From f7062870769629688bcd5ac34f32fb257715f1f0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= Date: Thu, 20 Mar 2025 16:25:05 +0800 Subject: [PATCH] =?UTF-8?q?feat:=E6=96=B0=E5=A2=9Exyz=E5=9B=9E=E5=8E=9F?= =?UTF-8?q?=E7=82=B9=E6=8C=87=E4=BB=A4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../ms/app/front/cmd/business/MotorXTZOrigin.java | 40 ++++++++++++++++++++++ .../com/qyft/ms/app/service/SelfTestService.java | 1 - 2 files changed, 40 insertions(+), 1 deletion(-) create mode 100644 src/main/java/com/qyft/ms/app/front/cmd/business/MotorXTZOrigin.java diff --git a/src/main/java/com/qyft/ms/app/front/cmd/business/MotorXTZOrigin.java b/src/main/java/com/qyft/ms/app/front/cmd/business/MotorXTZOrigin.java new file mode 100644 index 0000000..c847d9c --- /dev/null +++ b/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 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); + }); + } +} diff --git a/src/main/java/com/qyft/ms/app/service/SelfTestService.java b/src/main/java/com/qyft/ms/app/service/SelfTestService.java index a2efd9d..54ed786 100644 --- a/src/main/java/com/qyft/ms/app/service/SelfTestService.java +++ b/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; }