Merge remote-tracking branch 'origin/master'

src/main/java/com/iflytop/gd/app/cmd/debug/ColdTrapStartRecycleCommandHandler.java

@@ -0,0 +1,29 @@
+package com.iflytop.gd.app.cmd.debug;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.DeviceCommandService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import com.iflytop.gd.common.cmd.CommandFuture;
+import com.iflytop.gd.common.cmd.DeviceCommand;
+import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * 处理冷阱开启循环指令
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_cold_trap_start_recycle")
+public class ColdTrapStartRecycleCommandHandler extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+    @Override
+    public void handle(CmdDTO cmdDTO) throws Exception {
+        DeviceCommand deviceCommand = DeviceCommandGenerator.coldTrapOpenCircle();
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+}

src/main/java/com/iflytop/gd/app/cmd/debug/ColdTrapStartRefrigerationCommandHandler.java

@@ -0,0 +1,29 @@
+package com.iflytop.gd.app.cmd.debug;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.DeviceCommandService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import com.iflytop.gd.common.cmd.CommandFuture;
+import com.iflytop.gd.common.cmd.DeviceCommand;
+import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * 处理启动冷阱制冷指令
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_cold_trap_start_refrigeration")
+public class ColdTrapStartRefrigerationCommandHandler extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+    @Override
+    public void handle(CmdDTO cmdDTO) throws Exception {
+        DeviceCommand deviceCommand = DeviceCommandGenerator.coldTrapOpenCool();
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+}

src/main/java/com/iflytop/gd/app/cmd/debug/ColdTrapStopHeatingCommandHandler.java

@@ -0,0 +1,22 @@
+package com.iflytop.gd.app.cmd.debug;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * 处理冷阱停止加热指令
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_cold_trap_stop_heating")
+public class ColdTrapStopHeatingCommandHandler extends BaseCommandHandler {
+    @Override
+    public void handle(CmdDTO cmdDTO) {
+
+    }
+}

src/main/java/com/iflytop/gd/app/cmd/debug/ColdTrapStopRecycleCommandHandler.java

@@ -0,0 +1,29 @@
+package com.iflytop.gd.app.cmd.debug;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.DeviceCommandService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import com.iflytop.gd.common.cmd.CommandFuture;
+import com.iflytop.gd.common.cmd.DeviceCommand;
+import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * 处理停止冷阱循环指令
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_cold_trap_stop_recycle")
+public class ColdTrapStopRecycleCommandHandler extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+    @Override
+    public void handle(CmdDTO cmdDTO) throws Exception {
+        DeviceCommand deviceCommand = DeviceCommandGenerator.coldTrapCloseCircle();
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+}

src/main/java/com/iflytop/gd/app/cmd/debug/ColdTrapStopRefrigerationCommandHandler.java

@@ -0,0 +1,29 @@
+package com.iflytop.gd.app.cmd.debug;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.DeviceCommandService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import com.iflytop.gd.common.cmd.CommandFuture;
+import com.iflytop.gd.common.cmd.DeviceCommand;
+import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * 处理停止冷阱制冷指令
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_cold_trap_stop_refrigeration")
+public class ColdTrapStopRefrigerationCommandHandler extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+    @Override
+    public void handle(CmdDTO cmdDTO) throws Exception {
+        DeviceCommand deviceCommand = DeviceCommandGenerator.coldTrapCloseCool();
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+}

src/main/java/com/iflytop/gd/app/cmd/debug/CoverElevatorLiftDownCommandHandler.java

@@ -0,0 +1,30 @@
+package com.iflytop.gd.app.cmd.debug;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.DeviceCommandService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import com.iflytop.gd.common.cmd.CommandFuture;
+import com.iflytop.gd.common.cmd.DeviceCommand;
+import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * 处理拍子电机下降指令
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_cover_elevator_lift_down")
+public class CoverElevatorLiftDownCommandHandler extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+    @Override
+    public void handle(CmdDTO cmdDTO) throws Exception {
+        Double velocity = cmdDTO.getDoubleParam("velocity");
+        DeviceCommand deviceCommand = DeviceCommandGenerator.trayMotorMove(velocity);
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+}

src/main/java/com/iflytop/gd/app/cmd/debug/DebugDoorMove.java → src/main/java/com/iflytop/gd/app/cmd/debug/CoverElevatorLiftUpCommandHandler.java

@@ -11,19 +11,20 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
+
 /**
- * 门电机 移动指定距离
+ * 处理拍子电机抬升指令
  */
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandMapping("debug_door_move")
-public class DebugDoorMove extends BaseCommandHandler {
+@CommandMapping("debug_cover_elevator_lift_up")
+public class CoverElevatorLiftUpCommandHandler extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
     @Override
     public void handle(CmdDTO cmdDTO) throws Exception {
-        Double position = cmdDTO.getDoubleParam("position");
-        DeviceCommand deviceCommand = DeviceCommandGenerator.doorMove(position);
+        Double velocity = cmdDTO.getDoubleParam("velocity");
+        DeviceCommand deviceCommand = DeviceCommandGenerator.trayMotorMove(velocity);
         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
         commandWait(deviceCommandFuture);
     }

src/main/java/com/iflytop/gd/app/cmd/debug/DebugDoorOpen.java → src/main/java/com/iflytop/gd/app/cmd/debug/CoverElevatorResetCommandHandler.java

@@ -12,19 +12,18 @@ import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
 /**
- * 门电机 开门
+ * 处理拍子抬升电机复位指令
  */
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandMapping("debug_door_open")
-public class DebugDoorOpen extends BaseCommandHandler {
+@CommandMapping("debug_cover_elevator_reset")
+public class CoverElevatorResetCommandHandler extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
     @Override
     public void handle(CmdDTO cmdDTO) throws Exception {
-        Double position = cmdDTO.getDoubleParam("position");
-        DeviceCommand deviceCommand = DeviceCommandGenerator.doorMove(position);
+        DeviceCommand deviceCommand = DeviceCommandGenerator.trayMotorOrigin();
         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
         commandWait(deviceCommandFuture);
     }

src/main/java/com/iflytop/gd/app/cmd/debug/CoverElevatorStopCommandHandler.java

@@ -0,0 +1,30 @@
+package com.iflytop.gd.app.cmd.debug;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.DeviceCommandService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import com.iflytop.gd.common.cmd.CommandFuture;
+import com.iflytop.gd.common.cmd.DeviceCommand;
+import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * 处理拍子抬升电机停止指令
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_cover_elevator_stop")
+public class CoverElevatorStopCommandHandler extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public void handle(CmdDTO cmdDTO) throws Exception {
+        DeviceCommand deviceCommand = DeviceCommandGenerator.trayMotorStop();
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+}

src/main/java/com/iflytop/gd/app/cmd/debug/DebugPumpSet.java

@@ -1,47 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.app.service.DeviceCommandService;
-import com.iflytop.gd.common.annotation.CommandMapping;
-import com.iflytop.gd.common.cmd.CommandFuture;
-import com.iflytop.gd.common.cmd.DeviceCommand;
-import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
-import com.iflytop.gd.common.enums.cmd.CmdDevice;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 加液泵 设置加液泵
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("debug_pump_set")
-public class DebugPumpSet extends BaseCommandHandler {
-    private final DeviceCommandService deviceCommandService;
-
-    @Override
-    public void handle(CmdDTO cmdDTO) throws Exception {
-        String pumpId = cmdDTO.getStringParam("pumpId");
-        Integer current = cmdDTO.getIntegerParam("current");
-        Double speed = cmdDTO.getDoubleParam("speed");
-        Double innerDiameter = cmdDTO.getDoubleParam("innerDiameter");
-        CmdDevice pumpDevice = CmdDevice.valueOf(pumpId);
-        DeviceCommand deviceCommand;
-        switch (pumpDevice) {
-            case CmdDevice.acid_pump_1 -> deviceCommand = DeviceCommandGenerator.acidPump1Set(current, speed);
-            case CmdDevice.acid_pump_2 -> deviceCommand = DeviceCommandGenerator.acidPump2Set(current, speed);
-            case CmdDevice.acid_pump_3 -> deviceCommand = DeviceCommandGenerator.acidPump3Set(current, speed);
-            case CmdDevice.acid_pump_4 -> deviceCommand = DeviceCommandGenerator.acidPump4Set(current, speed);
-            case CmdDevice.acid_pump_5 -> deviceCommand = DeviceCommandGenerator.acidPump5Set(current, speed);
-            case CmdDevice.acid_pump_6 -> deviceCommand = DeviceCommandGenerator.acidPump6Set(current, speed);
-            case CmdDevice.acid_pump_7 -> deviceCommand = DeviceCommandGenerator.acidPump7Set(current, speed);
-            case CmdDevice.acid_pump_8 -> deviceCommand = DeviceCommandGenerator.acidPump8Set(current, speed);
-            default -> throw new RuntimeException("pumpId 未找到");
-        }
-        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-        commandWait(deviceCommandFuture);
-    }
-}

src/main/java/com/iflytop/gd/app/cmd/debug/DebugPumpStart.java

@@ -1,48 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.app.service.DeviceCommandService;
-import com.iflytop.gd.common.annotation.CommandMapping;
-import com.iflytop.gd.common.cmd.CommandFuture;
-import com.iflytop.gd.common.cmd.DeviceCommand;
-import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
-import com.iflytop.gd.common.enums.cmd.CmdDevice;
-import com.iflytop.gd.common.enums.cmd.CmdDirection;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 加液泵 启动加液泵
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("debug_pump_start")
-public class DebugPumpStart extends BaseCommandHandler {
-    private final DeviceCommandService deviceCommandService;
-
-    @Override
-    public void handle(CmdDTO cmdDTO) throws Exception {
-        String pumpId = cmdDTO.getStringParam("pumpId");
-        String direction = cmdDTO.getStringParam("direction");
-        Double volume = cmdDTO.getDoubleParam("volume");
-        CmdDirection directionEnum = CmdDirection.valueOf(direction);
-        CmdDevice pumpDevice = CmdDevice.valueOf(pumpId);
-        DeviceCommand deviceCommand;
-        switch (pumpDevice) {
-            case CmdDevice.acid_pump_1 -> deviceCommand = DeviceCommandGenerator.acidPump1Move(directionEnum, volume);
-            case CmdDevice.acid_pump_2 -> deviceCommand = DeviceCommandGenerator.acidPump2Move(directionEnum, volume);
-            case CmdDevice.acid_pump_3 -> deviceCommand = DeviceCommandGenerator.acidPump3Move(directionEnum, volume);
-            case CmdDevice.acid_pump_4 -> deviceCommand = DeviceCommandGenerator.acidPump4Move(directionEnum, volume);
-            case CmdDevice.acid_pump_5 -> deviceCommand = DeviceCommandGenerator.acidPump5Move(directionEnum, volume);
-            case CmdDevice.acid_pump_6 -> deviceCommand = DeviceCommandGenerator.acidPump6Move(directionEnum, volume);
-            case CmdDevice.acid_pump_7 -> deviceCommand = DeviceCommandGenerator.acidPump7Move(directionEnum, volume);
-            case CmdDevice.acid_pump_8 -> deviceCommand = DeviceCommandGenerator.acidPump8Move(directionEnum, volume);
-            default -> throw new RuntimeException("pumpId 未找到");
-        }
-        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-        commandWait(deviceCommandFuture);
-    }
-}

src/main/java/com/iflytop/gd/app/cmd/debug/DebugPumpStop.java

@@ -1,45 +0,0 @@
-package com.iflytop.gd.app.cmd.debug;
-
-import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.app.service.DeviceCommandService;
-import com.iflytop.gd.common.annotation.CommandMapping;
-import com.iflytop.gd.common.cmd.CommandFuture;
-import com.iflytop.gd.common.cmd.DeviceCommand;
-import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
-import com.iflytop.gd.common.enums.cmd.CmdDevice;
-import com.iflytop.gd.common.enums.cmd.CmdDirection;
-import lombok.RequiredArgsConstructor;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 加液泵 停止加液泵
- */
-@Slf4j
-@Component
-@RequiredArgsConstructor
-@CommandMapping("debug_pump_stop")
-public class DebugPumpStop extends BaseCommandHandler {
-    private final DeviceCommandService deviceCommandService;
-
-    @Override
-    public void handle(CmdDTO cmdDTO) throws Exception {
-        String pumpId = cmdDTO.getStringParam("pumpId");
-        CmdDevice pumpDevice = CmdDevice.valueOf(pumpId);
-        DeviceCommand deviceCommand;
-        switch (pumpDevice) {
-            case CmdDevice.acid_pump_1 -> deviceCommand = DeviceCommandGenerator.acidPump1Stop();
-            case CmdDevice.acid_pump_2 -> deviceCommand = DeviceCommandGenerator.acidPump2Stop();
-            case CmdDevice.acid_pump_3 -> deviceCommand = DeviceCommandGenerator.acidPump3Stop();
-            case CmdDevice.acid_pump_4 -> deviceCommand = DeviceCommandGenerator.acidPump4Stop();
-            case CmdDevice.acid_pump_5 -> deviceCommand = DeviceCommandGenerator.acidPump5Stop();
-            case CmdDevice.acid_pump_6 -> deviceCommand = DeviceCommandGenerator.acidPump6Stop();
-            case CmdDevice.acid_pump_7 -> deviceCommand = DeviceCommandGenerator.acidPump7Stop();
-            case CmdDevice.acid_pump_8 -> deviceCommand = DeviceCommandGenerator.acidPump8Stop();
-            default -> throw new RuntimeException("pumpId 未找到");
-        }
-        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-        commandWait(deviceCommandFuture);
-    }
-}

src/main/java/com/iflytop/gd/app/cmd/debug/DebugDoorClose.java → src/main/java/com/iflytop/gd/app/cmd/debug/DoorCloseCommandHandler.java

@@ -12,19 +12,18 @@ import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
 /**
- * 门电机 关门
+ * 处理关门指令
  */
 @Slf4j
 @Component
 @RequiredArgsConstructor
 @CommandMapping("debug_door_close")
-public class DebugDoorClose extends BaseCommandHandler {
+public class DoorCloseCommandHandler extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
     @Override
     public void handle(CmdDTO cmdDTO) throws Exception {
-        Double position = cmdDTO.getDoubleParam("position");
-        DeviceCommand deviceCommand = DeviceCommandGenerator.doorMove(position);
+        DeviceCommand deviceCommand = DeviceCommandGenerator.doorMove(0.0);
         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
         commandWait(deviceCommandFuture);
     }

src/main/java/com/iflytop/gd/app/cmd/debug/DebugDoorOrigin.java → src/main/java/com/iflytop/gd/app/cmd/debug/DoorOpenCommandHandler.java

@@ -12,17 +12,17 @@ import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
 /**
- * 门电机 回原点
+ * 处理开门指令
  */
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandMapping("debug_door_stop")
-public class DebugDoorOrigin extends BaseCommandHandler {
+@CommandMapping("debug_door_open")
+public class DoorOpenCommandHandler extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
     @Override
     public void handle(CmdDTO cmdDTO) throws Exception {
-        DeviceCommand deviceCommand = DeviceCommandGenerator.doorOrigin();
+        DeviceCommand deviceCommand = DeviceCommandGenerator.doorMove(100.0);
         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
         commandWait(deviceCommandFuture);
     }

src/main/java/com/iflytop/gd/app/cmd/debug/DebugDoorStop.java → src/main/java/com/iflytop/gd/app/cmd/debug/DoorStopCommandHandler.java

@@ -12,13 +12,13 @@ import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
 /**
- * 门电机 停止移动
+ * 处理停止门运动指令处理器
  */
 @Slf4j
 @Component
 @RequiredArgsConstructor
 @CommandMapping("debug_door_stop")
-public class DebugDoorStop extends BaseCommandHandler {
+public class DoorStopCommandHandler extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
     @Override
     public void handle(CmdDTO cmdDTO) throws Exception {

src/main/java/com/iflytop/gd/app/cmd/debug/DebugDoorSet.java → src/main/java/com/iflytop/gd/app/cmd/debug/FanStartCommandHandler.java

@@ -12,20 +12,28 @@ import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
 /**
- * 门电机 设置参数
+ * 打开冷却风扇
  */
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandMapping("debug_door_set")
-public class DebugDoorSet extends BaseCommandHandler {
+@CommandMapping("debug_fan_start")
+public class FanStartCommandHandler extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
     @Override
     public void handle(CmdDTO cmdDTO) throws Exception {
-        Integer current = cmdDTO.getIntegerParam("current");
-        Double speed = cmdDTO.getDoubleParam("speed");
-        DeviceCommand deviceCommand = DeviceCommandGenerator.doorSet(current, speed);
+        Integer index = cmdDTO.getIntegerParam("index");
+        DeviceCommand deviceCommand;
+        switch (index) {
+            case 1 -> deviceCommand = DeviceCommandGenerator.fan1Open();
+            case 2 -> deviceCommand = DeviceCommandGenerator.fan2Open();
+            case 3 -> deviceCommand = DeviceCommandGenerator.fan3Open();
+            case 4 -> deviceCommand = DeviceCommandGenerator.fan4Open();
+            case 5 -> deviceCommand = DeviceCommandGenerator.fan5Open();
+            case 6 -> deviceCommand = DeviceCommandGenerator.fan6Open();
+            default -> throw new RuntimeException("index 未找到");
+        }
         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
         commandWait(deviceCommandFuture);
     }

src/main/java/com/iflytop/gd/app/cmd/debug/DebugSualRobotMovePoint.java → src/main/java/com/iflytop/gd/app/cmd/debug/FanStopCommandHandler.java

@@ -12,20 +12,28 @@ import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
 /**
- * 加液机械臂 移动到指定坐标
+ * 关闭冷却风扇
  */
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandMapping("debug_sual_robot_move_point")
-public class DebugSualRobotMovePoint extends BaseCommandHandler {
+@CommandMapping("debug_fan_stop")
+public class FanStopCommandHandler extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
     @Override
     public void handle(CmdDTO cmdDTO) throws Exception {
-        Double x = cmdDTO.getDoubleParam("x");
-        Double y = cmdDTO.getDoubleParam("y");
-        DeviceCommand deviceCommand = DeviceCommandGenerator.dualRobotMovePoint(x, y);
+        Integer index = cmdDTO.getIntegerParam("index");
+        DeviceCommand deviceCommand;
+        switch (index) {
+            case 1 -> deviceCommand = DeviceCommandGenerator.fan1Close();
+            case 2 -> deviceCommand = DeviceCommandGenerator.fan2Close();
+            case 3 -> deviceCommand = DeviceCommandGenerator.fan3Close();
+            case 4 -> deviceCommand = DeviceCommandGenerator.fan4Close();
+            case 5 -> deviceCommand = DeviceCommandGenerator.fan5Close();
+            case 6 -> deviceCommand = DeviceCommandGenerator.fan6Close();
+            default -> throw new RuntimeException("index 未找到");
+        }
         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
         commandWait(deviceCommandFuture);
     }

src/main/java/com/iflytop/gd/app/cmd/debug/HeaterStartCommandHandler.java

@@ -0,0 +1,41 @@
+package com.iflytop.gd.app.cmd.debug;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.DeviceCommandService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import com.iflytop.gd.common.cmd.CommandFuture;
+import com.iflytop.gd.common.cmd.DeviceCommand;
+import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * 处理启动加热器指令
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_heater_start")
+public class HeaterStartCommandHandler extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public void handle(CmdDTO cmdDTO) throws Exception {
+        Integer index = cmdDTO.getIntegerParam("index");
+        Double temperature = cmdDTO.getDoubleParam("temperature");
+        DeviceCommand deviceCommand;
+        switch (index) {
+            case 1 -> deviceCommand = DeviceCommandGenerator.heatRod1Open(temperature);
+            case 2 -> deviceCommand = DeviceCommandGenerator.heatRod2Open(temperature);
+            case 3 -> deviceCommand = DeviceCommandGenerator.heatRod3Open(temperature);
+            case 4 -> deviceCommand = DeviceCommandGenerator.heatRod4Open(temperature);
+            case 5 -> deviceCommand = DeviceCommandGenerator.heatRod5Open(temperature);
+            case 6 -> deviceCommand = DeviceCommandGenerator.heatRod6Open(temperature);
+            default -> throw new RuntimeException("index 未找到");
+        }
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+}

src/main/java/com/iflytop/gd/app/cmd/debug/HeaterStartHeatMaintainingCommandHandler.java

@@ -0,0 +1,22 @@
+package com.iflytop.gd.app.cmd.debug;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * 处理启动加热器恒温指令
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_heater_start_heat_maintaining")
+public class HeaterStartHeatMaintainingCommandHandler extends BaseCommandHandler {
+    @Override
+    public void handle(CmdDTO cmdDTO) {
+
+    }
+}

src/main/java/com/iflytop/gd/app/cmd/debug/HeaterStopCommandHandler.java

@@ -0,0 +1,40 @@
+package com.iflytop.gd.app.cmd.debug;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.DeviceCommandService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import com.iflytop.gd.common.cmd.CommandFuture;
+import com.iflytop.gd.common.cmd.DeviceCommand;
+import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * 处理停止加热器指令
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_heater_stop")
+public class HeaterStopCommandHandler extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public void handle(CmdDTO cmdDTO) throws Exception {
+        Integer index = cmdDTO.getIntegerParam("index");
+        DeviceCommand deviceCommand;
+        switch (index) {
+            case 1 -> deviceCommand = DeviceCommandGenerator.heatRod1Close();
+            case 2 -> deviceCommand = DeviceCommandGenerator.heatRod2Close();
+            case 3 -> deviceCommand = DeviceCommandGenerator.heatRod3Close();
+            case 4 -> deviceCommand = DeviceCommandGenerator.heatRod4Close();
+            case 5 -> deviceCommand = DeviceCommandGenerator.heatRod5Close();
+            case 6 -> deviceCommand = DeviceCommandGenerator.heatRod6Close();
+            default -> throw new RuntimeException("index 未找到");
+        }
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+}

src/main/java/com/iflytop/gd/app/cmd/debug/HeaterStopMaintainingCommandHandler.java

@@ -0,0 +1,22 @@
+package com.iflytop.gd.app.cmd.debug;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * 处理停止恒温加热指令
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_heater_stop_heat_maintaining")
+public class HeaterStopMaintainingCommandHandler extends BaseCommandHandler {
+    @Override
+    public void handle(CmdDTO cmdDTO) {
+
+    }
+}

src/main/java/com/iflytop/gd/app/cmd/debug/HoldingJawCloseCommandHandler.java

@@ -0,0 +1,29 @@
+package com.iflytop.gd.app.cmd.debug;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.DeviceCommandService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import com.iflytop.gd.common.cmd.CommandFuture;
+import com.iflytop.gd.common.cmd.DeviceCommand;
+import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * 处理夹爪闭合指令
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_holding_jaw_close")
+public class HoldingJawCloseCommandHandler extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+    @Override
+    public void handle(CmdDTO cmdDTO) throws Exception {
+        DeviceCommand deviceCommand = DeviceCommandGenerator.clawMove(0.0);
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+}

src/main/java/com/iflytop/gd/app/cmd/debug/HoldingJawOpenCommandHandler.java

@@ -0,0 +1,29 @@
+package com.iflytop.gd.app.cmd.debug;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.DeviceCommandService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import com.iflytop.gd.common.cmd.CommandFuture;
+import com.iflytop.gd.common.cmd.DeviceCommand;
+import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * 处理打开夹爪指令
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_holding_jaw_open")
+public class HoldingJawOpenCommandHandler extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+    @Override
+    public void handle(CmdDTO cmdDTO) throws Exception {
+        DeviceCommand deviceCommand = DeviceCommandGenerator.clawMove(100.0);
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+}

src/main/java/com/iflytop/gd/app/cmd/debug/HoldingJawPauseCommandHandler.java

@@ -0,0 +1,30 @@
+package com.iflytop.gd.app.cmd.debug;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.DeviceCommandService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import com.iflytop.gd.common.cmd.CommandFuture;
+import com.iflytop.gd.common.cmd.DeviceCommand;
+import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * 处理暂停夹爪指令
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_holding_jaw_pause")
+public class HoldingJawPauseCommandHandler extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public void handle(CmdDTO cmdDTO) throws Exception {
+        DeviceCommand deviceCommand = DeviceCommandGenerator.clawStop();
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+}

src/main/java/com/iflytop/gd/app/cmd/debug/DebugSualRobotOrigin.java → src/main/java/com/iflytop/gd/app/cmd/debug/LiquidArmResetCommandHandler.java

@@ -15,31 +15,29 @@ import java.util.ArrayList;
 import java.util.List;
 
 /**
- * 加液机械臂 回原点
+ * 复位加液臂指令处理器
  */
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandMapping("debug_sual_robot_origin")
-public class DebugSualRobotOrigin extends BaseCommandHandler {
+@CommandMapping("debug_liquid_arm_reset")
+public class LiquidArmResetCommandHandler extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
     @Override
     public void handle(CmdDTO cmdDTO) throws Exception {
-        Boolean joint1 = cmdDTO.getBooleanParam("joint1");
-        Boolean joint2 = cmdDTO.getBooleanParam("joint2");
+        List<String> target = (List<String>) cmdDTO.getParams().get("target");
         List<CommandFuture> futuresList = new ArrayList<>();
-        if (joint1) {
+        if (target != null && target.contains("largeArm")) {
             DeviceCommand deviceCommand = DeviceCommandGenerator.dualRobotJoint1Origin();
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
             futuresList.add(deviceCommandFuture);
         }
-        if (joint2) {
+        if (target != null && target.contains("smallArm")) {
             DeviceCommand deviceCommand = DeviceCommandGenerator.dualRobotJoint2Origin();
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
             futuresList.add(deviceCommandFuture);
         }
-
         commandWait(futuresList.toArray(new CommandFuture[0]));
     }
 }

src/main/java/com/iflytop/gd/app/cmd/debug/DebugSualRobotMoveJoint.java → src/main/java/com/iflytop/gd/app/cmd/debug/LiquidArmRotateCommandHandler.java

@@ -12,22 +12,23 @@ import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
 /**
- * 加液机械臂 轴移动到指定角度
+ * 处理加液臂移动指令
  */
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandMapping("debug_sual_robot_move_joint")
-public class DebugSualRobotMoveJoint extends BaseCommandHandler {
+@CommandMapping("debug_liquid_arm_rotation")
+public class LiquidArmRotateCommandHandler extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
     @Override
     public void handle(CmdDTO cmdDTO) throws Exception {
-        Double joint1 = cmdDTO.getDoubleParam("joint1");
-        Double joint2 = cmdDTO.getDoubleParam("joint2");
-        DeviceCommand deviceCommandJoint1 = DeviceCommandGenerator.dualRobotJoint1Move(joint1);
+        Double largeArmAngle = cmdDTO.getDoubleParam("largeArmAngle");
+        Double smallArmAngle = cmdDTO.getDoubleParam("smallArmAngle");
+        DeviceCommand deviceCommandJoint1 = DeviceCommandGenerator.dualRobotJoint1Move(largeArmAngle);
         CommandFuture deviceCommandJoint1Future = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommandJoint1);
-        DeviceCommand deviceCommandJoint2 = DeviceCommandGenerator.dualRobotJoint1Move(joint2);
+        commandWait(deviceCommandJoint1Future);
+        DeviceCommand deviceCommandJoint2 = DeviceCommandGenerator.dualRobotJoint1Move(smallArmAngle);
         CommandFuture deviceCommandJoint2Future = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommandJoint2);
         commandWait(deviceCommandJoint1Future, deviceCommandJoint2Future);
     }

src/main/java/com/iflytop/gd/app/cmd/debug/DebugSualRobotStop.java → src/main/java/com/iflytop/gd/app/cmd/debug/LiquidArmStopCommandHandler.java

@@ -15,31 +15,29 @@ import java.util.ArrayList;
 import java.util.List;
 
 /**
- * 加液机械臂 停止移动
+ * 处理加液臂停止指令
  */
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandMapping("debug_sual_robot_stop")
-public class DebugSualRobotStop extends BaseCommandHandler {
+@CommandMapping("debug_liquid_arm_stop")
+public class LiquidArmStopCommandHandler extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
     @Override
     public void handle(CmdDTO cmdDTO) throws Exception {
-        Boolean joint1 = cmdDTO.getBooleanParam("joint1");
-        Boolean joint2 = cmdDTO.getBooleanParam("joint2");
+        List<String> target = (List<String>) cmdDTO.getParams().get("target");
         List<CommandFuture> futuresList = new ArrayList<>();
-        if (joint1) {
+        if (target != null && target.contains("largeArm")) {
             DeviceCommand deviceCommand = DeviceCommandGenerator.dualRobotJoint1Stop();
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
             futuresList.add(deviceCommandFuture);
         }
-        if (joint2) {
+        if (target != null && target.contains("smallArm")) {
             DeviceCommand deviceCommand = DeviceCommandGenerator.dualRobotJoint2Stop();
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
             futuresList.add(deviceCommandFuture);
         }
-
         commandWait(futuresList.toArray(new CommandFuture[0]));
     }
 }

src/main/java/com/iflytop/gd/app/cmd/debug/LiquidPumpStartCommandHandler.java

@@ -0,0 +1,47 @@
+package com.iflytop.gd.app.cmd.debug;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.DeviceCommandService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import com.iflytop.gd.common.cmd.CommandFuture;
+import com.iflytop.gd.common.cmd.DeviceCommand;
+import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import com.iflytop.gd.common.enums.cmd.CmdDevice;
+import com.iflytop.gd.common.enums.cmd.CmdDirection;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * 处理加液泵启动指令
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_liquid_pump_start")
+public class LiquidPumpStartCommandHandler extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public void handle(CmdDTO cmdDTO) throws Exception {
+        Integer index = cmdDTO.getIntegerParam("index");
+        String direction = cmdDTO.getStringParam("direction");
+        Double volume = cmdDTO.getDoubleParam("volume");
+        CmdDirection directionEnum = CmdDirection.valueOf(direction);
+        DeviceCommand deviceCommand;
+        switch (index) {
+            case 1 -> deviceCommand = DeviceCommandGenerator.acidPump1Move(directionEnum, volume);
+            case 2 -> deviceCommand = DeviceCommandGenerator.acidPump2Move(directionEnum, volume);
+            case 3 -> deviceCommand = DeviceCommandGenerator.acidPump3Move(directionEnum, volume);
+            case 4 -> deviceCommand = DeviceCommandGenerator.acidPump4Move(directionEnum, volume);
+            case 5 -> deviceCommand = DeviceCommandGenerator.acidPump5Move(directionEnum, volume);
+            case 6 -> deviceCommand = DeviceCommandGenerator.acidPump6Move(directionEnum, volume);
+            case 7 -> deviceCommand = DeviceCommandGenerator.acidPump7Move(directionEnum, volume);
+            case 8 -> deviceCommand = DeviceCommandGenerator.acidPump8Move(directionEnum, volume);
+            default -> throw new RuntimeException("index 未找到");
+        }
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+}

src/main/java/com/iflytop/gd/app/cmd/debug/LiquidPumpStopCommandHandler.java

@@ -0,0 +1,43 @@
+package com.iflytop.gd.app.cmd.debug;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.DeviceCommandService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import com.iflytop.gd.common.cmd.CommandFuture;
+import com.iflytop.gd.common.cmd.DeviceCommand;
+import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import com.iflytop.gd.common.enums.cmd.CmdDevice;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * 处理加液泵停止指令
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_liquid_pump_stop")
+public class LiquidPumpStopCommandHandler extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public void handle(CmdDTO cmdDTO) throws Exception {
+        Integer index = cmdDTO.getIntegerParam("index");
+        DeviceCommand deviceCommand;
+        switch (index) {
+            case 1 -> deviceCommand = DeviceCommandGenerator.acidPump1Stop();
+            case 2 -> deviceCommand = DeviceCommandGenerator.acidPump2Stop();
+            case 3 -> deviceCommand = DeviceCommandGenerator.acidPump3Stop();
+            case 4 -> deviceCommand = DeviceCommandGenerator.acidPump4Stop();
+            case 5 -> deviceCommand = DeviceCommandGenerator.acidPump5Stop();
+            case 6 -> deviceCommand = DeviceCommandGenerator.acidPump6Stop();
+            case 7 -> deviceCommand = DeviceCommandGenerator.acidPump7Stop();
+            case 8 -> deviceCommand = DeviceCommandGenerator.acidPump8Stop();
+            default -> throw new RuntimeException("index 未找到");
+        }
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+}

src/main/java/com/iflytop/gd/app/cmd/debug/PalletElevatorLiftDownCommandHandler.java

@@ -0,0 +1,42 @@
+package com.iflytop.gd.app.cmd.debug;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.DeviceCommandService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import com.iflytop.gd.common.cmd.CommandFuture;
+import com.iflytop.gd.common.cmd.DeviceCommand;
+import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+
+/**
+ * 处理降下托盘指令
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_pallet_elevator_lift_down")
+public class PalletElevatorLiftDownCommandHandler extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public void handle(CmdDTO cmdDTO) throws Exception {
+        Integer index = cmdDTO.getIntegerParam("index");
+        Double distance = cmdDTO.getDoubleParam("distance");
+        DeviceCommand deviceCommand;
+        switch (index) {
+            case 1 -> deviceCommand = DeviceCommandGenerator.heaterMotor1Move(distance);
+            case 2 -> deviceCommand = DeviceCommandGenerator.heaterMotor2Move(distance);
+            case 3 -> deviceCommand = DeviceCommandGenerator.heaterMotor3Move(distance);
+            case 4 -> deviceCommand = DeviceCommandGenerator.heaterMotor4Move(distance);
+            case 5 -> deviceCommand = DeviceCommandGenerator.heaterMotor5Move(distance);
+            case 6 -> deviceCommand = DeviceCommandGenerator.heaterMotor6Move(distance);
+            default -> throw new RuntimeException("index 未找到");
+        }
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+}

src/main/java/com/iflytop/gd/app/cmd/debug/PalletElevatorLiftUpCommandHandler.java

@@ -0,0 +1,41 @@
+package com.iflytop.gd.app.cmd.debug;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.DeviceCommandService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import com.iflytop.gd.common.cmd.CommandFuture;
+import com.iflytop.gd.common.cmd.DeviceCommand;
+import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * 处理托盘电机上升到指定位置
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_pallet_elevator_lift_up")
+public class PalletElevatorLiftUpCommandHandler extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public void handle(CmdDTO cmdDTO) throws Exception {
+        Integer index = cmdDTO.getIntegerParam("index");
+        Double distance = cmdDTO.getDoubleParam("distance");
+        DeviceCommand deviceCommand;
+        switch (index) {
+            case 1 -> deviceCommand = DeviceCommandGenerator.heaterMotor1Move(distance);
+            case 2 -> deviceCommand = DeviceCommandGenerator.heaterMotor2Move(distance);
+            case 3 -> deviceCommand = DeviceCommandGenerator.heaterMotor3Move(distance);
+            case 4 -> deviceCommand = DeviceCommandGenerator.heaterMotor4Move(distance);
+            case 5 -> deviceCommand = DeviceCommandGenerator.heaterMotor5Move(distance);
+            case 6 -> deviceCommand = DeviceCommandGenerator.heaterMotor6Move(distance);
+            default -> throw new RuntimeException("index 未找到");
+        }
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+}

src/main/java/com/iflytop/gd/app/cmd/debug/PalletElevatorStopCommandHandler.java

@@ -0,0 +1,41 @@
+package com.iflytop.gd.app.cmd.debug;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.DeviceCommandService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import com.iflytop.gd.common.cmd.CommandFuture;
+import com.iflytop.gd.common.cmd.DeviceCommand;
+import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+
+/**
+ * 处理停止托盘抬升器指令
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_pallet_elevator_stop")
+public class PalletElevatorStopCommandHandler extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public void handle(CmdDTO cmdDTO) throws Exception {
+        Integer index = cmdDTO.getIntegerParam("index");
+        DeviceCommand deviceCommand;
+        switch (index) {
+            case 1 -> deviceCommand = DeviceCommandGenerator.heaterMotor1Stop();
+            case 2 -> deviceCommand = DeviceCommandGenerator.heaterMotor2Stop();
+            case 3 -> deviceCommand = DeviceCommandGenerator.heaterMotor3Stop();
+            case 4 -> deviceCommand = DeviceCommandGenerator.heaterMotor4Stop();
+            case 5 -> deviceCommand = DeviceCommandGenerator.heaterMotor5Stop();
+            case 6 -> deviceCommand = DeviceCommandGenerator.heaterMotor6Stop();
+            default -> throw new RuntimeException("index 未找到");
+        }
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+}

src/main/java/com/iflytop/gd/app/cmd/debug/ShakerStartCommandHandler.java

@@ -0,0 +1,30 @@
+package com.iflytop.gd.app.cmd.debug;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.DeviceCommandService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import com.iflytop.gd.common.cmd.CommandFuture;
+import com.iflytop.gd.common.cmd.DeviceCommand;
+import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * 处理启动摇匀器指令
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_shaker_start")
+public class ShakerStartCommandHandler extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public void handle(CmdDTO cmdDTO) throws Exception {
+        DeviceCommand deviceCommand = DeviceCommandGenerator.shakeMotorStart();
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+}

src/main/java/com/iflytop/gd/app/cmd/debug/ShakerStopCommandHandler.java

@@ -0,0 +1,30 @@
+package com.iflytop.gd.app.cmd.debug;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.DeviceCommandService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import com.iflytop.gd.common.cmd.CommandFuture;
+import com.iflytop.gd.common.cmd.DeviceCommand;
+import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * 处理停止摇匀器指令
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_shaker_stop")
+public class ShakerStopCommandHandler extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public void handle(CmdDTO cmdDTO) throws Exception {
+        DeviceCommand deviceCommand = DeviceCommandGenerator.shakeMotorStop();
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+}

src/main/java/com/iflytop/gd/app/cmd/debug/TransportationArmMoveCommandHandler.java

@@ -0,0 +1,51 @@
+package com.iflytop.gd.app.cmd.debug;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.DeviceCommandService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import com.iflytop.gd.common.cmd.CommandFuture;
+import com.iflytop.gd.common.cmd.DeviceCommand;
+import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 处理移动转移机械臂指令
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_transportation_arm_move")
+public class TransportationArmMoveCommandHandler extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public void handle(CmdDTO cmdDTO) throws Exception {
+        Double x = cmdDTO.getDoubleParam("xDimDistance");
+        Double y = cmdDTO.getDoubleParam("yDimDistance");
+        Double z = cmdDTO.getDoubleParam("zDimDistance");
+        List<CommandFuture> futuresList = new ArrayList<>();
+        if(x != null){
+            DeviceCommand deviceCommand = DeviceCommandGenerator.gantryXMove(x);
+            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+            futuresList.add(deviceCommandFuture);
+        }
+        if(y != null){
+            DeviceCommand deviceCommand = DeviceCommandGenerator.gantryYMove(y);
+            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+            futuresList.add(deviceCommandFuture);
+        }
+        if(z != null){
+            DeviceCommand deviceCommand = DeviceCommandGenerator.gantryZMove(z);
+            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+            futuresList.add(deviceCommandFuture);
+        }
+
+        commandWait(futuresList.toArray(new CommandFuture[0]));
+    }
+}

src/main/java/com/iflytop/gd/app/cmd/debug/TransportationArmResetCommandHandler.java

@@ -0,0 +1,50 @@
+package com.iflytop.gd.app.cmd.debug;
+
+import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.model.dto.CmdDTO;
+import com.iflytop.gd.app.service.DeviceCommandService;
+import com.iflytop.gd.common.annotation.CommandMapping;
+import com.iflytop.gd.common.cmd.CommandFuture;
+import com.iflytop.gd.common.cmd.DeviceCommand;
+import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 处理复位转移机械臂指令
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_transportation_arm_reset")
+public class TransportationArmResetCommandHandler extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public void handle(CmdDTO cmdDTO) throws Exception {
+        List<String> dim = (List<String>) cmdDTO.getParams().get("dim");
+        List<CommandFuture> futuresList = new ArrayList<>();
+        if (dim != null && dim.contains("x")) {
+            DeviceCommand deviceCommand = DeviceCommandGenerator.gantryXOrigin();
+            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+            futuresList.add(deviceCommandFuture);
+        }
+        if (dim != null && dim.contains("y")) {
+            DeviceCommand deviceCommand = DeviceCommandGenerator.gantryYOrigin();
+            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+            futuresList.add(deviceCommandFuture);
+        }
+
+        if (dim != null && dim.contains("z")) {
+            DeviceCommand deviceCommand = DeviceCommandGenerator.gantryZOrigin();
+            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+            futuresList.add(deviceCommandFuture);
+        }
+
+        commandWait(futuresList.toArray(new CommandFuture[0]));
+    }
+}

src/main/java/com/iflytop/gd/app/cmd/debug/DebugSualRobotSet.java → src/main/java/com/iflytop/gd/app/cmd/debug/TransportationArmStopCommandHandler.java

@@ -15,27 +15,32 @@ import java.util.ArrayList;
 import java.util.List;
 
 /**
- * 加液机械臂 设置参数
+ * 处理停止转移机械臂移动指令
  */
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandMapping("debug_sual_robot_set")
-public class DebugSualRobotSet extends BaseCommandHandler {
+@CommandMapping("debug_transportation_arm_stop")
+public class TransportationArmStopCommandHandler extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
     @Override
     public void handle(CmdDTO cmdDTO) throws Exception {
-        Double joint1Speed = cmdDTO.getDoubleParam("joint1Speed");
-        Double joint2Speed = cmdDTO.getDoubleParam("joint2Speed");
+        List<String> dim = (List<String>) cmdDTO.getParams().get("dim");
         List<CommandFuture> futuresList = new ArrayList<>();
-        if (joint1Speed != null) {
-            DeviceCommand deviceCommand = DeviceCommandGenerator.dualRobotJoint1Set(joint1Speed);
+        if (dim != null && dim.contains("x")) {
+            DeviceCommand deviceCommand = DeviceCommandGenerator.gantryXStop();
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
             futuresList.add(deviceCommandFuture);
         }
-        if (joint2Speed != null) {
-            DeviceCommand deviceCommand = DeviceCommandGenerator.dualRobotJoint2Set(joint2Speed);
+        if (dim != null && dim.contains("y")) {
+            DeviceCommand deviceCommand = DeviceCommandGenerator.gantryYStop();
+            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+            futuresList.add(deviceCommandFuture);
+        }
+
+        if (dim != null && dim.contains("z")) {
+            DeviceCommand deviceCommand = DeviceCommandGenerator.gantryZStop();
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
             futuresList.add(deviceCommandFuture);
         }