From cc63ea07ce89c67e8dd27fa9bb8134ef81ce3635 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= Date: Mon, 26 May 2025 13:37:28 +0800 Subject: [PATCH] =?UTF-8?q?=E8=B0=83=E6=95=B4=E7=9B=AE=E5=BD=95=E7=BB=93?= =?UTF-8?q?=E6=9E=84?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../sgs/app/cmd/control/DoorOriginCommand.java | 39 ---------------------- .../app/cmd/control/TransferXOriginCommand.java | 33 ------------------ .../app/cmd/control/TransferZOriginCommand.java | 33 ------------------ .../sgs/app/cmd/selftest/DoorOriginCommand.java | 39 ++++++++++++++++++++++ .../app/cmd/selftest/TransferXOriginCommand.java | 33 ++++++++++++++++++ .../app/cmd/selftest/TransferZOriginCommand.java | 33 ++++++++++++++++++ 6 files changed, 105 insertions(+), 105 deletions(-) delete mode 100644 src/main/java/com/iflytop/sgs/app/cmd/control/DoorOriginCommand.java delete mode 100644 src/main/java/com/iflytop/sgs/app/cmd/control/TransferXOriginCommand.java delete mode 100644 src/main/java/com/iflytop/sgs/app/cmd/control/TransferZOriginCommand.java create mode 100644 src/main/java/com/iflytop/sgs/app/cmd/selftest/DoorOriginCommand.java create mode 100644 src/main/java/com/iflytop/sgs/app/cmd/selftest/TransferXOriginCommand.java create mode 100644 src/main/java/com/iflytop/sgs/app/cmd/selftest/TransferZOriginCommand.java diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/DoorOriginCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/DoorOriginCommand.java deleted file mode 100644 index 4ed1a64..0000000 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/DoorOriginCommand.java +++ /dev/null @@ -1,39 +0,0 @@ -package com.iflytop.sgs.app.cmd.control; - -import com.iflytop.sgs.app.core.BaseCommandHandler; -import com.iflytop.sgs.app.model.dto.CmdDTO; -import com.iflytop.sgs.app.service.device.DeviceStateService; -import com.iflytop.sgs.app.service.device.SelfTestService; -import com.iflytop.sgs.app.service.device.module.DoorModuleService; -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; - -/** - * 门回原点 - */ -@Slf4j -@Component -@RequiredArgsConstructor -@CommandMapping("door_origin")//业务指令注解 -public class DoorOriginCommand extends BaseCommandHandler { - private final DoorModuleService doorModuleService; - private final DeviceStateService deviceStateService; - private final SelfTestService selfTestService; - - @Override - public CompletableFuture handle(CmdDTO cmdDTO) { - return runAsync(() -> { - //门电机回原点 - doorModuleService.doorOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand()); - //设置是否在原点状态 - selfTestService.getSelfTestState().setDoorOrigin(true); - //将门状态设置为false - deviceStateService.getDeviceState().getDoorModule().setOpen(false); - }); - } -} - diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/TransferXOriginCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/TransferXOriginCommand.java deleted file mode 100644 index bced4f2..0000000 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/TransferXOriginCommand.java +++ /dev/null @@ -1,33 +0,0 @@ -package com.iflytop.sgs.app.cmd.control; - -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x轴回原点 - */ -@Slf4j -@Component -@RequiredArgsConstructor -@CommandMapping("transfer_x_origin")//业务指令注解 -public class TransferXOriginCommand extends BaseCommandHandler { - private final TransferModuleService transferModuleService; - private final SelfTestService selfTestService; - - @Override - public CompletableFuture handle(CmdDTO cmdDTO) { - return runAsync(() -> { - transferModuleService.transferXMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand()); - selfTestService.getSelfTestState().setTransferXOrigin(true);//设置是否在原点状态 - }); - } -} - diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/TransferZOriginCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/TransferZOriginCommand.java deleted file mode 100644 index a32bb29..0000000 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/TransferZOriginCommand.java +++ /dev/null @@ -1,33 +0,0 @@ -package com.iflytop.sgs.app.cmd.control; - -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z轴回原点 - */ -@Slf4j -@Component -@RequiredArgsConstructor -@CommandMapping("transfer_z_origin")//业务指令注解 -public class TransferZOriginCommand 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);//设置是否在原点状态 - }); - } -} - diff --git a/src/main/java/com/iflytop/sgs/app/cmd/selftest/DoorOriginCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/selftest/DoorOriginCommand.java new file mode 100644 index 0000000..3baf3ce --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/selftest/DoorOriginCommand.java @@ -0,0 +1,39 @@ +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.DeviceStateService; +import com.iflytop.sgs.app.service.device.SelfTestService; +import com.iflytop.sgs.app.service.device.module.DoorModuleService; +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; + +/** + * 门回原点 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("door_origin")//业务指令注解 +public class DoorOriginCommand extends BaseCommandHandler { + private final DoorModuleService doorModuleService; + private final DeviceStateService deviceStateService; + private final SelfTestService selfTestService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + //门电机回原点 + doorModuleService.doorOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand()); + //设置是否在原点状态 + selfTestService.getSelfTestState().setDoorOrigin(true); + //将门状态设置为false + deviceStateService.getDeviceState().getDoorModule().setOpen(false); + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/selftest/TransferXOriginCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/selftest/TransferXOriginCommand.java new file mode 100644 index 0000000..2192990 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/selftest/TransferXOriginCommand.java @@ -0,0 +1,33 @@ +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x轴回原点 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("transfer_x_origin")//业务指令注解 +public class TransferXOriginCommand extends BaseCommandHandler { + private final TransferModuleService transferModuleService; + private final SelfTestService selfTestService; + + @Override + public CompletableFuture handle(CmdDTO cmdDTO) { + return runAsync(() -> { + transferModuleService.transferXMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand()); + selfTestService.getSelfTestState().setTransferXOrigin(true);//设置是否在原点状态 + }); + } +} + diff --git a/src/main/java/com/iflytop/sgs/app/cmd/selftest/TransferZOriginCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/selftest/TransferZOriginCommand.java new file mode 100644 index 0000000..d7de5a4 --- /dev/null +++ b/src/main/java/com/iflytop/sgs/app/cmd/selftest/TransferZOriginCommand.java @@ -0,0 +1,33 @@ +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z轴回原点 + */ +@Slf4j +@Component +@RequiredArgsConstructor +@CommandMapping("transfer_z_origin")//业务指令注解 +public class TransferZOriginCommand 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);//设置是否在原点状态 + }); + } +} +