From 430f31458c3d8e68f491c18e1e9ecba6cd95f05b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E7=8E=8B=E6=A2=A6=E8=BF=9C?= <1063331231@qq.com>
Date: Wed, 28 May 2025 19:53:36 +0800
Subject: [PATCH] =?UTF-8?q?fix:=E5=AE=9A=E6=97=B6=E5=99=A8=E8=8E=B7?=
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---
 .../app/cmd/selftest/TransferOriginCommand.java    | 35 ++++++++++++++++++++++
 .../app/service/device/DeviceSensorService.java    |  7 +++--
 2 files changed, 39 insertions(+), 3 deletions(-)
 create mode 100644 src/main/java/com/iflytop/sgs/app/cmd/selftest/TransferOriginCommand.java

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<Void> 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));