fix:增加使能 失能

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

@@ -0,0 +1,36 @@
+package com.iflytop.sgs.app.cmd.debug;
+
+import com.iflytop.sgs.app.core.BaseCommandHandler;
+import com.iflytop.sgs.app.model.dto.CmdDTO;
+import com.iflytop.sgs.app.service.device.DeviceCommandService;
+import com.iflytop.sgs.common.annotation.CommandDebugMapping;
+import com.iflytop.sgs.common.cmd.CommandFuture;
+import com.iflytop.sgs.common.cmd.DeviceCommandBundle;
+import com.iflytop.sgs.common.cmd.DeviceCommandGenerator;
+import com.iflytop.sgs.common.utils.CommandUtil;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * z轴电机失能
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandDebugMapping("z_disable")
+public class DebugMotorZDisableCommand extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        return runAsync(() -> {
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferZDisable();
+            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+            CommandUtil.wait(deviceCommandFuture);
+        });
+    }
+}
+

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

@@ -0,0 +1,36 @@
+package com.iflytop.sgs.app.cmd.debug;
+
+import com.iflytop.sgs.app.core.BaseCommandHandler;
+import com.iflytop.sgs.app.model.dto.CmdDTO;
+import com.iflytop.sgs.app.service.device.DeviceCommandService;
+import com.iflytop.sgs.common.annotation.CommandDebugMapping;
+import com.iflytop.sgs.common.cmd.CommandFuture;
+import com.iflytop.sgs.common.cmd.DeviceCommandBundle;
+import com.iflytop.sgs.common.cmd.DeviceCommandGenerator;
+import com.iflytop.sgs.common.utils.CommandUtil;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * z轴电机使能
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandDebugMapping("z_enable")
+public class DebugMotorZEnableCommand extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        return runAsync(() -> {
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferZEnable();
+            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+            CommandUtil.wait(deviceCommandFuture);
+        });
+    }
+}
+