fix:修改调试指令

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

@@ -1,5 +1,6 @@
 package com.iflytop.sgs.app.cmd.debug;
 
+import cn.hutool.core.lang.Assert;
 import com.iflytop.sgs.app.core.BaseCommandHandler;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
 import com.iflytop.sgs.app.model.entity.DevicePosition;
@@ -30,11 +31,14 @@ public class DebugDoorOpenCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        double speed = cmdDTO.getDoubleParam("speed");
+        DevicePosition devicePosition = devicePositionService.getPosition(DevicePositionCode.doorOpen);
         return runAsync(() -> {
-            DevicePosition devicePosition = devicePositionService.getPosition(DevicePositionCode.doorOpen);
-            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.doorMove(devicePosition.getDistance());
-            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-            CommandUtil.wait(deviceCommandFuture);
+            CommandFuture deviceCommandSetFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), DeviceCommandGenerator.doorSet(speed));
+            CommandUtil.wait(deviceCommandSetFuture);
+
+            CommandFuture deviceCommandOpenFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), DeviceCommandGenerator.doorMove(devicePosition.getDistance()));
+            CommandUtil.wait(deviceCommandOpenFuture);
         });
     }
 }

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

@@ -1,37 +0,0 @@
-package com.iflytop.sgs.app.cmd.debug;
-
-import com.iflytop.sgs.app.core.BaseCommandHandler;
-import com.iflytop.sgs.app.model.dto.CmdDTO;
-import com.iflytop.sgs.app.service.device.DeviceCommandService;
-import com.iflytop.sgs.common.annotation.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.concurrent.CompletableFuture;
-
-/**
- * 门设置参数
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("door_set")
-public class DebugDoorSetCommand extends BaseCommandHandler {
-    private final DeviceCommandService deviceCommandService;
-
-    @Override
-    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        return runAsync(() -> {
-            double speed = cmdDTO.getDoubleParam("speed");
-            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.doorSet(speed);
-            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-            CommandUtil.wait(deviceCommandFuture);
-        });
-    }
-}
-

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

@@ -45,19 +45,19 @@ public class DebugLiquidMotorMoveByCommand extends BaseCommandHandler {
                         return;
                     }
                     if (distance != null) {
-                        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidPumpMoveBy(distance);
+                        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.motorLiquidMoveBy(distance);
                         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                         CommandUtil.wait(deviceCommandFuture);
                     }
                     if (distance != null) {
-                        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidPumpMoveBy(-distance);
+                        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.motorLiquidMoveBy(-distance);
                         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                         CommandUtil.wait(deviceCommandFuture);
                     }
                 }
             } else {
                 if (distance != null) {
-                    DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidPumpMoveBy(distance);
+                    DeviceCommandBundle deviceCommand = DeviceCommandGenerator.motorLiquidMoveBy(distance);
                     CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                     CommandUtil.wait(deviceCommandFuture);
                 }

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

@@ -28,10 +28,12 @@ public class DebugLiquidMotorMoveToCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
         double position = cmdDTO.getDoubleParam("position");
+        double speed = cmdDTO.getDoubleParam("speed");
         return runAsync(() -> {
-            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.motorLiquidSet(position);
-            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-            CommandUtil.wait(deviceCommandFuture);
+            CommandFuture deviceSetCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), DeviceCommandGenerator.motorLiquidSet(speed));
+            CommandUtil.wait(deviceSetCommandFuture);
+            CommandFuture deviceMoveCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), DeviceCommandGenerator.motorLiquidMove(position));
+            CommandUtil.wait(deviceMoveCommandFuture);
         });
     }
 }

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

@@ -1,37 +0,0 @@
-package com.iflytop.sgs.app.cmd.debug;
-
-import com.iflytop.sgs.app.core.BaseCommandHandler;
-import com.iflytop.sgs.app.model.dto.CmdDTO;
-import com.iflytop.sgs.app.service.device.DeviceCommandService;
-import com.iflytop.sgs.common.annotation.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.concurrent.CompletableFuture;
-
-/**
- * 加液臂电机设置参数
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("liquid_motor_set")
-public class DebugLiquidMotorSetCommand extends BaseCommandHandler {
-    private final DeviceCommandService deviceCommandService;
-
-    @Override
-    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        return runAsync(() -> {
-            double speed = cmdDTO.getDoubleParam("speed");
-            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.motorLiquidSet(speed);
-            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-            CommandUtil.wait(deviceCommandFuture);
-        });
-    }
-}
-

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

@@ -29,14 +29,13 @@ public class DebugLiquidPumpMoveByCommand extends BaseCommandHandler {
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         this.stop = false;
         return runAsync(() -> {
-            Double dimDistance = cmdDTO.getDoubleParam("distance");
+            Double distance = cmdDTO.getDoubleParam("distance");
 
-            Double dimVelocity = cmdDTO.getDoubleParam("velocity");
+            Double speed = cmdDTO.getDoubleParam("speed");
             Integer times = cmdDTO.getIntegerParam("times");
-            Integer channel = 1;
 
-            if (dimVelocity != null) {
-                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidPumpSet(dimVelocity, channel);
+            if (speed != null) {
+                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidPumpSet(speed);
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                 CommandUtil.wait(deviceCommandFuture);
             }
@@ -45,20 +44,20 @@ public class DebugLiquidPumpMoveByCommand extends BaseCommandHandler {
                     if (stop) {
                         return;
                     }
-                    if (dimDistance != null) {
-                        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidPumpMoveBy(dimDistance);
+                    if (distance != null) {
+                        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidPumpMoveBy(distance);
                         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                         CommandUtil.wait(deviceCommandFuture);
                     }
-                    if (dimDistance != null) {
-                        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidPumpMoveBy(-dimDistance);
+                    if (distance != null) {
+                        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidPumpMoveBy(-distance);
                         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                         CommandUtil.wait(deviceCommandFuture);
                     }
                 }
             } else {
-                if (dimDistance != null) {
-                    DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidPumpMoveBy(dimDistance);
+                if (distance != null) {
+                    DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidPumpMoveBy(distance);
                     CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                     CommandUtil.wait(deviceCommandFuture);
                 }

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

@@ -1,38 +0,0 @@
-package com.iflytop.sgs.app.cmd.debug;
-
-import com.iflytop.sgs.app.core.BaseCommandHandler;
-import com.iflytop.sgs.app.model.dto.CmdDTO;
-import com.iflytop.sgs.app.service.device.DeviceCommandService;
-import com.iflytop.sgs.common.annotation.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.concurrent.CompletableFuture;
-
-/**
- * 加液臂电机设置参数
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("motor_liquid_set")
-public class DebugLiquidPumpSetCommand extends BaseCommandHandler {
-    private final DeviceCommandService deviceCommandService;
-
-    @Override
-    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        return runAsync(() -> {
-            double speed = cmdDTO.getDoubleParam("speed");
-            Integer channel = 1;
-            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidPumpSet(speed, channel);
-            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-            CommandUtil.wait(deviceCommandFuture);
-        });
-    }
-}
-

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

@@ -1,37 +0,0 @@
-package com.iflytop.sgs.app.cmd.debug;
-
-import com.iflytop.sgs.app.core.BaseCommandHandler;
-import com.iflytop.sgs.app.model.dto.CmdDTO;
-import com.iflytop.sgs.app.service.device.DeviceCommandService;
-import com.iflytop.sgs.common.annotation.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.concurrent.CompletableFuture;
-
-/**
- * 门设置参数
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("x_set")
-public class DebugMotorXSetCommand extends BaseCommandHandler {
-    private final DeviceCommandService deviceCommandService;
-
-    @Override
-    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        return runAsync(() -> {
-            double speed = cmdDTO.getDoubleParam("speed");
-            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.doorSet(speed);
-            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-            CommandUtil.wait(deviceCommandFuture);
-        });
-    }
-}
-

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

@@ -1,37 +0,0 @@
-package com.iflytop.sgs.app.cmd.debug;
-
-import com.iflytop.sgs.app.core.BaseCommandHandler;
-import com.iflytop.sgs.app.model.dto.CmdDTO;
-import com.iflytop.sgs.app.service.device.DeviceCommandService;
-import com.iflytop.sgs.common.annotation.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.concurrent.CompletableFuture;
-
-/**
- * z轴电机参数设置
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("z_set")
-public class DebugMotorZSetCommand extends BaseCommandHandler {
-    private final DeviceCommandService deviceCommandService;
-
-    @Override
-    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        return runAsync(() -> {
-            double speed = cmdDTO.getDoubleParam("speed");
-            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferZSet(speed);
-            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-            CommandUtil.wait(deviceCommandFuture);
-        });
-    }
-}
-

src/main/java/com/iflytop/sgs/common/cmd/DeviceCommandGenerator.java

@@ -193,16 +193,25 @@ public class DeviceCommandGenerator {
         return controlMotorCmd(CmdDevice.liquid_motor, CmdAction.move, params, "加液升降电机移动");
 
     }
+    /**
+     * 加液机械臂 相对移动
+     *
+     * @param position 加液量 单位mL
+     */
+    public static DeviceCommandBundle motorLiquidMoveBy(Double position) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setPosition(position);
+        return controlCmd(CmdDevice.liquid_motor, CmdAction.move_by, params, "加液机械臂 相对移动");
+    }
 
     /**
      * 加液泵设置参数
      *
      * @param speed 速度 单位 mm/s
      */
-    public static DeviceCommandBundle liquidPumpSet(Double speed,Integer channel) {
+    public static DeviceCommandBundle liquidPumpSet(Double speed) {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setSpeed(speed);
-        params.setChannel(channel);
         return setInfoCmd(CmdDevice.liquid_pump, CmdAction.set, params, "加液泵设置参数");
     }