boolean zAxisNormal;
+    private boolean zAxisNormal = false;
 
     /**
      * 注射泵是否正常
      */
     @Schema(description = "注射泵是否正常")
-    private boolean syringePumpNormal;
+    private boolean syringePumpNormal = false;
 
     /**
      * 三通阀是否正常
      */
     @Schema(description = "三通阀是否正常")
-    private boolean threeWayValveNormal;
+    private boolean threeWayValveNormal = false;
 
     /**
      * 清洗阀是否正常
      */
     @Schema(description = "清洗阀是否正常")
-    private boolean washValveNormal;
+    private boolean washValveNormal = false;
 
     /**
      * 喷嘴阀是否正常
      */
     @Schema(description = "喷嘴阀是否正常")
-    private boolean nozzleValveNormal;
+    private boolean nozzleValveNormal = false;
 
     /**
      * 除湿阀是否正常
      */
     @Schema(description = "除湿阀是否正常")
-    private boolean dehumidifierValveNormal;
+    private boolean dehumidifierValveNormal = false;
 
     /**
      * 照明灯是否正常
      */
     @Schema(description = "照明灯是否正常")
-    private boolean lightingPanelNormal;
+    private boolean lightingPanelNormal = false;
 
     /**
      * 电压控制器是否正常
      */
     @Schema(description = "电压控制器是否正常")
-    private boolean highVoltageNormal;
+    private boolean highVoltageNormal = false;
 
     /**
      * X 轴是否在原点
      */
     @Schema(description = "X 轴是否在原点")
-    private boolean xAxisAtOrigin;
+    private boolean xAxisAtOrigin = false;
 
     /**
      * Y 轴是否在原点
      */
     @Schema(description = "Y 轴是否在原点")
-    private boolean yAxisAtOrigin;
+    private boolean yAxisAtOrigin = false;
 
     /**
      * Z 轴是否在原点
      */
     @Schema(description = "Z 轴是否在原点")
-    private boolean zAxisAtOrigin;
+    private boolean zAxisAtOrigin = false;
 }

src/main/java/com/qyft/ms/app/service/SelfTestService.java

@@ -1,6 +1,5 @@
 package com.qyft.ms.app.service;
 
-import com.qyft.ms.app.device.status.DeviceStatus;
 import com.qyft.ms.app.model.vo.SelfTestVO;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -10,14 +9,13 @@ import org.springframework.stereotype.Service;
 @Service
 @RequiredArgsConstructor
 public class SelfTestService {
-    private final DeviceStatus deviceStatus;
+
+    public final SelfTestVO selfTestVO = new SelfTestVO();
 
     /**
-     * 开始自检
+     * 获取自检状态
      */
-    public SelfTestVO startTest() {
-        SelfTestVO selfTestBO = new SelfTestVO();
-        deviceStatus.setSelfTestCompleted(true);
-        return selfTestBO;
+    public SelfTestVO getSelfTestStatus() {
+        return selfTestVO;
     }
 }

src/main/resources/application.yml

@@ -38,9 +38,9 @@ jwt:
 tcp:
   enable: true    # 是否开启 TCP 连接
   server-enable: true    # 是否开启 TCP 连接
-  host: 127.0.0.1
-  #  host: 192.168.1.168
+#  host: 127.0.0.1
   #  host: 192.168.1.168
+  host: 192.168.1.168
   port: 9080
   reconnect: 5000  # 断线重连间隔（单位：毫秒）
   timeout: 10000   # 连接超时时间（单位：毫秒）