测试调用

src/main/java/com/qyft/gd/device/controller/TestController.java

@@ -8,6 +8,7 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.GetMapping;
 import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RequestParam;
 import org.springframework.web.bind.annotation.RestController;
 
 @Tag(name = "测试")
@@ -21,9 +22,231 @@ public class TestController {
     @Operation(summary = "开门")
     @GetMapping("/openDoor")
     public Result<String> openDoor() {
-        deviceService.openDoor();
-        return Result.success();
+        boolean success = deviceService.openDoor();
+        if (success) {
+            return Result.success();
+        } else {
+            return Result.failed("开门失败");
+        }
     }
 
+    @Operation(summary = "关门")
+    @GetMapping("/closeDoor")
+    public Result<String> closeDoor() {
+        boolean success = deviceService.closeDoor();
+        if (success) {
+            return Result.success();
+        } else {
+            return Result.failed("关门失败");
+        }
+    }
+
+    @Operation(summary = "张开夹爪")
+    @GetMapping("/openClaw")
+    public Result<String> openClaw() {
+        boolean success = deviceService.openClaw();
+        if (success) {
+            return Result.success();
+        } else {
+            return Result.failed("张开夹爪失败");
+        }
+    }
+
+    @Operation(summary = "收合夹爪")
+    @GetMapping("/closeClaw")
+    public Result<String> closeClaw() {
+        boolean success = deviceService.closeClaw();
+        if (success) {
+            return Result.success();
+        } else {
+            return Result.failed("收合夹爪失败");
+        }
+    }
+
+    @Operation(summary = "移动导轨机械臂的导轨")
+    @GetMapping("/moveRailArmRail")
+    public Result<String> moveRailArmRail(@RequestParam double distance) {
+        boolean success = deviceService.moveRailArmRail(distance);
+        if (success) {
+            return Result.success();
+        } else {
+            return Result.failed("移动导轨机械臂的导轨失败");
+        }
+    }
+
+    @Operation(summary = "移动导轨机械臂的关节")
+    @GetMapping("/moveRailArmJoint")
+    public Result<String> moveRailArmJoint(@RequestParam double joint1, @RequestParam double joint2, @RequestParam double distance) {
+        boolean success = deviceService.moveRailArmJoint(joint1, joint2, distance);
+        if (success) {
+            return Result.success();
+        } else {
+            return Result.failed("移动导轨机械臂的关节失败");
+        }
+    }
+
+    @Operation(summary = "导轨机械臂运动到指定点位")
+    @GetMapping("/moveRailArmToPoint")
+    public Result<String> moveRailArmToPoint(@RequestParam int x, @RequestParam int y, @RequestParam int z) {
+        boolean success = deviceService.moveRailArmToPoint(x, y, z);
+        if (success) {
+            return Result.success();
+        } else {
+            return Result.failed("导轨机械臂运动到指定点位失败");
+        }
+    }
+
+    @Operation(summary = "设置导轨机械臂的速度")
+    @GetMapping("/setRailArmSpeed")
+    public Result<String> setRailArmSpeed(@RequestParam int speed) {
+        boolean success = deviceService.setRailArmSpeed(speed);
+        if (success) {
+            return Result.success();
+        } else {
+            return Result.failed("设置导轨机械臂的速度失败");
+        }
+    }
+
+    @Operation(summary = "移动加液机械臂的关节")
+    @GetMapping("/moveLiquidArmJoint")
+    public Result<String> moveLiquidArmJoint(@RequestParam double joint1, @RequestParam double joint2) {
+        boolean success = deviceService.moveLiquidArmJoint(joint1, joint2);
+        if (success) {
+            return Result.success();
+        } else {
+            return Result.failed("移动加液机械臂的关节失败");
+        }
+    }
+
+    @Operation(summary = "加液机械臂运动到指定点位")
+    @GetMapping("/moveLiquidArmToPoint")
+    public Result<String> moveLiquidArmToPoint(@RequestParam int x, @RequestParam int y, @RequestParam int z) {
+        boolean success = deviceService.moveLiquidArmToPoint(x, y, z);
+        if (success) {
+            return Result.success();
+        } else {
+            return Result.failed("加液机械臂运动到指定点位失败");
+        }
+    }
+
+    @Operation(summary = "设置加液机械臂的速度")
+    @GetMapping("/setLiquidArmSpeed")
+    public Result<String> setLiquidArmSpeed(@RequestParam int speed) {
+        boolean success = deviceService.setLiquidArmSpeed(speed);
+        if (success) {
+            return Result.success();
+        } else {
+            return Result.failed("设置加液机械臂的速度失败");
+        }
+    }
 
+    @Operation(summary = "加液")
+    @GetMapping("/addLiquid")
+    public Result<String> addLiquid(@RequestParam int pumpId, @RequestParam int volume) {
+        boolean success = deviceService.addLiquid(pumpId, volume);
+        if (success) {
+            return Result.success();
+        } else {
+            return Result.failed("加液失败");
+        }
+    }
+
+    @Operation(summary = "设置加液泵流量")
+    @GetMapping("/setFlowRate")
+    public Result<String> setFlowRate(@RequestParam int pumpId, @RequestParam int flowRate) {
+        boolean success = deviceService.setFlowRate(pumpId, flowRate);
+        if (success) {
+            return Result.success();
+        } else {
+            return Result.failed("设置加液泵流量失败");
+        }
+    }
+
+    @Operation(summary = "开始摇匀")
+    @GetMapping("/startShaking")
+    public Result<String> startShaking() {
+        boolean success = deviceService.startShaking();
+        if (success) {
+            return Result.success();
+        } else {
+            return Result.failed("开始摇匀失败");
+        }
+    }
+
+    @Operation(summary = "停止摇匀")
+    @GetMapping("/stopShaking")
+    public Result<String> stopShaking() {
+        boolean success = deviceService.stopShaking();
+        if (success) {
+            return Result.success();
+        } else {
+            return Result.failed("停止摇匀失败");
+        }
+    }
+
+    @Operation(summary = "设置摇匀速度")
+    @GetMapping("/setShakingSpeed")
+    public Result<String> setShakingSpeed(@RequestParam int speed) {
+        boolean success = deviceService.setShakingSpeed(speed);
+        if (success) {
+            return Result.success();
+        } else {
+            return Result.failed("设置摇匀速度失败");
+        }
+    }
+
+    @Operation(summary = "开始加热")
+    @GetMapping("/startHeating")
+    public Result<String> startHeating(@RequestParam int temperature) {
+        boolean success = deviceService.startHeating(temperature);
+        if (success) {
+            return Result.success();
+        } else {
+            return Result.failed("开始加热失败");
+        }
+    }
+
+    @Operation(summary = "停止加热")
+    @GetMapping("/stopHeating")
+    public Result<String> stopHeating() {
+        boolean success = deviceService.stopHeating();
+        if (success) {
+            return Result.success();
+        } else {
+            return Result.failed("停止加热失败");
+        }
+    }
+
+    @Operation(summary = "抬起托盘到指定高度")
+    @GetMapping("/moveTrayToHeight")
+    public Result<String> moveTrayToHeight(@RequestParam double distance) {
+        boolean success = deviceService.moveTrayToHeight(distance);
+        if (success) {
+            return Result.success();
+        } else {
+            return Result.failed("抬起托盘到指定高度失败");
+        }
+    }
+
+    @Operation(summary = "设置托盘抬起速度")
+    @GetMapping("/setTraySpeed")
+    public Result<String> setTraySpeed(@RequestParam int speed) {
+        boolean success = deviceService.setTraySpeed(speed);
+        if (success) {
+            return Result.success();
+        } else {
+            return Result.failed("设置托盘抬起速度失败");
+        }
+    }
+
+    @Operation(summary = "拍照")
+    @GetMapping("/takePhoto")
+    public Result<String> takePhoto() {
+        boolean success = deviceService.takePhoto();
+        if (success) {
+            return Result.success();
+        } else {
+            return Result.failed("拍照失败");
+        }
+    }
 }