From 4247782d96a645d46f8d9de3a10b50afddac6e47 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=8E=8B=E6=A2=A6=E8=BF=9C?= <1063331231@qq.com> Date: Thu, 29 May 2025 11:31:02 +0800 Subject: [PATCH] =?UTF-8?q?fix:moveto=E5=A2=9E=E5=8A=A0speed?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../iflytop/sgs/app/cmd/debug/DebugLiquidMotorMoveToCommand.java | 8 +++++--- .../com/iflytop/sgs/app/cmd/debug/DebugMotorXMoveToCommand.java | 6 ++++++ .../com/iflytop/sgs/app/cmd/debug/DebugMotorZMoveToCommand.java | 6 ++++++ 3 files changed, 17 insertions(+), 3 deletions(-) diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidMotorMoveToCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidMotorMoveToCommand.java index 636d994..1df2fc7 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidMotorMoveToCommand.java +++ b/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); diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXMoveToCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXMoveToCommand.java index c26f3c0..78f60e6 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXMoveToCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXMoveToCommand.java @@ -30,8 +30,14 @@ public class DebugMotorXMoveToCommand extends BaseCommandHandler { @Override public CompletableFuture 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); diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZMoveToCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZMoveToCommand.java index bd46e77..c66d84c 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZMoveToCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZMoveToCommand.java @@ -31,8 +31,14 @@ public class DebugMotorZMoveToCommand extends BaseCommandHandler { @Override public CompletableFuture 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);