feat:新增xyz回原点指令

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

@@ -0,0 +1,40 @@
+package com.qyft.ms.app.front.cmd.business;
+
+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;
+
+/**
+ * xyz轴回原点方法
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("motor_xyz_origin")
+public class MotorXTZOrigin extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public CompletableFuture<Void> handle(FrontCmdControlForm form) {
+        return runAsync(() -> {
+            DeviceCommand motorXOriginCommand = DeviceCommandGenerator.motorXOrigin(); // x轴回原点
+            CommandFuture motorXOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXOriginCommand);
+
+            DeviceCommand motorYOriginCommand = DeviceCommandGenerator.motorYOrigin();//y轴回原点
+            CommandFuture motorYOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYOriginCommand);
+
+            DeviceCommand motorZOriginCommand = DeviceCommandGenerator.motorZOrigin();//z轴回原点
+            CommandFuture motorZOriginCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZOriginCommand);
+            commandWait(motorXOriginCommandFuture, motorYOriginCommandFuture, motorZOriginCommandFuture);
+        });
+    }
+}

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

@@ -17,7 +17,6 @@ public class SelfTestService {
      */
     public SelfTestVO startTest() {
         SelfTestVO selfTestBO = new SelfTestVO();
-
         deviceStatus.setSelfTestCompleted(true);
         return selfTestBO;
     }