From 61790ea85730ae73fa7848b7adeaadfb592fa858 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= <baifengji@163.com>
Date: Wed, 30 Apr 2025 16:34:10 +0800
Subject: [PATCH] =?UTF-8?q?feat:=E5=B0=81=E8=A3=85=E6=8C=87=E4=BB=A4?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../gd/common/cmd/DeviceCommandGenerator.java      | 1131 +++++++++++++++++++-
 .../iflytop/gd/common/cmd/DeviceCommandParams.java |    6 +
 .../com/iflytop/gd/common/enums/cmd/CmdAction.java |    3 +-
 .../com/iflytop/gd/common/enums/cmd/CmdColor.java  |    5 +
 .../com/iflytop/gd/common/enums/cmd/CmdDevice.java |    7 +-
 5 files changed, 1147 insertions(+), 5 deletions(-)
 create mode 100644 src/main/java/com/iflytop/gd/common/enums/cmd/CmdColor.java

diff --git a/src/main/java/com/iflytop/gd/common/cmd/DeviceCommandGenerator.java b/src/main/java/com/iflytop/gd/common/cmd/DeviceCommandGenerator.java
index 45ebc0a..20bd96d 100644
--- a/src/main/java/com/iflytop/gd/common/cmd/DeviceCommandGenerator.java
+++ b/src/main/java/com/iflytop/gd/common/cmd/DeviceCommandGenerator.java
@@ -1,7 +1,7 @@
 package com.iflytop.gd.common.cmd;
 
 
-import java.util.Map;
+import com.iflytop.gd.common.enums.cmd.*;
 
 /**
  * 生成给设备发送的指令
@@ -9,9 +9,1135 @@ import java.util.Map;
 public class DeviceCommandGenerator {
 
     /**
+     * 门 打开
+     */
+    public static DeviceCommand doorOpen() {
+        return controlMotorCmd(CmdDevice.door, CmdAction.open, null, "打开设备门");
+    }
+
+    /**
+     * 门 关闭
+     */
+    public static DeviceCommand doorClose() {
+        return controlMotorCmd(CmdDevice.door, CmdAction.close, null, "关闭设备门");
+    }
+
+    /**
+     * 门 停止动作
+     */
+    public static DeviceCommand doorStop() {
+        return controlMotorCmd(CmdDevice.door, CmdAction.stop, null, "停止门动作");
+    }
+
+    /**
+     * 摇匀电机 设置参数
+     */
+    public static DeviceCommand shakeMotorSet(Double current, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setCurrent(current);
+        params.setSpeed(speed);
+        return setInfoCmd(CmdDevice.shake_motor, CmdAction.set, params, "摇匀电机设置参数");
+    }
+
+    /**
+     * 摇匀电机 开始摇匀
+     */
+    public static DeviceCommand shakeMotorStart() {
+        return controlMotorCmd(CmdDevice.shake_motor, CmdAction.start, null, "开始摇匀");
+    }
+
+    /**
+     * 摇匀电机 结束摇匀
+     */
+    public static DeviceCommand shakeMotorStop() {
+        return controlMotorCmd(CmdDevice.shake_motor, CmdAction.stop, null, "结束摇匀");
+    }
+
+    /**
+     * 托盘电机 设置参数
+     */
+    public static DeviceCommand trayMotorSet(Double current, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setCurrent(current);
+        params.setSpeed(speed);
+        return setInfoCmd(CmdDevice.tray_motor, CmdAction.set, params, "托盘电机设置参数");
+    }
+
+    /**
+     * 托盘电机 回原点
+     */
+    public static DeviceCommand trayMotorOrigin() {
+        return controlMotorCmd(CmdDevice.tray_motor, CmdAction.origin, null, "托盘电机回原点");
+    }
+
+    /**
+     * 托盘电机 移动
+     */
+    public static DeviceCommand trayMotorMove(Double position) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setPosition(position);
+        return controlMotorCmd(CmdDevice.tray_motor, CmdAction.move, params, "托盘电机移动");
+    }
+
+    /**
+     * 托盘电机 停止移动
+     */
+    public static DeviceCommand trayMotorStop() {
+        return controlMotorCmd(CmdDevice.tray_motor, CmdAction.stop, null, "托盘电机停止移动");
+    }
+
+
+    /**
+     * 双轴械臂 设置参数
+     */
+    public static DeviceCommand dualRobotSet(CmdAxis axis, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setAxis(axis);
+        params.setSpeed(speed);
+        return setInfoCmd(CmdDevice.dual_robot, CmdAction.set, params, "双轴械臂设置参数");
+    }
+
+    /**
+     * 双轴械臂 回原点
+     */
+    public static DeviceCommand dualRobotOrigin(CmdAxis axis) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setAxis(axis);
+        return controlCmd(CmdDevice.dual_robot, CmdAction.origin, params, "双轴械臂回原点");
+    }
+
+    /**
+     * 双轴械臂 移动关节
+     */
+    public static DeviceCommand dualRobotMoveJoint(CmdAxis axis, CmdDirection direction, Double angle, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setAxis(axis);
+        params.setDirection(direction);
+        params.setAngle(angle);
+        params.setSpeed(speed);
+        return controlCmd(CmdDevice.dual_robot, CmdAction.move_x_joint, params, "双轴械臂移动关节");
+    }
+
+    /**
+     * 双轴械臂 x移动位置
+     */
+    public static DeviceCommand dualRobotXMovePos(CmdDirection direction, Double position, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDirection(direction);
+        params.setPosition(position);
+        params.setSpeed(speed);
+        return controlCmd(CmdDevice.dual_robot, CmdAction.move_x_joint, params, "双轴械臂移动x");
+    }
+
+    /**
+     * 双轴械臂 y移动位置
+     */
+    public static DeviceCommand dualRobotYMovePos(CmdDirection direction, Double position, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDirection(direction);
+        params.setPosition(position);
+        params.setSpeed(speed);
+        return controlCmd(CmdDevice.dual_robot, CmdAction.move_y_joint, params, "双轴械臂移动y");
+    }
+
+
+    /**
+     * 双轴械臂 停止移动
+     */
+    public static DeviceCommand dualRobotStop(CmdAxis axis) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setAxis(axis);
+        return controlCmd(CmdDevice.dual_robot, CmdAction.stop, params, "双轴械臂停止移动");
+    }
+
+    /**
+     * 龙门架 x轴设置参数
+     */
+    public static DeviceCommand hBotXSet(Double current, CmdDirection direction, Double position, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setCurrent(current);
+        params.setDirection(direction);
+        params.setPosition(position);
+        params.setSpeed(speed);
+        return setInfoCmd(CmdDevice.hbot_x, CmdAction.set, params, "龙门架x轴设置参数");
+    }
+
+    /**
+     * 龙门架 y轴设置参数
+     */
+    public static DeviceCommand hBotYSet(Double current, CmdDirection direction, Double position, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setCurrent(current);
+        params.setDirection(direction);
+        params.setPosition(position);
+        params.setSpeed(speed);
+        return setInfoCmd(CmdDevice.hbot_y, CmdAction.set, params, "龙门架y轴设置参数");
+    }
+
+    /**
+     * 龙门架 z轴设置参数
+     */
+    public static DeviceCommand hBotZSet(Double current, CmdDirection direction, Double position, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setCurrent(current);
+        params.setDirection(direction);
+        params.setPosition(position);
+        params.setSpeed(speed);
+        return setInfoCmd(CmdDevice.hbot_z, CmdAction.set, params, "龙门架z轴设置参数");
+    }
+
+
+    /**
+     * 龙门架 x轴回原点
+     */
+    public static DeviceCommand hBotXOrigin() {
+        return controlMotorCmd(CmdDevice.hbot_x, CmdAction.origin, null, "龙门架x轴回原点");
+    }
+
+    /**
+     * 龙门架 y轴回原点
+     */
+    public static DeviceCommand hBotYOrigin() {
+        return controlMotorCmd(CmdDevice.hbot_y, CmdAction.origin, null, "龙门架y轴回原点");
+    }
+
+    /**
+     * 龙门架 z轴回原点
+     */
+    public static DeviceCommand hBotZOrigin() {
+        return controlMotorCmd(CmdDevice.hbot_z, CmdAction.origin, null, "龙门架z轴回原点");
+    }
+
+    /**
+     * 龙门架 x轴移动
+     */
+    public static DeviceCommand hBotXMove(Double current, CmdDirection direction, Double position, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setCurrent(current);
+        params.setDirection(direction);
+        params.setPosition(position);
+        params.setSpeed(speed);
+        return controlMotorCmd(CmdDevice.hbot_z, CmdAction.move, params, "龙门架x轴移动");
+    }
+
+    /**
+     * 龙门架 y轴移动
+     */
+    public static DeviceCommand hBotYMove(Double current, CmdDirection direction, Double position, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setCurrent(current);
+        params.setDirection(direction);
+        params.setPosition(position);
+        params.setSpeed(speed);
+        return controlMotorCmd(CmdDevice.hbot_y, CmdAction.move, params, "龙门架y轴移动");
+    }
+
+    /**
+     * 龙门架 z轴移动
+     */
+    public static DeviceCommand hBotZMove(Double current, CmdDirection direction, Double position, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setCurrent(current);
+        params.setDirection(direction);
+        params.setPosition(position);
+        params.setSpeed(speed);
+        return controlMotorCmd(CmdDevice.hbot_z, CmdAction.move, params, "龙门架z轴移动");
+    }
+
+    /**
+     * 龙门架 x轴停止
+     */
+    public static DeviceCommand hBotXStop() {
+        return controlMotorCmd(CmdDevice.hbot_x, CmdAction.stop, null, "龙门架x轴停止");
+    }
+
+    /**
+     * 龙门架 y轴停止
+     */
+    public static DeviceCommand hBotYStop() {
+        return controlMotorCmd(CmdDevice.hbot_y, CmdAction.stop, null, "龙门架y轴停止");
+    }
+
+    /**
+     * 龙门架 z轴停止
+     */
+    public static DeviceCommand hBotZStop() {
+        return controlMotorCmd(CmdDevice.hbot_z, CmdAction.stop, null, "龙门架z轴停止");
+    }
+
+
+    /**
+     * 加热区顶升电机 加热位1设置参数
+     */
+    public static DeviceCommand heaterMotor1Set(Double current, CmdDirection direction, Double position, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setCurrent(current);
+        params.setDirection(direction);
+        params.setPosition(position);
+        params.setSpeed(speed);
+        return setInfoCmd(CmdDevice.heater_motor_1, CmdAction.set, params, "加热区顶升电机加热位1设置参数");
+    }
+
+    /**
+     * 加热区顶升电机 加热位2设置参数
+     */
+    public static DeviceCommand heaterMotor2Set(Double current, CmdDirection direction, Double position, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setCurrent(current);
+        params.setDirection(direction);
+        params.setPosition(position);
+        params.setSpeed(speed);
+        return setInfoCmd(CmdDevice.heater_motor_2, CmdAction.set, params, "加热区顶升电机加热位2设置参数");
+    }
+
+    /**
+     * 加热区顶升电机 加热位3设置参数
+     */
+    public static DeviceCommand heaterMotor3Set(Double current, CmdDirection direction, Double position, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setCurrent(current);
+        params.setDirection(direction);
+        params.setPosition(position);
+        params.setSpeed(speed);
+        return setInfoCmd(CmdDevice.heater_motor_3, CmdAction.set, params, "加热区顶升电机加热位3设置参数");
+    }
+
+    /**
+     * 加热区顶升电机 加热位4设置参数
+     */
+    public static DeviceCommand heaterMotor4Set(Double current, CmdDirection direction, Double position, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setCurrent(current);
+        params.setDirection(direction);
+        params.setPosition(position);
+        params.setSpeed(speed);
+        return setInfoCmd(CmdDevice.heater_motor_4, CmdAction.set, params, "加热区顶升电机加热位4设置参数");
+    }
+
+    /**
+     * 加热区顶升电机 加热位5设置参数
+     */
+    public static DeviceCommand heaterMotor5Set(Double current, CmdDirection direction, Double position, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setCurrent(current);
+        params.setDirection(direction);
+        params.setPosition(position);
+        params.setSpeed(speed);
+        return setInfoCmd(CmdDevice.heater_motor_5, CmdAction.set, params, "加热区顶升电机加热位5设置参数");
+    }
+
+    /**
+     * 加热区顶升电机 加热位6设置参数
+     */
+    public static DeviceCommand heaterMotor6Set(Double current, CmdDirection direction, Double position, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setCurrent(current);
+        params.setDirection(direction);
+        params.setPosition(position);
+        params.setSpeed(speed);
+        return setInfoCmd(CmdDevice.heater_motor_6, CmdAction.set, params, "加热区顶升电机加热位6设置参数");
+    }
+
+    /**
+     * 加热区顶升电机 加热位1回原点
+     */
+    public static DeviceCommand heaterMotor1Origin() {
+        return controlMotorCmd(CmdDevice.heater_motor_1, CmdAction.origin, null, "加热区顶升电机加热位1回原点");
+    }
+
+    /**
+     * 加热区顶升电机 加热位2回原点
+     */
+    public static DeviceCommand heaterMotor2Origin() {
+        return controlMotorCmd(CmdDevice.heater_motor_2, CmdAction.origin, null, "加热区顶升电机加热位2回原点");
+    }
+
+    /**
+     * 加热区顶升电机 加热位3回原点
+     */
+    public static DeviceCommand heaterMotor3Origin() {
+        return controlMotorCmd(CmdDevice.heater_motor_3, CmdAction.origin, null, "加热区顶升电机加热位3回原点");
+    }
+
+    /**
+     * 加热区顶升电机 加热位4回原点
+     */
+    public static DeviceCommand heaterMotor4Origin() {
+        return controlMotorCmd(CmdDevice.heater_motor_4, CmdAction.origin, null, "加热区顶升电机加热位4回原点");
+    }
+
+    /**
+     * 加热区顶升电机 加热位5回原点
+     */
+    public static DeviceCommand heaterMotor5Origin() {
+        return controlMotorCmd(CmdDevice.heater_motor_5, CmdAction.origin, null, "加热区顶升电机加热位5回原点");
+    }
+
+    /**
+     * 加热区顶升电机 加热位6回原点
+     */
+    public static DeviceCommand heaterMotor6Origin() {
+        return controlMotorCmd(CmdDevice.heater_motor_6, CmdAction.origin, null, "加热区顶升电机加热位6回原点");
+    }
+
+    /**
+     * 加热区顶升电机 加热位1移动
+     */
+    public static DeviceCommand heaterMotor1Move(Double current, CmdDirection direction, Double position, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setCurrent(current);
+        params.setDirection(direction);
+        params.setPosition(position);
+        params.setSpeed(speed);
+        return controlMotorCmd(CmdDevice.heater_motor_1, CmdAction.move, params, "加热区顶升电机加热位1移动");
+    }
+
+    /**
+     * 加热区顶升电机 加热位2移动
+     */
+    public static DeviceCommand heaterMotor2Move(Double current, CmdDirection direction, Double position, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setCurrent(current);
+        params.setDirection(direction);
+        params.setPosition(position);
+        params.setSpeed(speed);
+        return controlMotorCmd(CmdDevice.heater_motor_2, CmdAction.move, params, "加热区顶升电机加热位2移动");
+    }
+
+    /**
+     * 加热区顶升电机 加热位3移动
+     */
+    public static DeviceCommand heaterMotor3Move(Double current, CmdDirection direction, Double position, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setCurrent(current);
+        params.setDirection(direction);
+        params.setPosition(position);
+        params.setSpeed(speed);
+        return controlMotorCmd(CmdDevice.heater_motor_3, CmdAction.move, params, "加热区顶升电机加热位3移动");
+    }
+
+    /**
+     * 加热区顶升电机 加热位4移动
+     */
+    public static DeviceCommand heaterMotor4Move(Double current, CmdDirection direction, Double position, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setCurrent(current);
+        params.setDirection(direction);
+        params.setPosition(position);
+        params.setSpeed(speed);
+        return controlMotorCmd(CmdDevice.heater_motor_4, CmdAction.move, params, "加热区顶升电机加热位4移动");
+    }
+
+    /**
+     * 加热区顶升电机 加热位5移动
+     */
+    public static DeviceCommand heaterMotor5Move(Double current, CmdDirection direction, Double position, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setCurrent(current);
+        params.setDirection(direction);
+        params.setPosition(position);
+        params.setSpeed(speed);
+        return controlMotorCmd(CmdDevice.heater_motor_5, CmdAction.move, params, "加热区顶升电机加热位5移动");
+    }
+
+    /**
+     * 加热区顶升电机 加热位6移动
+     */
+    public static DeviceCommand heaterMotor6Move(Double current, CmdDirection direction, Double position, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setCurrent(current);
+        params.setDirection(direction);
+        params.setPosition(position);
+        params.setSpeed(speed);
+        return controlMotorCmd(CmdDevice.heater_motor_6, CmdAction.move, params, "加热区顶升电机加热位6移动");
+    }
+
+
+    /**
+     * 加热区顶升电机 加热位1停止
+     */
+    public static DeviceCommand heaterMotor1Stop() {
+        return controlMotorCmd(CmdDevice.heater_motor_1, CmdAction.stop, null, "加热区顶升电机加热位1停止");
+    }
+
+    /**
+     * 加热区顶升电机 加热位2停止
+     */
+    public static DeviceCommand heaterMotor2Stop() {
+        return controlMotorCmd(CmdDevice.heater_motor_2, CmdAction.stop, null, "加热区顶升电机加热位2停止");
+    }
+
+    /**
+     * 加热区顶升电机 加热位3停止
+     */
+    public static DeviceCommand heaterMotor3Stop() {
+        return controlMotorCmd(CmdDevice.heater_motor_3, CmdAction.stop, null, "加热区顶升电机加热位3停止");
+    }
+
+    /**
+     * 加热区顶升电机 加热位4停止
+     */
+    public static DeviceCommand heaterMotor4Stop() {
+        return controlMotorCmd(CmdDevice.heater_motor_4, CmdAction.stop, null, "加热区顶升电机加热位4停止");
+    }
+
+    /**
+     * 加热区顶升电机 加热位5停止
+     */
+    public static DeviceCommand heaterMotor5Stop() {
+        return controlMotorCmd(CmdDevice.heater_motor_5, CmdAction.stop, null, "加热区顶升电机加热位5停止");
+    }
+
+    /**
+     * 加热区顶升电机 加热位6停止
+     */
+    public static DeviceCommand heaterMotor6Stop() {
+        return controlMotorCmd(CmdDevice.heater_motor_6, CmdAction.stop, null, "加热区顶升电机加热位6停止");
+    }
+
+
+    /**
+     * 加液泵 泵1设置参数
+     */
+    public static DeviceCommand acidPump1Set(Double current, CmdDirection direction, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDirection(direction);
+        params.setSpeed(speed);
+        params.setCurrent(current);
+        return setInfoCmd(CmdDevice.acid_pump1, CmdAction.set, params, "加液泵1设置参数");
+    }
+
+    /**
+     * 加液泵 泵2设置参数
+     */
+    public static DeviceCommand acidPump2Set(Double current, CmdDirection direction, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDirection(direction);
+        params.setSpeed(speed);
+        params.setCurrent(current);
+        return setInfoCmd(CmdDevice.acid_pump2, CmdAction.set, params, "加液泵2设置参数");
+    }
+
+    /**
+     * 加液泵 泵3设置参数
+     */
+    public static DeviceCommand acidPump3Set(Double current, CmdDirection direction, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDirection(direction);
+        params.setSpeed(speed);
+        params.setCurrent(current);
+        return setInfoCmd(CmdDevice.acid_pump3, CmdAction.set, params, "加液泵3设置参数");
+    }
+
+    /**
+     * 加液泵 泵4设置参数
+     */
+    public static DeviceCommand acidPump4Set(Double current, CmdDirection direction, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDirection(direction);
+        params.setSpeed(speed);
+        params.setCurrent(current);
+        return setInfoCmd(CmdDevice.acid_pump4, CmdAction.set, params, "加液泵4设置参数");
+    }
+
+    /**
+     * 加液泵 泵5设置参数
+     */
+    public static DeviceCommand acidPump5Set(Double current, CmdDirection direction, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDirection(direction);
+        params.setSpeed(speed);
+        params.setCurrent(current);
+        return setInfoCmd(CmdDevice.acid_pump5, CmdAction.set, params, "加液泵5设置参数");
+    }
+
+    /**
+     * 加液泵 泵6设置参数
+     */
+    public static DeviceCommand acidPump6Set(Double current, CmdDirection direction, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDirection(direction);
+        params.setSpeed(speed);
+        params.setCurrent(current);
+        return setInfoCmd(CmdDevice.acid_pump6, CmdAction.set, params, "加液泵6设置参数");
+    }
+
+    /**
+     * 加液泵 泵7设置参数
+     */
+    public static DeviceCommand acidPump7Set(Double current, CmdDirection direction, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDirection(direction);
+        params.setSpeed(speed);
+        params.setCurrent(current);
+        return setInfoCmd(CmdDevice.acid_pump7, CmdAction.set, params, "加液泵7设置参数");
+    }
+
+    /**
+     * 加液泵 泵8设置参数
+     */
+    public static DeviceCommand acidPump8Set(Double current, CmdDirection direction, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDirection(direction);
+        params.setSpeed(speed);
+        params.setCurrent(current);
+        return setInfoCmd(CmdDevice.acid_pump8, CmdAction.set, params, "加液泵8设置参数");
+    }
+
+    /**
+     * 加液泵 泵1移动
+     */
+    public static DeviceCommand acidPump1Move(CmdDirection direction, Double volume, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDirection(direction);
+        params.setSpeed(speed);
+        params.setVolume(volume);
+        return setInfoCmd(CmdDevice.acid_pump1, CmdAction.move, params, "加液泵1移动");
+    }
+
+    /**
+     * 加液泵 泵2移动
+     */
+    public static DeviceCommand acidPump2Move(CmdDirection direction, Double volume, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDirection(direction);
+        params.setSpeed(speed);
+        params.setVolume(volume);
+        return setInfoCmd(CmdDevice.acid_pump2, CmdAction.move, params, "加液泵2移动");
+    }
+
+    /**
+     * 加液泵 泵3移动
+     */
+    public static DeviceCommand acidPump3Move(CmdDirection direction, Double volume, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDirection(direction);
+        params.setSpeed(speed);
+        params.setVolume(volume);
+        return setInfoCmd(CmdDevice.acid_pump3, CmdAction.move, params, "加液泵3移动");
+    }
+
+    /**
+     * 加液泵 泵4移动
+     */
+    public static DeviceCommand acidPump4Move(CmdDirection direction, Double volume, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDirection(direction);
+        params.setSpeed(speed);
+        params.setVolume(volume);
+        return setInfoCmd(CmdDevice.acid_pump4, CmdAction.move, params, "加液泵4移动");
+    }
+
+    /**
+     * 加液泵 泵5移动
+     */
+    public static DeviceCommand acidPump5Move(CmdDirection direction, Double volume, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDirection(direction);
+        params.setSpeed(speed);
+        params.setVolume(volume);
+        return setInfoCmd(CmdDevice.acid_pump5, CmdAction.move, params, "加液泵5移动");
+    }
+
+    /**
+     * 加液泵 泵6移动
+     */
+    public static DeviceCommand acidPump6Move(CmdDirection direction, Double volume, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDirection(direction);
+        params.setSpeed(speed);
+        params.setVolume(volume);
+        return setInfoCmd(CmdDevice.acid_pump6, CmdAction.move, params, "加液泵6移动");
+    }
+
+    /**
+     * 加液泵 泵7移动
+     */
+    public static DeviceCommand acidPump7Move(CmdDirection direction, Double volume, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDirection(direction);
+        params.setSpeed(speed);
+        params.setVolume(volume);
+        return setInfoCmd(CmdDevice.acid_pump7, CmdAction.move, params, "加液泵7移动");
+    }
+
+    /**
+     * 加液泵 泵8移动
+     */
+    public static DeviceCommand acidPump8Move(CmdDirection direction, Double volume, Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDirection(direction);
+        params.setSpeed(speed);
+        params.setVolume(volume);
+        return setInfoCmd(CmdDevice.acid_pump8, CmdAction.move, params, "加液泵8移动");
+    }
+
+    /**
+     * 加液泵 泵1停止
+     */
+    public static DeviceCommand acidPump1Stop() {
+        return setInfoCmd(CmdDevice.acid_pump1, CmdAction.stop, null, "加液泵1停止");
+    }
+
+    /**
+     * 加液泵 泵2停止
+     */
+    public static DeviceCommand acidPump2Stop() {
+        return setInfoCmd(CmdDevice.acid_pump2, CmdAction.stop, null, "加液泵2停止");
+    }
+
+    /**
+     * 加液泵 泵3停止
+     */
+    public static DeviceCommand acidPump3Stop() {
+        return setInfoCmd(CmdDevice.acid_pump3, CmdAction.stop, null, "加液泵3停止");
+    }
+
+    /**
+     * 加液泵 泵4停止
+     */
+    public static DeviceCommand acidPump4Stop() {
+        return setInfoCmd(CmdDevice.acid_pump4, CmdAction.stop, null, "加液泵4停止");
+    }
+
+    /**
+     * 加液泵 泵5停止
+     */
+    public static DeviceCommand acidPump5Stop() {
+        return setInfoCmd(CmdDevice.acid_pump5, CmdAction.stop, null, "加液泵5停止");
+    }
+
+    /**
+     * 加液泵 泵6停止
+     */
+    public static DeviceCommand acidPump6Stop() {
+        return setInfoCmd(CmdDevice.acid_pump6, CmdAction.stop, null, "加液泵6停止");
+    }
+
+    /**
+     * 加液泵 泵7停止
+     */
+    public static DeviceCommand acidPump7Stop() {
+        return setInfoCmd(CmdDevice.acid_pump7, CmdAction.stop, null, "加液泵7停止");
+    }
+
+    /**
+     * 加液泵 泵8停止
+     */
+    public static DeviceCommand acidPump8Stop() {
+        return setInfoCmd(CmdDevice.acid_pump8, CmdAction.stop, null, "加液泵8停止");
+    }
+
+
+    /**
+     * 夹爪 设置参数
+     */
+    public static DeviceCommand clawSet(Double speed) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setSpeed(speed);
+        return setInfoCmd(CmdDevice.claw, CmdAction.set, params, "夹爪设置参数");
+    }
+
+    /**
+     * 夹爪 夹紧
+     */
+    public static DeviceCommand clawTight(Double distance) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setDistance(distance);
+        return controlCmd(CmdDevice.claw, CmdAction.tight, params, "夹爪夹紧");
+    }
+
+    /**
+     * 夹爪 松开
+     */
+    public static DeviceCommand clawTight() {
+        return controlCmd(CmdDevice.claw, CmdAction.loose, null, "夹爪松开");
+    }
+
+    /**
+     * 夹爪 停止
+     */
+    public static DeviceCommand clawStop() {
+        return controlCmd(CmdDevice.claw, CmdAction.stop, null, "夹爪松开");
+    }
+
+
+    /**
+     * 风扇 1打开
+     */
+    public static DeviceCommand fan1Open() {
+        return controlCmd(CmdDevice.fan1, CmdAction.open, null, "风扇1打开");
+    }
+
+    /**
+     * 风扇 2打开
+     */
+    public static DeviceCommand fan2Open() {
+        return controlCmd(CmdDevice.fan2, CmdAction.open, null, "风扇2打开");
+    }
+
+    /**
+     * 风扇 3打开
+     */
+    public static DeviceCommand fan3Open() {
+        return controlCmd(CmdDevice.fan3, CmdAction.open, null, "风扇3打开");
+    }
+
+    /**
+     * 风扇 4打开
+     */
+    public static DeviceCommand fan4Open() {
+        return controlCmd(CmdDevice.fan4, CmdAction.open, null, "风扇4打开");
+    }
+
+    /**
+     * 风扇 5打开
+     */
+    public static DeviceCommand fan5Open() {
+        return controlCmd(CmdDevice.fan5, CmdAction.open, null, "风扇5打开");
+    }
+
+    /**
+     * 风扇 6打开
+     */
+    public static DeviceCommand fan6Open() {
+        return controlCmd(CmdDevice.fan6, CmdAction.open, null, "风扇6打开");
+    }
+
+    /**
+     * 风扇 1关闭
+     */
+    public static DeviceCommand fan1Close() {
+        return controlCmd(CmdDevice.fan1, CmdAction.close, null, "风扇1关闭");
+    }
+
+    /**
+     * 风扇 2关闭
+     */
+    public static DeviceCommand fan2Close() {
+        return controlCmd(CmdDevice.fan2, CmdAction.close, null, "风扇2关闭");
+    }
+
+    /**
+     * 风扇 3关闭
+     */
+    public static DeviceCommand fan3Close() {
+        return controlCmd(CmdDevice.fan3, CmdAction.close, null, "风扇3关闭");
+    }
+
+    /**
+     * 风扇 4关闭
+     */
+    public static DeviceCommand fan4Close() {
+        return controlCmd(CmdDevice.fan4, CmdAction.close, null, "风扇4关闭");
+    }
+
+    /**
+     * 风扇 5关闭
+     */
+    public static DeviceCommand fan5Close() {
+        return controlCmd(CmdDevice.fan5, CmdAction.close, null, "风扇5关闭");
+    }
+
+    /**
+     * 风扇 6关闭
+     */
+    public static DeviceCommand fan6Close() {
+        return controlCmd(CmdDevice.fan6, CmdAction.close, null, "风扇6关闭");
+    }
+
+    /**
+     * 水泵电源 开启
+     */
+    public static DeviceCommand waterPumpPowerOpen() {
+        return controlCmd(CmdDevice.water_pump_power, CmdAction.open, null, "水泵电源开启");
+    }
+
+    /**
+     * 水泵电源 关闭
+     */
+    public static DeviceCommand waterPumpPowerClose() {
+        return controlCmd(CmdDevice.water_pump_power, CmdAction.close, null, "水泵电源关闭");
+    }
+
+    /**
+     * 风机电源 开启
+     */
+    public static DeviceCommand ventilatorPowerOpen() {
+        return controlCmd(CmdDevice.ventilator_power, CmdAction.open, null, " 风机电源开启");
+    }
+
+    /**
+     * 风机电源 关闭
+     */
+    public static DeviceCommand ventilatorPowerClose() {
+        return controlCmd(CmdDevice.ventilator_power, CmdAction.close, null, "风机电源关闭");
+    }
+
+    /**
+     * 加热棒1 获取温度
+     */
+    public static DeviceCommand heatRod1Get() {
+        return getInfoCmd(CmdDevice.heat_rod_1, "加热棒1获取温度");
+    }
+
+    /**
+     * 加热棒2 获取温度
+     */
+    public static DeviceCommand heatRod2Get() {
+        return getInfoCmd(CmdDevice.heat_rod_2, "加热棒2获取温度");
+    }
+
+    /**
+     * 加热棒3 获取温度
+     */
+    public static DeviceCommand heatRod3Get() {
+        return getInfoCmd(CmdDevice.heat_rod_3, "加热棒3获取温度");
+    }
+
+    /**
+     * 加热棒4 获取温度
+     */
+    public static DeviceCommand heatRod4Get() {
+        return getInfoCmd(CmdDevice.heat_rod_4, "加热棒4获取温度");
+    }
+
+    /**
+     * 加热棒5 获取温度
+     */
+    public static DeviceCommand heatRod5Get() {
+        return getInfoCmd(CmdDevice.heat_rod_5, "加热棒5获取温度");
+    }
+
+    /**
+     * 加热棒6 获取温度
+     */
+    public static DeviceCommand heatRod6Get() {
+        return getInfoCmd(CmdDevice.heat_rod_6, "加热棒6获取温度");
+    }
+
+    /**
+     * 加热棒1 开启加热
+     */
+    public static DeviceCommand heatRod1Open(Double temperature) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setTemperature(temperature);
+        return controlCmd(CmdDevice.heat_rod_1, CmdAction.open, params, "加热棒1开启加热");
+    }
+
+    /**
+     * 加热棒2 开启加热
+     */
+    public static DeviceCommand heatRod2Open(Double temperature) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setTemperature(temperature);
+        return controlCmd(CmdDevice.heat_rod_2, CmdAction.open, params, "加热棒2开启加热");
+    }
+
+    /**
+     * 加热棒3 开启加热
+     */
+    public static DeviceCommand heatRod3Open(Double temperature) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setTemperature(temperature);
+        return controlCmd(CmdDevice.heat_rod_3, CmdAction.open, params, "加热棒3开启加热");
+    }
+
+    /**
+     * 加热棒4 开启加热
+     */
+    public static DeviceCommand heatRod4Open(Double temperature) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setTemperature(temperature);
+        return controlCmd(CmdDevice.heat_rod_4, CmdAction.open, params, "加热棒4开启加热");
+    }
+
+    /**
+     * 加热棒5 开启加热
+     */
+    public static DeviceCommand heatRod5Open(Double temperature) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setTemperature(temperature);
+        return controlCmd(CmdDevice.heat_rod_5, CmdAction.open, params, "加热棒5开启加热");
+    }
+
+    /**
+     * 加热棒6 开启加热
+     */
+    public static DeviceCommand heatRod6Open(Double temperature) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setTemperature(temperature);
+        return controlCmd(CmdDevice.heat_rod_6, CmdAction.open, params, "加热棒6开启加热");
+    }
+
+
+    /**
+     * 加热棒1 关闭加热
+     */
+    public static DeviceCommand heatRod1Close() {
+        return controlCmd(CmdDevice.heat_rod_1, CmdAction.close, null, "加热棒1关闭加热");
+    }
+
+    /**
+     * 加热棒2 关闭加热
+     */
+    public static DeviceCommand heatRod2Close() {
+        return controlCmd(CmdDevice.heat_rod_2, CmdAction.close, null, "加热棒2关闭加热");
+    }
+
+    /**
+     * 加热棒3 关闭加热
+     */
+    public static DeviceCommand heatRod3Close() {
+        return controlCmd(CmdDevice.heat_rod_3, CmdAction.close, null, "加热棒3关闭加热");
+    }
+
+    /**
+     * 加热棒4 关闭加热
+     */
+    public static DeviceCommand heatRod4Close() {
+        return controlCmd(CmdDevice.heat_rod_4, CmdAction.close, null, "加热棒4关闭加热");
+    }
+
+    /**
+     * 加热棒5 关闭加热
+     */
+    public static DeviceCommand heatRod5Close() {
+        return controlCmd(CmdDevice.heat_rod_5, CmdAction.close, null, "加热棒5关闭加热");
+    }
+
+    /**
+     * 加热棒6 关闭加热
+     */
+    public static DeviceCommand heatRod6Close() {
+        return controlCmd(CmdDevice.heat_rod_6, CmdAction.close, null, "加热棒6关闭加热");
+    }
+
+    /**
+     * 三色灯开启
+     */
+    public static DeviceCommand tricolorLightOpen(CmdColor color) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setColor(color);
+        return controlCmd(CmdDevice.tricolor_light, CmdAction.open, params, "三色灯开启");
+    }
+
+    /**
+     * 三色灯关闭
+     */
+    public static DeviceCommand tricolorLightClose() {
+        return controlCmd(CmdDevice.tricolor_light, CmdAction.close, null, "三色灯关闭");
+    }
+
+    /**
+     * 相机补灯光开启
+     */
+    public static DeviceCommand fillLightOpen(Double brightness) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setBrightness(brightness);
+        return controlCmd(CmdDevice.fill_light, CmdAction.open, params, "相机补灯光开启");
+    }
+
+    /**
+     * 相机补灯光关闭
+     */
+    public static DeviceCommand fillLightClose() {
+        return controlCmd(CmdDevice.fill_light, CmdAction.close, null, "相机补灯光关闭");
+    }
+
+
+    /**
+     * 冷阱开启电源
+     */
+    public static DeviceCommand coldTrapOpenPower() {
+        return controlCmd(CmdDevice.cold_trap, CmdAction.open_power, null, "冷阱开启电源");
+    }
+
+    /**
+     * 冷阱关闭电源
+     */
+    public static DeviceCommand coldTrapClosePower() {
+        return controlCmd(CmdDevice.cold_trap, CmdAction.close_power, null, "冷阱关闭电源");
+    }
+
+    /**
+     * 冷阱设置温度
+     */
+    public static DeviceCommand coldTrapSet(Double temperature) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setTemperature(temperature);
+        return setInfoCmd(CmdDevice.cold_trap, CmdAction.close_power, params, "冷阱设置温度");
+    }
+
+    /**
+     * 冷阱打开循环
+     */
+    public static DeviceCommand coldTrapOpenCircle() {
+        return controlCmd(CmdDevice.cold_trap, CmdAction.open_circle, null, "冷阱打开循环");
+    }
+
+    /**
+     * 冷阱关闭循环
+     */
+    public static DeviceCommand coldTrapCloseCircle() {
+        return controlCmd(CmdDevice.cold_trap, CmdAction.close_circle, null, "冷阱关闭循环");
+    }
+
+    /**
+     * 冷阱开启加热
+     */
+    public static DeviceCommand coldTrapOpenHeart() {
+        return controlCmd(CmdDevice.cold_trap, CmdAction.open_heart, null, "冷阱开启加热");
+    }
+
+    /**
+     * 冷阱关闭加热
+     */
+    public static DeviceCommand coldTrapCloseHeart() {
+        return controlCmd(CmdDevice.cold_trap, CmdAction.close_heart, null, "冷阱关闭加热");
+    }
+
+    /**
+     * 拍照
+     */
+    public static DeviceCommand takePhoto() {
+        return controlCmd(CmdDevice.photo, CmdAction.take_photo, null, "冷阱关闭加热");
+    }
+
+
+    /**
+     * 控制设备电机指令
+     */
+    private static DeviceCommand controlMotorCmd(CmdDevice device, CmdAction action, DeviceCommandParams params, String commandName) {
+        return deviceCmd("controlMotorCmd", device, action, params, commandName);
+    }
+
+    /**
+     * 设置参数指令
+     */
+    private static DeviceCommand setInfoCmd(CmdDevice device, CmdAction action, DeviceCommandParams params, String commandName) {
+        return deviceCmd("setInfoCmd", device, action, params, commandName);
+    }
+
+    /**
+     * 获取参数指令
+     */
+    private static DeviceCommand getInfoCmd(CmdDevice device, String commandName) {
+        return deviceCmd("getInfoCmd", device, CmdAction.get, null, commandName);
+    }
+
+
+    /**
+     * 设备控制指令
+     */
+    private static DeviceCommand controlCmd(CmdDevice device, CmdAction action, DeviceCommandParams params, String commandName) {
+        return deviceCmd("controlCmd", device, action, params, commandName);
+    }
+
+    /**
      * 设备指令包装
      */
-    private static DeviceCommand deviceCmd(String code, String device, String action, Map<String, Object> params, String commandName) {
+    private static DeviceCommand deviceCmd(String code, CmdDevice device, CmdAction action, DeviceCommandParams params, String commandName) {
         DeviceCommand cmdToDevice = new DeviceCommand();
         cmdToDevice.setCmdCode(code);
         cmdToDevice.setDevice(device);
@@ -21,4 +1147,3 @@ public class DeviceCommandGenerator {
         return cmdToDevice;
     }
 }
-
diff --git a/src/main/java/com/iflytop/gd/common/cmd/DeviceCommandParams.java b/src/main/java/com/iflytop/gd/common/cmd/DeviceCommandParams.java
index fe94dbd..4486ea4 100644
--- a/src/main/java/com/iflytop/gd/common/cmd/DeviceCommandParams.java
+++ b/src/main/java/com/iflytop/gd/common/cmd/DeviceCommandParams.java
@@ -2,6 +2,7 @@ package com.iflytop.gd.common.cmd;
 
 
 import com.iflytop.gd.common.enums.cmd.CmdAxis;
+import com.iflytop.gd.common.enums.cmd.CmdColor;
 import com.iflytop.gd.common.enums.cmd.CmdDirection;
 import lombok.Data;
 
@@ -13,5 +14,10 @@ public class DeviceCommandParams {
     private Double position;
     private Double speed;
     private Double angle;
+    private Double volume;
+    private Double distance;
+    private Double temperature;
     private CmdAxis axis;
+    private CmdColor color;
+    private Double brightness;
 }
diff --git a/src/main/java/com/iflytop/gd/common/enums/cmd/CmdAction.java b/src/main/java/com/iflytop/gd/common/enums/cmd/CmdAction.java
index 4ec1c71..2019832 100644
--- a/src/main/java/com/iflytop/gd/common/enums/cmd/CmdAction.java
+++ b/src/main/java/com/iflytop/gd/common/enums/cmd/CmdAction.java
@@ -1,5 +1,6 @@
 package com.iflytop.gd.common.enums.cmd;
 
 public enum CmdAction {
-    open, close, stop, start, origin, move, move_joint, set
+    open, close, stop, start, origin, move, move_x_joint, move_y_joint, move_joint, set, get, tight, loose,
+    open_power, close_power, open_circle, close_circle, open_heart, close_heart, take_photo
 }
diff --git a/src/main/java/com/iflytop/gd/common/enums/cmd/CmdColor.java b/src/main/java/com/iflytop/gd/common/enums/cmd/CmdColor.java
new file mode 100644
index 0000000..988a563
--- /dev/null
+++ b/src/main/java/com/iflytop/gd/common/enums/cmd/CmdColor.java
@@ -0,0 +1,5 @@
+package com.iflytop.gd.common.enums.cmd;
+
+public enum CmdColor {
+    red,green,blue
+}
diff --git a/src/main/java/com/iflytop/gd/common/enums/cmd/CmdDevice.java b/src/main/java/com/iflytop/gd/common/enums/cmd/CmdDevice.java
index 1092fbd..b456b9d 100644
--- a/src/main/java/com/iflytop/gd/common/enums/cmd/CmdDevice.java
+++ b/src/main/java/com/iflytop/gd/common/enums/cmd/CmdDevice.java
@@ -1,5 +1,10 @@
 package com.iflytop.gd.common.enums.cmd;
 
 public enum CmdDevice {
-    door, shake_motor, tray_motor, dual_robot, hbot_x, hbot_y, hbot_z, heater_motor_1, heater_motor_2, heater_motor_3, heater_motor_4, heater_motor_5, heater_motor_6,
+    door, shake_motor, tray_motor, dual_robot, hbot_x, hbot_y, hbot_z,
+    heater_motor_1, heater_motor_2, heater_motor_3, heater_motor_4, heater_motor_5, heater_motor_6,
+    acid_pump1, acid_pump2, acid_pump3, acid_pump4, acid_pump5, acid_pump6, acid_pump7, acid_pump8,
+    claw, fan1, fan2, fan3, fan4, fan5, fan6, water_pump_power, ventilator_power,
+    heat_rod_1, heat_rod_2, heat_rod_3, heat_rod_4, heat_rod_5, heat_rod_6,
+    tricolor_light, fill_light, cold_trap, photo
 }