diff --git a/src/main/java/com/iflytop/sgs/app/cmd/selftest/TransferOriginCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/selftest/TransferOriginCommand.java new file mode 100644 index 0000000..627e787 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/selftest/TransferOriginCommand.java @@ -0,0 +1,35 @@ +package com.iflytop.sgs.app.cmd.selftest; + +import com.iflytop.sgs.app.core.BaseCommandHandler; +import com.iflytop.sgs.app.model.dto.CmdDTO; +import com.iflytop.sgs.app.service.device.SelfTestService; +import com.iflytop.sgs.app.service.device.module.TransferModuleService; +import com.iflytop.sgs.common.annotation.CommandMapping; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import java.util.concurrent.CompletableFuture; + +/** + * 转运机械臂回原点 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("transfer_origin")//业务指令注解 +public class TransferOriginCommand extends BaseCommandHandler { + private final TransferModuleService transferModuleService; + private final SelfTestService selfTestService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + transferModuleService.transferZMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand()); + selfTestService.getSelfTestState().setTransferZOrigin(true);//设置z是否在原点状态 + transferModuleService.transferXMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand()); + selfTestService.getSelfTestState().setTransferXOrigin(true);//设置x是否在原点状态 + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/service/device/DeviceSensorService.java b/src/main/java/com/iflytop/sgs/app/service/device/DeviceSensorService.java index e3306be..6924433 100644 --- a/src/main/java/com/iflytop/sgs/app/service/device/DeviceSensorService.java +++ b/src/main/java/com/iflytop/sgs/app/service/device/DeviceSensorService.java @@ -51,9 +51,10 @@ public class DeviceSensorService { - - @Scheduled(fixedRate = 1000) - public void deviceSensorSchedule() throws HardwareException { + /** + * 采集所有传感器状态 + * */ + public void collectSensorState() throws HardwareException { HeatModuleState heat_module_01 = deviceStateService.getDeviceState().getHeatModuleByCode(HeatModuleCode.heat_module_01); heat_module_01.setTrayStatus(this.getSensorStatus(DeviceSensorCode.HEATER_TRAY_1_EXIST));