feat:系统各个状态写入值

src/main/java/com/iflytop/gd/app/cmd/DoorCloseCommand.java

@@ -4,6 +4,7 @@ import com.iflytop.gd.app.core.BaseCommandHandler;
 import com.iflytop.gd.app.model.dto.CmdDTO;
 import com.iflytop.gd.app.service.DeviceCommandUtilService;
 import com.iflytop.gd.app.service.DevicePositionService;
+import com.iflytop.gd.app.service.DeviceStateService;
 import com.iflytop.gd.common.annotation.CommandMapping;
 import com.iflytop.gd.common.enums.data.DevicePositionCode;
 import com.iflytop.gd.hardware.service.GDDeviceStatusService;
@@ -23,13 +24,15 @@ import java.util.concurrent.CompletableFuture;
 public class DoorCloseCommand extends BaseCommandHandler {
     private final DeviceCommandUtilService deviceCommandUtilService;
     private final DevicePositionService devicePositionService;
-    private final GDDeviceStatusService gDDeviceStatusService;
+    private final DeviceStateService deviceStateService;
+
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
             Double doorOpenDistance = devicePositionService.getPosition(DevicePositionCode.doorClose).getDistance();
             deviceCommandUtilService.doorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), doorOpenDistance);
+            deviceStateService.setDoorStatus(false);
             //TODO 关门口判断加液模块是否有托盘
         });
     }

src/main/java/com/iflytop/gd/app/cmd/HeatStartCommand.java

@@ -30,6 +30,7 @@ public class HeatStartCommand extends BaseCommandHandler {
         return runAsync(() -> {
             double temperature = deviceStateService.getHeatModuleState(heatModuleId).getTemperature();
             deviceCommandUtilService.heatRodOpen(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, temperature);
+            deviceStateService.setHeatModuleStateHeating(heatModuleId, true);
         });
     }
 }

src/main/java/com/iflytop/gd/app/cmd/HeatStopCommand.java

@@ -3,6 +3,7 @@ package com.iflytop.gd.app.cmd;
 import com.iflytop.gd.app.core.BaseCommandHandler;
 import com.iflytop.gd.app.model.dto.CmdDTO;
 import com.iflytop.gd.app.service.DeviceCommandUtilService;
+import com.iflytop.gd.app.service.DeviceStateService;
 import com.iflytop.gd.common.annotation.CommandMapping;
 import com.iflytop.gd.common.enums.HeatModuleCode;
 import lombok.RequiredArgsConstructor;
@@ -20,6 +21,7 @@ import java.util.concurrent.CompletableFuture;
 @CommandMapping("heat_stop")//业务指令注解
 public class HeatStopCommand extends BaseCommandHandler {
     private final DeviceCommandUtilService deviceCommandUtilService;
+    private final DeviceStateService deviceStateService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
@@ -27,6 +29,7 @@ public class HeatStopCommand extends BaseCommandHandler {
         HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
         return runAsync(() -> {
             deviceCommandUtilService.heatRodClose(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId);
+            deviceStateService.setHeatModuleStateHeating(heatModuleId, false);
         });
     }
 }

src/main/java/com/iflytop/gd/app/cmd/MoveToHeatAreaCommand.java

@@ -5,6 +5,7 @@ import com.iflytop.gd.app.model.bo.Point3D;
 import com.iflytop.gd.app.model.dto.CmdDTO;
 import com.iflytop.gd.app.service.DeviceCommandUtilService;
 import com.iflytop.gd.app.service.DevicePositionService;
+import com.iflytop.gd.app.service.DeviceStateService;
 import com.iflytop.gd.app.service.GantryArmService;
 import com.iflytop.gd.common.annotation.CommandMapping;
 import com.iflytop.gd.common.enums.HeatModuleCode;
@@ -26,6 +27,7 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
     private final DeviceCommandUtilService deviceCommandUtilService;
     private final DevicePositionService devicePositionService;
     private final GantryArmService gantryArmService;
+    private final DeviceStateService deviceStateService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
@@ -42,6 +44,7 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
             deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayGrip);//将夹爪收紧
             double traySafetyHeight = devicePositionService.getPosition(DevicePositionCode.traySafetyHeight).getDistance();//获取移动托盘的安全高度
             deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -traySafetyHeight);//机械臂提升至移动托盘的安全高度
+            deviceStateService.setSolutionModuleStateTrayStatus(0);
             Point3D heatAreaTrayClawPoint3D = deviceCommandUtilService.getHeatAreaTrayClawPoint3D(heatModuleId);//获取指定托盘上方点位
             Point3D heatAreaTrayClawSafetyHeightPoint3D = new Point3D(heatAreaTrayClawPoint3D.getX(), heatAreaTrayClawPoint3D.getY(), heatAreaTrayClawPoint3D.getZ() - traySafetyHeight);//加热区托盘点位上方减去移动托盘的安全高度
             deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaTrayClawSafetyHeightPoint3D);//将携带托盘的机械臂移动至托盘上方
@@ -62,12 +65,14 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
             Point3D heatAreaCapClawSafetyHeightPoint3D = new Point3D(heatAreaCapClawPoint3D.getX(), heatAreaCapClawPoint3D.getY(), heatAreaCapClawPoint3D.getZ() - capSafetyHeight);//加热区拍子上方加上移动拍子的安全高度
             deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaCapClawSafetyHeightPoint3D);//将机械臂移动至拍子上方加上移动拍子的安全高度
             deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), traySafetyHeight); //降下机械臂使拍子盖住托盘试管
+            deviceStateService.setHeatModuleStateCapExist(heatModuleId, true);
             deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪张开
             deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -clawDescend);//抬升机械臂至托盘上方
             gantryArmService.setLiquidIdleTrue();//释放加液区等待
-
+            deviceStateService.setHeatModuleStateTrayStatus(heatModuleId, 2);
             double trayLower = devicePositionService.getPosition(DevicePositionCode.trayLower).getDistance(); //获取加热位下降托盘位置
             deviceCommandUtilService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLower);//下降加热位托盘
+            deviceStateService.setHeatModuleStateTrayStatus(heatModuleId, 1);
         });
     }
 }

src/main/java/com/iflytop/gd/app/cmd/MoveToSolutionAreaCommand.java

@@ -5,6 +5,7 @@ import com.iflytop.gd.app.model.bo.Point3D;
 import com.iflytop.gd.app.model.dto.CmdDTO;
 import com.iflytop.gd.app.service.DeviceCommandUtilService;
 import com.iflytop.gd.app.service.DevicePositionService;
+import com.iflytop.gd.app.service.DeviceStateService;
 import com.iflytop.gd.app.service.GantryArmService;
 import com.iflytop.gd.common.annotation.CommandMapping;
 import com.iflytop.gd.common.enums.HeatModuleCode;
@@ -26,6 +27,7 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
     private final DeviceCommandUtilService deviceCommandUtilService;
     private final DevicePositionService devicePositionService;
     private final GantryArmService gantryArmService;
+    private final DeviceStateService deviceStateService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
@@ -36,6 +38,7 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
             gantryArmService.setLiquidIdleFalse();//锁定加液区
             double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //获取加热位抬升托盘位置
             deviceCommandUtilService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLift);//抬升加热位托盘
+            deviceStateService.setHeatModuleStateTrayStatus(heatModuleId, 2);
             //TODO 判断托盘是否有拍子
             Point3D heatAreaCapClawPoint3D = deviceCommandUtilService.getHeatAreaCapClawPointPoint3D(heatModuleId);//获取托盘上方拍子点位
             deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaCapClawPoint3D);//将机械臂移动至拍子上方
@@ -47,6 +50,7 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
             deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapGrip);//将夹爪收紧
             double capSafetyHeight = devicePositionService.getPosition(DevicePositionCode.capSafetyHeight).getDistance();//获取移动拍子的安全高度
             deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -capSafetyHeight);//机械臂提升至移动拍子的安全高度
+            deviceStateService.setHeatModuleStateCapExist(heatModuleId, false);
             deviceCommandUtilService.capMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), -1); //下降拍子存放区1个位置
             Point3D capStorageCapClawPoint3D = devicePositionService.getPosition(DevicePositionCode.capStorageCapClawPoint).getPoint3D();//获取拍子存放区上方点位;
             Point3D capStorageCapClawSafetyHeightPoint3D = new Point3D(capStorageCapClawPoint3D.getX(), capStorageCapClawPoint3D.getY(), capStorageCapClawPoint3D.getZ() - capSafetyHeight);//拍子存放区上方加上移动拍子的安全高度
@@ -63,11 +67,13 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
             deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayGrip);//将夹爪收紧
             double traySafetyHeight = devicePositionService.getPosition(DevicePositionCode.traySafetyHeight).getDistance();//获取移动托盘的安全高度
             deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -traySafetyHeight);//机械臂提升至移动托盘的安全高度
+            deviceStateService.setHeatModuleStateTrayStatus(heatModuleId, 0);
             Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液区托盘夹爪点
             Point3D liquidAreaTraySafetyHeightPoint3D = new Point3D(liquidAreaTrayPoint3D.getX(), liquidAreaTrayPoint3D.getY(), liquidAreaTrayPoint3D.getZ() - traySafetyHeight);//加液区托盘点位上方加上移动托盘的安全高度
             deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTraySafetyHeightPoint3D);//移动机械臂至加液区托盘点位上方减去移动托盘的安全高度
             deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), traySafetyHeight);//下降机械臂将托盘与试管落入加液区
             deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayPick);//松开夹爪，放下托盘
+            deviceStateService.setSolutionModuleStateTrayStatus(1);
             deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -clawDescend);//抬升机械臂至托盘上方
         });
     }

src/main/java/com/iflytop/gd/app/cmd/ShakeStartCommand.java

@@ -3,6 +3,7 @@ package com.iflytop.gd.app.cmd;
 import com.iflytop.gd.app.core.BaseCommandHandler;
 import com.iflytop.gd.app.model.dto.CmdDTO;
 import com.iflytop.gd.app.service.DeviceCommandUtilService;
+import com.iflytop.gd.app.service.DeviceStateService;
 import com.iflytop.gd.common.annotation.CommandMapping;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -19,11 +20,13 @@ import java.util.concurrent.CompletableFuture;
 @CommandMapping("shake_start")//业务指令注解
 public class ShakeStartCommand extends BaseCommandHandler {
     private final DeviceCommandUtilService deviceCommandUtilService;
+    private final DeviceStateService deviceStateService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
             deviceCommandUtilService.shakeStart(cmdDTO.getCommandId(), cmdDTO.getCommand());//开始摇匀
+            deviceStateService.setSolutionModuleStateShaking(true);
         });
     }
 }

src/main/java/com/iflytop/gd/app/cmd/ShakeStopCommand.java

@@ -3,6 +3,7 @@ package com.iflytop.gd.app.cmd;
 import com.iflytop.gd.app.core.BaseCommandHandler;
 import com.iflytop.gd.app.model.dto.CmdDTO;
 import com.iflytop.gd.app.service.DeviceCommandUtilService;
+import com.iflytop.gd.app.service.DeviceStateService;
 import com.iflytop.gd.common.annotation.CommandMapping;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -19,11 +20,13 @@ import java.util.concurrent.CompletableFuture;
 @CommandMapping("shake_stop")//业务指令注解
 public class ShakeStopCommand extends BaseCommandHandler {
     private final DeviceCommandUtilService deviceCommandUtilService;
+    private final DeviceStateService deviceStateService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
             deviceCommandUtilService.shakeStop(cmdDTO.getCommandId(), cmdDTO.getCommand());//停止摇匀
+            deviceStateService.setSolutionModuleStateShaking(false);
         });
     }
 }

src/main/java/com/iflytop/gd/app/cmd/SolutionAddCommand.java

@@ -7,6 +7,7 @@ import com.iflytop.gd.app.model.bo.Point2D;
 import com.iflytop.gd.app.model.dto.CmdDTO;
 import com.iflytop.gd.app.service.ContainerService;
 import com.iflytop.gd.app.service.DeviceCommandUtilService;
+import com.iflytop.gd.app.service.DeviceStateService;
 import com.iflytop.gd.common.annotation.CommandMapping;
 import com.iflytop.gd.common.enums.AcidPumpDeviceCode;
 import com.iflytop.gd.common.exception.AppException;
@@ -27,9 +28,11 @@ import java.util.concurrent.CompletableFuture;
 public class SolutionAddCommand extends BaseCommandHandler {
     private final DeviceCommandUtilService deviceCommandUtilService;
     private final ContainerService containerService;
+    private final DeviceStateService deviceStateService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        deviceStateService.setSolutionModuleStatePumping(true);
         return runAsync(() -> {
             JSONArray dataList = (JSONArray) cmdDTO.getParams().get("dataList");
             for (int i = 0; i < dataList.size(); i++) {
@@ -49,6 +52,7 @@ public class SolutionAddCommand extends BaseCommandHandler {
                 }
             }
             deviceCommandUtilService.dualRobotOrigin();
+            deviceStateService.setSolutionModuleStatePumping(false);
         });
     }
 }

src/main/java/com/iflytop/gd/app/service/DeviceCommandService.java

@@ -27,7 +27,6 @@ public class DeviceCommandService {
     private final HardwareService hardwareService;
     private final WebSocketService webSocketService;
     private final DeviceStateService deviceStateService;
-
     /**
      * 需要等待加液区空闲的龙门架机械臂指令
      */
@@ -42,21 +41,24 @@ public class DeviceCommandService {
     private void executeCommands() {
         while (true) {
             try {
+                deviceStateService.setGantryArmStateIdle(true);
                 CommandFuture[] commandFutureArray = gantryCommandQueue.take();
                 for (CommandFuture commandFuture : commandFutureArray) {
                     executeCommand(commandFuture);
                 }
             } catch (Exception e) {
                 Thread.currentThread().interrupt();
+            }finally {
+                deviceStateService.setGantryArmStateIdle(false);
             }
         }
     }
 
-    public synchronized CommandFuture[] sendCommandQueue(DeviceCommandBundle... deviceCommandBundles) {
-        return sendCommandQueue(null, null, deviceCommandBundles);
+    public synchronized CommandFuture[] sendCommandGantryQueue(DeviceCommandBundle... deviceCommandBundles) {
+        return sendCommandGantryQueue(null, null, deviceCommandBundles);
     }
 
-    public synchronized CommandFuture[] sendCommandQueue(String cmdId, String cmdCode, DeviceCommandBundle... deviceCommandBundles) {
+    public synchronized CommandFuture[] sendCommandGantryQueue(String cmdId, String cmdCode, DeviceCommandBundle... deviceCommandBundles) {
         List<CommandFuture> commandFutureList = new ArrayList<>();
         for (DeviceCommandBundle deviceCommandBundle : deviceCommandBundles) {
             commandFutureList.add(createDeviceCommandFuture(cmdId, cmdCode, deviceCommandBundle));

src/main/java/com/iflytop/gd/app/service/DeviceCommandUtilService.java

@@ -56,7 +56,7 @@ public class DeviceCommandUtilService {
         DeviceCommandBundle gantryXMoveDeviceCommand = DeviceCommandGenerator.gantryXMove(point.getX());
         DeviceCommandBundle gantryYMoveDeviceCommand = DeviceCommandGenerator.gantryYMove(point.getY());
         DeviceCommandBundle gantryZMoveDeviceCommand = DeviceCommandGenerator.gantryZMove(point.getZ());
-        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(cmdId, cmdCode, gantryXMoveDeviceCommand, gantryYMoveDeviceCommand, gantryZMoveDeviceCommand);
+        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, gantryXMoveDeviceCommand, gantryYMoveDeviceCommand, gantryZMoveDeviceCommand);
         commandWait(deviceCommandFutureArr);
     }
 
@@ -73,7 +73,7 @@ public class DeviceCommandUtilService {
      */
     public void gantryXMoveOrigin(String cmdId, String cmdCode) throws Exception {
         DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXOrigin();
-        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(cmdId, cmdCode, deviceCommand);
+        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand);
         commandWait(deviceCommandFutureArr);
     }
 
@@ -89,7 +89,7 @@ public class DeviceCommandUtilService {
      */
     public void gantryYMoveOrigin(String cmdId, String cmdCode) throws Exception {
         DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYOrigin();
-        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(cmdId, cmdCode, deviceCommand);
+        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand);
         commandWait(deviceCommandFutureArr);
     }
 
@@ -105,7 +105,7 @@ public class DeviceCommandUtilService {
      */
     public void gantryZMoveOrigin(String cmdId, String cmdCode) throws Exception {
         DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZOrigin();
-        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(cmdId, cmdCode, deviceCommand);
+        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand);
         commandWait(deviceCommandFutureArr);
     }
 
@@ -121,7 +121,7 @@ public class DeviceCommandUtilService {
      */
     public void gantryXMove(String cmdId, String cmdCode, double position) throws Exception {
         DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMove(position);
-        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(cmdId, cmdCode, deviceCommand);
+        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand);
         commandWait(deviceCommandFutureArr);
     }
 
@@ -137,7 +137,7 @@ public class DeviceCommandUtilService {
      */
     public void gantryYMove(String cmdId, String cmdCode, double position) throws Exception {
         DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYMove(position);
-        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(cmdId, cmdCode, deviceCommand);
+        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand);
         commandWait(deviceCommandFutureArr);
     }
 
@@ -153,7 +153,7 @@ public class DeviceCommandUtilService {
      */
     public void gantryZMove(String cmdId, String cmdCode, double position) throws Exception {
         DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMove(position);
-        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(cmdId, cmdCode, deviceCommand);
+        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand);
         commandWait(deviceCommandFutureArr);
     }
 
@@ -169,7 +169,7 @@ public class DeviceCommandUtilService {
      */
     public void gantryXMoveBy(String cmdId, String cmdCode, double position) throws Exception {
         DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMoveBy(position);
-        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(cmdId, cmdCode, deviceCommand);
+        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand);
         commandWait(deviceCommandFutureArr);
     }
 
@@ -185,7 +185,7 @@ public class DeviceCommandUtilService {
      */
     public void gantryYMoveBy(String cmdId, String cmdCode, double position) throws Exception {
         DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYMoveBy(position);
-        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(cmdId, cmdCode, deviceCommand);
+        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand);
         commandWait(deviceCommandFutureArr);
     }
 
@@ -201,7 +201,7 @@ public class DeviceCommandUtilService {
      */
     public void gantryZMoveBy(String cmdId, String cmdCode, double position) throws Exception {
         DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMoveBy(position);
-        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(cmdId, cmdCode, deviceCommand);
+        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandGantryQueue(cmdId, cmdCode, deviceCommand);
         commandWait(deviceCommandFutureArr);
     }
 

src/main/java/com/iflytop/gd/app/service/DeviceInitService.java

@@ -87,6 +87,6 @@ public class DeviceInitService {
                 solutionBucket.add(new SolutionContainerState(container.getId(), ContainerCode.valueOf(container.getCode()), ContainerType.neutralization));
             }
         }
-        deviceState.setInitComplete(true);
+        deviceStateService.setInitComplete(true);
     }
 }