修复bug

src/main/java/com/iflytop/sgs/hardware/command/handlers/CameraHandler.java

@@ -1,50 +0,0 @@
-package com.iflytop.sgs.hardware.command.handlers;
-
-import com.iflytop.sgs.common.cmd.DeviceCommand;
-import com.iflytop.sgs.common.enums.cmd.CmdAction;
-import com.iflytop.sgs.common.enums.cmd.CmdDevice;
-import com.iflytop.sgs.hardware.command.CommandHandler;
-import com.iflytop.sgs.hardware.drivers.CameraDriver;
-import com.iflytop.sgs.hardware.type.MId;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.Set;
-
-@Slf4j
-@Component
-@RequiredArgsConstructor
-public class CameraHandler extends CommandHandler {
-    private final CameraDriver cameraDriver_;
-
-    private final Map<CmdDevice, MId> supportCmdDeviceMIdMap = Map.ofEntries(
-            Map.entry(CmdDevice.photo, MId.NotSet)
-    );
-
-    private final Set<CmdAction> supportActions = Set.of(CmdAction.open, CmdAction.close);
-
-    @Override
-    protected Map<CmdDevice, MId> getSupportCmdDeviceMIdMap()
-    {
-        return supportCmdDeviceMIdMap;
-    }
-
-    @Override
-    protected Set<CmdAction> getSupportActions() {
-        return supportActions;
-    }
-
-    MId getMId(CmdDevice cmdDevice){
-        return supportCmdDeviceMIdMap.get(cmdDevice);
-    }
-
-    @Override
-    public void handleCommand(DeviceCommand command) throws Exception {
-        // 发送命令
-        if (command.getAction() == CmdAction.take_photo) {
-            cameraDriver_.takePhoto();
-        }
-    }
-}

src/main/java/com/iflytop/sgs/hardware/command/handlers/DualRobotHandler.java

@@ -1,90 +0,0 @@
-package com.iflytop.sgs.hardware.command.handlers;
-
-import com.iflytop.sgs.common.cmd.DeviceCommand;
-import com.iflytop.sgs.common.enums.cmd.CmdAction;
-import com.iflytop.sgs.common.enums.command.CmdAxis;
-import com.iflytop.sgs.common.enums.cmd.CmdDevice;
-import com.iflytop.sgs.hardware.command.CommandHandler;
-import com.iflytop.sgs.hardware.drivers.MiniServoDriver.DualRobotDriver;
-import com.iflytop.sgs.hardware.type.Servo.MiniServoMId;
-import com.iflytop.sgs.hardware.type.MId;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.Set;
-import java.util.stream.Collectors;
-
-
-@Slf4j
-@Component
-@RequiredArgsConstructor
-public class DualRobotHandler extends CommandHandler {
-    private final DualRobotDriver dualRobotDriver_;
-
-    private final Map<CmdDevice, MiniServoMId> servoMIdMap_ = Map.ofEntries(
-            Map.entry(CmdDevice.dual_robot, MiniServoMId.NotSet)
-    );
-    private final Map<CmdDevice, MId> supportCmdDeviceMIdMap = servoMIdMap_.entrySet().stream().
-            collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid));
-    private final Set<CmdAction> supportActions = Set.of(CmdAction.set, CmdAction.origin, CmdAction.move, CmdAction.stop, CmdAction.move_joint);
-
-    @Override
-    protected Map<CmdDevice, MId> getSupportCmdDeviceMIdMap()
-    {
-        return supportCmdDeviceMIdMap;
-    }
-
-    @Override
-    protected Set<CmdAction> getSupportActions() {
-        return supportActions;
-    }
-
-    private DualRobotDriver.Joint getJoint(CmdAxis axis) {
-        switch (axis) {
-            case CmdAxis.joint1 -> {
-                return DualRobotDriver.Joint.JOINT_1;
-            }
-            case CmdAxis.joint2 -> {
-                return DualRobotDriver.Joint.JOINT_2;
-            }
-            default -> {
-                return null;
-            }
-        }
-    }
-
-    @Override
-    public void handleCommand(DeviceCommand command) throws Exception {
-        // 发送命令
-        if (command.getAction() == CmdAction.origin) {
-            dualRobotDriver_.moveToHome(MiniServoMId.DUAL_ROBOT_AXIS1_MID);
-        }
-        else if(command.getAction() == CmdAction.stop) {
-            CmdAxis axis = command.getParam().getAxis();
-            DualRobotDriver.Joint joint = getJoint(axis);
-            dualRobotDriver_.stop(joint);
-        }
-        else if(command.getAction() == CmdAction.move_joint) {
-            CmdAxis axis = command.getParam().getAxis();
-            double position = command.getParam().getPosition();
-
-            DualRobotDriver.Joint joint = getJoint(axis);
-            dualRobotDriver_.moveJointTo(joint, position);
-        }
-        else if(command.getAction() == CmdAction.move) {
-            double pos_x = command.getParam().getPosition();
-            double pos_y = command.getParam().getPosition();
-            dualRobotDriver_.moveToPoint(pos_x, pos_y);
-        }
-        else if(command.getAction() == CmdAction.set) {
-            CmdAxis axis = command.getParam().getAxis();
-            DualRobotDriver.Joint joint = getJoint(axis);
-            Double speed = command.getParam().getSpeed();
-            if(speed != null) {
-                dualRobotDriver_.setSpeed(joint, speed);
-            }
-        }
-    }
-}

src/main/java/com/iflytop/sgs/hardware/command/handlers/TricolorLightHandler.java

@@ -2,7 +2,7 @@ package com.iflytop.sgs.hardware.command.handlers;
 
 import com.iflytop.sgs.common.cmd.DeviceCommand;
 import com.iflytop.sgs.common.enums.cmd.CmdAction;
-import com.iflytop.sgs.common.enums.command.CmdColor;
+import com.iflytop.sgs.common.enums.cmd.CmdColor;
 import com.iflytop.sgs.common.enums.cmd.CmdDevice;
 import com.iflytop.sgs.hardware.command.CommandHandler;
 import com.iflytop.sgs.hardware.drivers.TricolorLightDriver;