改为使用CommandUtil.wait等待

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

@@ -7,6 +7,7 @@ import com.iflytop.sgs.common.annotation.CommandMapping;
 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;
@@ -28,7 +29,7 @@ public class DebugDoorCloseCommand extends BaseCommandHandler {
         return runAsync(() -> {
             DeviceCommandBundle deviceCommand = DeviceCommandGenerator.doorMove(Double.valueOf(0));
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-            commandWait(deviceCommandFuture);
+            CommandUtil.wait(deviceCommandFuture);
         });
     }
 }

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

@@ -10,6 +10,7 @@ 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.enums.data.DevicePositionCode;
+import com.iflytop.sgs.common.utils.CommandUtil;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -33,7 +34,7 @@ public class DebugDoorOpenCommand extends BaseCommandHandler {
             DevicePosition devicePosition = devicePositionService.getPosition(DevicePositionCode.doorOpen);
             DeviceCommandBundle deviceCommand = DeviceCommandGenerator.doorMove(devicePosition.getDistance());
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-            commandWait(deviceCommandFuture);
+            CommandUtil.wait(deviceCommandFuture);
         });
     }
 }

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

@@ -7,6 +7,7 @@ import com.iflytop.sgs.common.annotation.CommandMapping;
 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;
@@ -26,10 +27,10 @@ public class DebugDoorSetCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            double speed=cmdDTO.getDoubleParam("speed");
+            double speed = cmdDTO.getDoubleParam("speed");
             DeviceCommandBundle deviceCommand = DeviceCommandGenerator.doorSet(speed);
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-            commandWait(deviceCommandFuture);
+            CommandUtil.wait(deviceCommandFuture);
         });
     }
 }

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

@@ -7,6 +7,7 @@ import com.iflytop.sgs.common.annotation.CommandMapping;
 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;
@@ -28,7 +29,7 @@ public class DebugDoorStopCommand extends BaseCommandHandler {
         return runAsync(() -> {
             DeviceCommandBundle deviceCommand = DeviceCommandGenerator.doorStop();
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-            commandWait(deviceCommandFuture);
+            CommandUtil.wait(deviceCommandFuture);
         });
     }
 }

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

@@ -8,6 +8,7 @@ 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.enums.HeatModuleCode;
+import com.iflytop.sgs.common.utils.CommandUtil;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -38,7 +39,7 @@ public class DebugFanStartCommand extends BaseCommandHandler {
                 default -> throw new RuntimeException("index 未找到");
             }
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-            commandWait(deviceCommandFuture);
+            CommandUtil.wait(deviceCommandFuture);
         });
     }
 }

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

@@ -8,6 +8,7 @@ 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.enums.HeatModuleCode;
+import com.iflytop.sgs.common.utils.CommandUtil;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -38,7 +39,7 @@ public class DebugFanStopCommand extends BaseCommandHandler {
                 default -> throw new RuntimeException("index 未找到");
             }
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-            commandWait(deviceCommandFuture);
+            CommandUtil.wait(deviceCommandFuture);
         });
     }
 }

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

@@ -8,6 +8,7 @@ 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.enums.HeatModuleCode;
+import com.iflytop.sgs.common.utils.CommandUtil;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -39,7 +40,7 @@ public class DebugHeaterStartCommand extends BaseCommandHandler {
                 default -> throw new RuntimeException("index 未找到");
             }
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-            commandWait(deviceCommandFuture);
+            CommandUtil.wait(deviceCommandFuture);
         });
     }
 }

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

@@ -8,6 +8,7 @@ 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.enums.HeatModuleCode;
+import com.iflytop.sgs.common.utils.CommandUtil;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -38,7 +39,7 @@ public class DebugHeaterStopCommand extends BaseCommandHandler {
                 default -> throw new RuntimeException("index 未找到");
             }
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-            commandWait(deviceCommandFuture);
+            CommandUtil.wait(deviceCommandFuture);
         });
     }
 }

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

@@ -7,6 +7,7 @@ import com.iflytop.sgs.common.annotation.CommandMapping;
 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;
@@ -36,7 +37,7 @@ public class DebugLiquidMotorMoveByCommand extends BaseCommandHandler {
             if (speed != null) {
                 DeviceCommandBundle deviceCommand = DeviceCommandGenerator.motorLiquidSet(speed);
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-                commandWait(deviceCommandFuture);
+                CommandUtil.wait(deviceCommandFuture);
             }
             if (times != null) {
                 for (int i = 0; i < times; i++) {
@@ -46,19 +47,19 @@ public class DebugLiquidMotorMoveByCommand extends BaseCommandHandler {
                     if (distance != null) {
                         DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidPumpMoveBy(distance);
                         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-                        commandWait(deviceCommandFuture);
+                        CommandUtil.wait(deviceCommandFuture);
                     }
                     if (distance != null) {
                         DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidPumpMoveBy(-distance);
                         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-                        commandWait(deviceCommandFuture);
+                        CommandUtil.wait(deviceCommandFuture);
                     }
                 }
             } else {
                 if (distance != null) {
                     DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidPumpMoveBy(distance);
                     CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-                    commandWait(deviceCommandFuture);
+                    CommandUtil.wait(deviceCommandFuture);
                 }
 
             }

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

@@ -7,6 +7,7 @@ import com.iflytop.sgs.common.annotation.CommandMapping;
 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;
@@ -30,7 +31,7 @@ public class DebugLiquidMotorMoveToCommand extends BaseCommandHandler {
         return runAsync(() -> {
             DeviceCommandBundle deviceCommand = DeviceCommandGenerator.motorLiquidSet(position);
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-            commandWait(deviceCommandFuture);
+            CommandUtil.wait(deviceCommandFuture);
         });
     }
 }

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

@@ -7,6 +7,7 @@ import com.iflytop.sgs.common.annotation.CommandMapping;
 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;
@@ -28,7 +29,7 @@ public class DebugLiquidMotorOriginCommand extends BaseCommandHandler {
         return runAsync(() -> {
             DeviceCommandBundle deviceCommand = DeviceCommandGenerator.motorLiquidOrigin();
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-            commandWait(deviceCommandFuture);
+            CommandUtil.wait(deviceCommandFuture);
         });
     }
 }

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

@@ -7,6 +7,7 @@ import com.iflytop.sgs.common.annotation.CommandMapping;
 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;
@@ -26,10 +27,10 @@ public class DebugLiquidMotorSetCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            double speed=cmdDTO.getDoubleParam("speed");
+            double speed = cmdDTO.getDoubleParam("speed");
             DeviceCommandBundle deviceCommand = DeviceCommandGenerator.motorLiquidSet(speed);
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-            commandWait(deviceCommandFuture);
+            CommandUtil.wait(deviceCommandFuture);
         });
     }
 }

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

@@ -7,6 +7,7 @@ import com.iflytop.sgs.common.annotation.CommandMapping;
 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;
@@ -28,7 +29,7 @@ public class DebugLiquidMotorStopCommand extends BaseCommandHandler {
         return runAsync(() -> {
             DeviceCommandBundle deviceCommand = DeviceCommandGenerator.motorLiquidStop();
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-            commandWait(deviceCommandFuture);
+            CommandUtil.wait(deviceCommandFuture);
         });
     }
 }

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

@@ -8,7 +8,7 @@ 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.enums.cmd.CmdDirection;
-import io.swagger.v3.oas.models.security.SecurityScheme;
+import com.iflytop.sgs.common.utils.CommandUtil;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -30,7 +30,7 @@ public class DebugLiquidPumpAddCommand extends BaseCommandHandler {
         Double volume = cmdDTO.getDoubleParam("volume");
         //todo 量转换成转数
         Double position = Double.valueOf(1000);
-        Double speed=cmdDTO.getDoubleParam("speed");
+        Double speed = cmdDTO.getDoubleParam("speed");
 
         return runAsync(() -> {
             CmdDirection cmdDirection = CmdDirection.forward;
@@ -38,7 +38,7 @@ public class DebugLiquidPumpAddCommand extends BaseCommandHandler {
             if (speed != null) {
                 deviceCommand = DeviceCommandGenerator.liquidPumpMoveBy(position);
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-                commandWait(deviceCommandFuture);
+                CommandUtil.wait(deviceCommandFuture);
             }
         });
     }

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

@@ -7,6 +7,7 @@ import com.iflytop.sgs.common.annotation.CommandMapping;
 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;
@@ -35,9 +36,9 @@ public class DebugLiquidPumpMoveByCommand extends BaseCommandHandler {
             Integer channel = 1;
 
             if (dimVelocity != null) {
-                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidPumpSet(dimVelocity,channel);
+                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidPumpSet(dimVelocity, channel);
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-                commandWait(deviceCommandFuture);
+                CommandUtil.wait(deviceCommandFuture);
             }
             if (times != null) {
                 for (int i = 0; i < times; i++) {
@@ -47,19 +48,19 @@ public class DebugLiquidPumpMoveByCommand extends BaseCommandHandler {
                     if (dimDistance != null) {
                         DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidPumpMoveBy(dimDistance);
                         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-                        commandWait(deviceCommandFuture);
+                        CommandUtil.wait(deviceCommandFuture);
                     }
                     if (dimDistance != null) {
                         DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidPumpMoveBy(-dimDistance);
                         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-                        commandWait(deviceCommandFuture);
+                        CommandUtil.wait(deviceCommandFuture);
                     }
                 }
             } else {
                 if (dimDistance != null) {
                     DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidPumpMoveBy(dimDistance);
                     CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-                    commandWait(deviceCommandFuture);
+                    CommandUtil.wait(deviceCommandFuture);
                 }
 
             }

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

@@ -8,6 +8,7 @@ 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.enums.cmd.CmdDirection;
+import com.iflytop.sgs.common.utils.CommandUtil;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -37,7 +38,7 @@ public class DebugLiquidPumpReduceCommand extends BaseCommandHandler {
             if (speed != null) {
                 deviceCommand = DeviceCommandGenerator.liquidPumpMoveBy(-position);
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-                commandWait(deviceCommandFuture);
+                CommandUtil.wait(deviceCommandFuture);
             }
         });
     }

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

@@ -7,6 +7,7 @@ import com.iflytop.sgs.common.annotation.CommandMapping;
 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;
@@ -28,9 +29,9 @@ public class DebugLiquidPumpSetCommand extends BaseCommandHandler {
         return runAsync(() -> {
             double speed = cmdDTO.getDoubleParam("speed");
             Integer channel = 1;
-            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidPumpSet(speed,channel);
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidPumpSet(speed, channel);
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-            commandWait(deviceCommandFuture);
+            CommandUtil.wait(deviceCommandFuture);
         });
     }
 }

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

@@ -8,6 +8,7 @@ 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.enums.cmd.CmdDirection;
+import com.iflytop.sgs.common.utils.CommandUtil;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -28,14 +29,14 @@ public class DebugLiquidPumpStartCommand extends BaseCommandHandler {
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
             Double speed = cmdDTO.getDoubleParam("speed");
-            String direction=cmdDTO.getStringParam("direction");//front back 正转倒转
-            Integer channel=1;
-            CmdDirection cmdDirection=CmdDirection.valueOf(direction);
+            String direction = cmdDTO.getStringParam("direction");//front back 正转倒转
+            Integer channel = 1;
+            CmdDirection cmdDirection = CmdDirection.valueOf(direction);
             DeviceCommandBundle deviceCommand;
             if (speed != null) {
                 deviceCommand = DeviceCommandGenerator.liquidPumpStart(cmdDirection);
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-                commandWait(deviceCommandFuture);
+                CommandUtil.wait(deviceCommandFuture);
             }
         });
     }

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

@@ -7,6 +7,7 @@ import com.iflytop.sgs.common.annotation.CommandMapping;
 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;
@@ -25,11 +26,11 @@ public class DebugLiquidPumpStopCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        Integer channel=1;
+        Integer channel = 1;
         return runAsync(() -> {
             DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidPumpStop();
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-            commandWait(deviceCommandFuture);
+            CommandUtil.wait(deviceCommandFuture);
         });
     }
 }

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

@@ -7,6 +7,7 @@ import com.iflytop.sgs.common.annotation.CommandMapping;
 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;
@@ -38,7 +39,7 @@ public class DebugMotorXMoveByCommand extends BaseCommandHandler {
             if (speed != null) {
                 DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXSet(speed);
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-                commandWait(deviceCommandFuture);
+                CommandUtil.wait(deviceCommandFuture);
             }
             if (times != null) {
                 for (int i = 0; i < times; i++) {
@@ -48,13 +49,13 @@ public class DebugMotorXMoveByCommand extends BaseCommandHandler {
                     if (distance != null) {
                         DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMoveBy(distance);
                         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-                        commandWait(deviceCommandFuture);
+                        CommandUtil.wait(deviceCommandFuture);
                     }
 
                     if (distance != null) {
                         DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMoveBy(-distance);
                         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-                        commandWait(deviceCommandFuture);
+                        CommandUtil.wait(deviceCommandFuture);
                     }
 
                 }
@@ -62,7 +63,7 @@ public class DebugMotorXMoveByCommand extends BaseCommandHandler {
                 if (distance != null) {
                     DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMoveBy(distance);
                     CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-                    commandWait(deviceCommandFuture);
+                    CommandUtil.wait(deviceCommandFuture);
                 }
 
             }

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

@@ -7,6 +7,7 @@ import com.iflytop.sgs.common.annotation.CommandMapping;
 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;
@@ -29,7 +30,7 @@ public class DebugMotorXMoveToCommand extends BaseCommandHandler {
         return runAsync(() -> {
             DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMove(position);
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-            commandWait(deviceCommandFuture);
+            CommandUtil.wait(deviceCommandFuture);
         });
     }
 

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

@@ -7,12 +7,11 @@ import com.iflytop.sgs.common.annotation.CommandMapping;
 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.ArrayList;
-import java.util.List;
 import java.util.concurrent.CompletableFuture;
 
 /**
@@ -30,7 +29,7 @@ public class DebugMotorXOriginCommand extends BaseCommandHandler {
         return runAsync(() -> {
             DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXOrigin();
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-            commandWait(deviceCommandFuture);
+            CommandUtil.wait(deviceCommandFuture);
         });
     }
 }

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

@@ -7,6 +7,7 @@ import com.iflytop.sgs.common.annotation.CommandMapping;
 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;
@@ -26,10 +27,10 @@ public class DebugMotorXSetCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            double speed=cmdDTO.getDoubleParam("speed");
+            double speed = cmdDTO.getDoubleParam("speed");
             DeviceCommandBundle deviceCommand = DeviceCommandGenerator.doorSet(speed);
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-            commandWait(deviceCommandFuture);
+            CommandUtil.wait(deviceCommandFuture);
         });
     }
 }

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

@@ -7,6 +7,7 @@ import com.iflytop.sgs.common.annotation.CommandMapping;
 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;
@@ -28,7 +29,7 @@ public class DebugMotorXStopCommand extends BaseCommandHandler {
         return runAsync(() -> {
             DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXStop();
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-            commandWait(deviceCommandFuture);
+            CommandUtil.wait(deviceCommandFuture);
         });
     }
 }

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

@@ -7,6 +7,7 @@ import com.iflytop.sgs.common.annotation.CommandMapping;
 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;
@@ -15,7 +16,6 @@ import java.util.concurrent.CompletableFuture;
 
 /**
  * z轴电机相对移动
- *
  */
 @Slf4j
 @Component
@@ -38,7 +38,7 @@ public class DebugMotorZMoveByCommand extends BaseCommandHandler {
             if (speed != null) {
                 DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZSet(speed);
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-                commandWait(deviceCommandFuture);
+                CommandUtil.wait(deviceCommandFuture);
             }
             if (times != null) {
                 for (int i = 0; i < times; i++) {
@@ -48,19 +48,19 @@ public class DebugMotorZMoveByCommand extends BaseCommandHandler {
                     if (distance != null) {
                         DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMoveBy(distance);
                         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-                        commandWait(deviceCommandFuture);
+                        CommandUtil.wait(deviceCommandFuture);
                     }
                     if (distance != null) {
                         DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMoveBy(-distance);
                         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-                        commandWait(deviceCommandFuture);
+                        CommandUtil.wait(deviceCommandFuture);
                     }
                 }
             } else {
                 if (distance != null) {
                     DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMoveBy(distance);
                     CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-                    commandWait(deviceCommandFuture);
+                    CommandUtil.wait(deviceCommandFuture);
                 }
 
             }

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

@@ -7,6 +7,7 @@ import com.iflytop.sgs.common.annotation.CommandMapping;
 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;
@@ -30,7 +31,7 @@ public class DebugMotorZMoveToCommand extends BaseCommandHandler {
         return runAsync(() -> {
             DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMove(position);
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-            commandWait(deviceCommandFuture);
+            CommandUtil.wait(deviceCommandFuture);
         });
     }
 }

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

@@ -7,6 +7,7 @@ import com.iflytop.sgs.common.annotation.CommandMapping;
 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;
@@ -28,7 +29,7 @@ public class DebugMotorZOriginCommand extends BaseCommandHandler {
         return runAsync(() -> {
             DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZOrigin();
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-            commandWait(deviceCommandFuture);
+            CommandUtil.wait(deviceCommandFuture);
         });
     }
 }

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

@@ -7,6 +7,7 @@ import com.iflytop.sgs.common.annotation.CommandMapping;
 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;
@@ -26,10 +27,10 @@ public class DebugMotorZSetCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            double speed=cmdDTO.getDoubleParam("speed");
+            double speed = cmdDTO.getDoubleParam("speed");
             DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZSet(speed);
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-            commandWait(deviceCommandFuture);
+            CommandUtil.wait(deviceCommandFuture);
         });
     }
 }

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

@@ -7,6 +7,7 @@ import com.iflytop.sgs.common.annotation.CommandMapping;
 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;
@@ -28,7 +29,7 @@ public class DebugMotorZStopCommand extends BaseCommandHandler {
         return runAsync(() -> {
             DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZStop();
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-            commandWait(deviceCommandFuture);
+            CommandUtil.wait(deviceCommandFuture);
         });
     }
 }

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

@@ -7,6 +7,7 @@ import com.iflytop.sgs.common.annotation.CommandMapping;
 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;
@@ -26,9 +27,9 @@ public class DebugValveCloseCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            DeviceCommandBundle deviceCommand=DeviceCommandGenerator.valveClose();
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.valveClose();
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-            commandWait(deviceCommandFuture);
+            CommandUtil.wait(deviceCommandFuture);
         });
     }
 }

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

@@ -7,6 +7,7 @@ import com.iflytop.sgs.common.annotation.CommandMapping;
 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;
@@ -26,9 +27,9 @@ public class DebugValveOpenThickWayCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            DeviceCommandBundle deviceCommand=DeviceCommandGenerator.valveTurn(1);
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.valveTurn(1);
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-            commandWait(deviceCommandFuture);
+            CommandUtil.wait(deviceCommandFuture);
         });
     }
 }

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

@@ -7,6 +7,7 @@ import com.iflytop.sgs.common.annotation.CommandMapping;
 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;
@@ -26,9 +27,9 @@ public class DebugValveOpenThinWayCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            DeviceCommandBundle deviceCommand=DeviceCommandGenerator.valveTurn(2);
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.valveTurn(2);
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-            commandWait(deviceCommandFuture);
+            CommandUtil.wait(deviceCommandFuture);
         });
     }
 }

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

@@ -7,6 +7,7 @@ import com.iflytop.sgs.common.annotation.CommandMapping;
 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;
@@ -26,9 +27,9 @@ public class DebugValveOpenVacantWayCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            DeviceCommandBundle deviceCommand=DeviceCommandGenerator.valveTurn(3);
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.valveTurn(3);
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-            commandWait(deviceCommandFuture);
+            CommandUtil.wait(deviceCommandFuture);
         });
     }
 }

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

@@ -7,6 +7,7 @@ import com.iflytop.sgs.common.annotation.CommandMapping;
 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;
@@ -26,9 +27,9 @@ public class DebugValveOpenWasteWayCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            DeviceCommandBundle deviceCommand=DeviceCommandGenerator.valveTurn(4);
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.valveTurn(4);
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-            commandWait(deviceCommandFuture);
+            CommandUtil.wait(deviceCommandFuture);
         });
     }
 }

src/main/java/com/iflytop/sgs/common/utils/CommandUtil.java

@@ -0,0 +1,23 @@
+package com.iflytop.sgs.common.utils;
+
+
+import com.iflytop.sgs.common.cmd.CommandFuture;
+
+import java.util.Arrays;
+import java.util.concurrent.CompletableFuture;
+import java.util.concurrent.TimeUnit;
+
+public class CommandUtil {
+
+    public static void wait(CommandFuture... futures) throws Exception {
+        wait(120L, futures);
+    }
+
+    public static void wait(Long timeout, CommandFuture... futures) throws Exception {
+        CompletableFuture<?>[] responseFutures = Arrays.stream(futures)
+                .map(CommandFuture::getResponseFuture)
+                .toArray(CompletableFuture[]::new);
+        CompletableFuture.allOf(responseFutures)
+                .get(timeout, TimeUnit.SECONDS);
+    }
+}