From d2dd77516c47f68e3e96daf1e482397ddb10eaef 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 09:23:06 +0800 Subject: [PATCH] =?UTF-8?q?=E6=94=B9=E4=B8=BA=E4=BD=BF=E7=94=A8CommandUtil?= =?UTF-8?q?.wait=E7=AD=89=E5=BE=85?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../sgs/app/cmd/debug/DebugDoorCloseCommand.java | 3 ++- .../sgs/app/cmd/debug/DebugDoorOpenCommand.java | 3 ++- .../sgs/app/cmd/debug/DebugDoorSetCommand.java | 5 +++-- .../sgs/app/cmd/debug/DebugDoorStopCommand.java | 3 ++- .../sgs/app/cmd/debug/DebugFanStartCommand.java | 3 ++- .../sgs/app/cmd/debug/DebugFanStopCommand.java | 3 ++- .../sgs/app/cmd/debug/DebugHeaterStartCommand.java | 3 ++- .../sgs/app/cmd/debug/DebugHeaterStopCommand.java | 3 ++- .../cmd/debug/DebugLiquidMotorMoveByCommand.java | 9 +++++---- .../cmd/debug/DebugLiquidMotorMoveToCommand.java | 3 ++- .../cmd/debug/DebugLiquidMotorOriginCommand.java | 3 ++- .../app/cmd/debug/DebugLiquidMotorSetCommand.java | 5 +++-- .../app/cmd/debug/DebugLiquidMotorStopCommand.java | 3 ++- .../app/cmd/debug/DebugLiquidPumpAddCommand.java | 6 +++--- .../cmd/debug/DebugLiquidPumpMoveByCommand.java | 11 ++++++----- .../cmd/debug/DebugLiquidPumpReduceCommand.java | 3 ++- .../app/cmd/debug/DebugLiquidPumpSetCommand.java | 5 +++-- .../app/cmd/debug/DebugLiquidPumpStartCommand.java | 9 +++++---- .../app/cmd/debug/DebugLiquidPumpStopCommand.java | 5 +++-- .../app/cmd/debug/DebugMotorXMoveByCommand.java | 9 +++++---- .../app/cmd/debug/DebugMotorXMoveToCommand.java | 3 ++- .../app/cmd/debug/DebugMotorXOriginCommand.java | 5 ++--- .../sgs/app/cmd/debug/DebugMotorXSetCommand.java | 5 +++-- .../sgs/app/cmd/debug/DebugMotorXStopCommand.java | 3 ++- .../app/cmd/debug/DebugMotorZMoveByCommand.java | 10 +++++----- .../app/cmd/debug/DebugMotorZMoveToCommand.java | 3 ++- .../app/cmd/debug/DebugMotorZOriginCommand.java | 3 ++- .../sgs/app/cmd/debug/DebugMotorZSetCommand.java | 5 +++-- .../sgs/app/cmd/debug/DebugMotorZStopCommand.java | 3 ++- .../sgs/app/cmd/debug/DebugValveCloseCommand.java | 5 +++-- .../cmd/debug/DebugValveOpenThickWayCommand.java | 5 +++-- .../cmd/debug/DebugValveOpenThinWayCommand.java | 5 +++-- .../cmd/debug/DebugValveOpenVacantWayCommand.java | 5 +++-- .../cmd/debug/DebugValveOpenWasteWayCommand.java | 5 +++-- .../com/iflytop/sgs/common/utils/CommandUtil.java | 23 ++++++++++++++++++++++ 35 files changed, 119 insertions(+), 66 deletions(-) create mode 100644 src/main/java/com/iflytop/sgs/common/utils/CommandUtil.java diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorCloseCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorCloseCommand.java index 7507bba..95ec7ac 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorCloseCommand.java +++ b/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); }); } } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorOpenCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorOpenCommand.java index fbbb180..baee659 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorOpenCommand.java +++ b/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); }); } } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorSetCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorSetCommand.java index a07ade3..64550b3 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorSetCommand.java +++ b/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 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); }); } } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorStopCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorStopCommand.java index 5b4df1e..28d8b00 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorStopCommand.java +++ b/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); }); } } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugFanStartCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugFanStartCommand.java index 60779d1..e4489d1 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugFanStartCommand.java +++ b/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); }); } } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugFanStopCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugFanStopCommand.java index e1d464d..8f7dd46 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugFanStopCommand.java +++ b/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); }); } } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugHeaterStartCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugHeaterStartCommand.java index 7f95773..50867a2 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugHeaterStartCommand.java +++ b/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); }); } } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugHeaterStopCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugHeaterStopCommand.java index 2e7b50d..6942ab8 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugHeaterStopCommand.java +++ b/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); }); } } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidMotorMoveByCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidMotorMoveByCommand.java index f643271..be7524b 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidMotorMoveByCommand.java +++ b/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); } } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidMotorMoveToCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidMotorMoveToCommand.java index 310c183..d06221b 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidMotorMoveToCommand.java +++ b/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); }); } } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidMotorOriginCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidMotorOriginCommand.java index befd938..916ea01 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidMotorOriginCommand.java +++ b/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); }); } } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidMotorSetCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidMotorSetCommand.java index 901d109..a506be7 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidMotorSetCommand.java +++ b/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 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); }); } } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidMotorStopCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidMotorStopCommand.java index a2d8baa..28fa06e 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidMotorStopCommand.java +++ b/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); }); } } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpAddCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpAddCommand.java index d454c0a..1f2d59b 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpAddCommand.java +++ b/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); } }); } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpMoveByCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpMoveByCommand.java index 0c7ad7b..fd0d2b7 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpMoveByCommand.java +++ b/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); } } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpReduceCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpReduceCommand.java index 0fb71d6..abf8b15 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpReduceCommand.java +++ b/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); } }); } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpSetCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpSetCommand.java index 67527f8..5a0438e 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpSetCommand.java +++ b/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); }); } } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpStartCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpStartCommand.java index e0939ba..b82ed6f 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpStartCommand.java +++ b/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 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); } }); } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpStopCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpStopCommand.java index 56c8262..58c31e7 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpStopCommand.java +++ b/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 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); }); } } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXMoveByCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXMoveByCommand.java index 3a22ea8..6636561 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXMoveByCommand.java +++ b/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); } } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXMoveToCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXMoveToCommand.java index 10ad8ab..e5164d5 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXMoveToCommand.java +++ b/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); }); } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXOriginCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXOriginCommand.java index 5c179e8..aae18fb 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXOriginCommand.java +++ b/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); }); } } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXSetCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXSetCommand.java index 3c5cb0b..321be3c 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXSetCommand.java +++ b/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 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); }); } } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXStopCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXStopCommand.java index d1ae71d..3dc6349 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXStopCommand.java +++ b/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); }); } } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZMoveByCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZMoveByCommand.java index 290d152..30a962d 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZMoveByCommand.java +++ b/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); } } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZMoveToCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZMoveToCommand.java index 789b3af..4395bca 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZMoveToCommand.java +++ b/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); }); } } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZOriginCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZOriginCommand.java index 9243274..0bcc0ae 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZOriginCommand.java +++ b/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); }); } } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZSetCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZSetCommand.java index 999e62e..e42a770 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZSetCommand.java +++ b/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 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); }); } } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZStopCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZStopCommand.java index c48434a..0fe76b9 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZStopCommand.java +++ b/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); }); } } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugValveCloseCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugValveCloseCommand.java index 1850805..d80e91b 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugValveCloseCommand.java +++ b/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 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); }); } } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugValveOpenThickWayCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugValveOpenThickWayCommand.java index 2753a1b..e205fe6 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugValveOpenThickWayCommand.java +++ b/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 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); }); } } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugValveOpenThinWayCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugValveOpenThinWayCommand.java index 871c247..de811f6 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugValveOpenThinWayCommand.java +++ b/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 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); }); } } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugValveOpenVacantWayCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugValveOpenVacantWayCommand.java index e4cbc94..9bf3a09 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugValveOpenVacantWayCommand.java +++ b/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 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); }); } } diff --git a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugValveOpenWasteWayCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugValveOpenWasteWayCommand.java index cbb4071..0772304 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/debug/DebugValveOpenWasteWayCommand.java +++ b/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 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); }); } } diff --git a/src/main/java/com/iflytop/sgs/common/utils/CommandUtil.java b/src/main/java/com/iflytop/sgs/common/utils/CommandUtil.java new file mode 100644 index 0000000..83123dc --- /dev/null +++ b/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); + } +}