fix:moveto增加speed

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidMotorMoveToCommand.java

@@ -29,9 +29,11 @@ public class DebugLiquidMotorMoveToCommand extends BaseCommandHandler {
         Double position = cmdDTO.getDoubleParam("position");
         Double speed = cmdDTO.getDoubleParam("speed");
         return runAsync(() -> {
-            DeviceCommandBundle liquidMotorSetDeviceCommandBundle = DeviceCommandGenerator.liquidMotorSet(speed);
-            CommandFuture liquidMotorSetDeviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidMotorSetDeviceCommandBundle);
-            CommandUtil.wait(liquidMotorSetDeviceCommandFuture);
+            if(speed != null){
+                DeviceCommandBundle liquidMotorSetDeviceCommandBundle = DeviceCommandGenerator.liquidMotorSet(speed);
+                CommandFuture liquidMotorSetDeviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidMotorSetDeviceCommandBundle);
+                CommandUtil.wait(liquidMotorSetDeviceCommandFuture);
+            }
 
             DeviceCommandBundle liquidMotorMoveDeviceCommandBundle = DeviceCommandGenerator.solutionMotorMove(position);
             CommandFuture liquidMotorMoveDeviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidMotorMoveDeviceCommandBundle);

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXMoveToCommand.java

@@ -30,8 +30,14 @@ public class DebugMotorXMoveToCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         Double position = cmdDTO.getDoubleParam("position");
+        Double speed = cmdDTO.getDoubleParam("speed");
         Assert.notNull(position, ()->new AppException(ResultCode.INVALID_PARAMETER));
         return runAsync(() -> {
+            if (speed != null) {
+                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferXSet(speed);
+                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+                CommandUtil.wait(deviceCommandFuture);
+            }
             DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferXMove(position);
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
             CommandUtil.wait(deviceCommandFuture);

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZMoveToCommand.java

@@ -31,8 +31,14 @@ public class DebugMotorZMoveToCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
         Double position = cmdDTO.getDoubleParam("position");
+        Double speed = cmdDTO.getDoubleParam("speed");
         Assert.notNull(position, ()->new AppException(ResultCode.INVALID_PARAMETER));
         return runAsync(() -> {
+            if (speed != null) {
+                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferZSet(speed);
+                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+                CommandUtil.wait(deviceCommandFuture);
+            }
             DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferZMove(position);
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
             CommandUtil.wait(deviceCommandFuture);