fix:获取设备自检状态

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

@@ -1,6 +1,5 @@
 package com.qyft.ms.app.front.cmd.business;
 
-import cn.hutool.json.JSONObject;
 import com.qyft.ms.app.device.status.DeviceStatus;
 import com.qyft.ms.app.service.SelfTestService;
 import com.qyft.ms.system.common.annotation.CommandMapping;
@@ -14,11 +13,7 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
-import java.util.ArrayList;
-import java.util.List;
 import java.util.concurrent.CompletableFuture;
-import java.util.concurrent.ExecutionException;
-import java.util.concurrent.TimeUnit;
 
 /**
  * 设备自检指令
@@ -39,6 +34,22 @@ public class DeviceSelfTest extends BaseCommandHandler {
             CommandFuture overallDeviceStatusGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), overallDeviceStatusGetCommand);
             commandWait(overallDeviceStatusGetCommandFuture);
 
+            boolean xAxisAtOrigin = overallDeviceStatusGetCommandFuture.getResponseResult().getJSONObject("data").getBool("xAxisAtOrigin");
+            boolean yAxisAtOrigin = overallDeviceStatusGetCommandFuture.getResponseResult().getJSONObject("data").getBool("yAxisAtOrigin");
+            boolean zAxisAtOrigin = overallDeviceStatusGetCommandFuture.getResponseResult().getJSONObject("data").getBool("zAxisAtOrigin");
+
+            selfTestService.getSelfTestStatus().setXAxisAtOrigin(xAxisAtOrigin);
+            selfTestService.getSelfTestStatus().setYAxisAtOrigin(yAxisAtOrigin);
+            selfTestService.getSelfTestStatus().setZAxisAtOrigin(zAxisAtOrigin);
+
+            if (xAxisAtOrigin && yAxisAtOrigin && zAxisAtOrigin) {
+                deviceStatus.setSelfTestCompleted(true);
+            }
+
+          /*  DeviceCommand overallDeviceStatusGetCommand = DeviceCommandGenerator.overallDeviceStatusGet();
+            CommandFuture overallDeviceStatusGetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), overallDeviceStatusGetCommand);
+            commandWait(overallDeviceStatusGetCommandFuture);
+
             CommandFuture motorXOriginCommandFuture = null;
             CommandFuture motorYOriginCommandFuture = null;
             CommandFuture motorZOriginCommandFuture = null;
@@ -90,7 +101,7 @@ public class DeviceSelfTest extends BaseCommandHandler {
                 deviceStatus.setSelfTestCompleted(true);
             } else {
                 throw new RuntimeException("自检未完成");
-            }
+            }*/
         });
     }
 }