From 48402d557f525d81d95cb97939b9d580cfd876ec 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 18:07:34 +0800
Subject: [PATCH] =?UTF-8?q?fix:=E5=A2=9E=E5=8A=A0=E4=BD=BF=E8=83=BD=20?=
 =?UTF-8?q?=E5=A4=B1=E8=83=BD?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../app/cmd/debug/DebugMotorZDisableCommand.java   | 36 ++++++++++++++++++++++
 .../app/cmd/debug/DebugMotorZEnableCommand.java    | 36 ++++++++++++++++++++++
 2 files changed, 72 insertions(+)
 create mode 100644 src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZDisableCommand.java
 create mode 100644 src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZEnableCommand.java

diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZDisableCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZDisableCommand.java
new file mode 100644
index 0000000..5aca7c2
--- /dev/null
+++ b/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);
+        });
+    }
+}
+
diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZEnableCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZEnableCommand.java
new file mode 100644
index 0000000..4265ee3
--- /dev/null
+++ b/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);
+        });
+    }
+}
+