diff --git a/src/main/java/com/iflytop/gd/app/cmd/debug/DebugDoorClose.java b/src/main/java/com/iflytop/gd/app/cmd/debug/DebugDoorClose.java
new file mode 100644
index 0000000..93ccc9d
--- /dev/null
+++ b/src/main/java/com/iflytop/gd/app/cmd/debug/DebugDoorClose.java
@@ -0,0 +1,31 @@
+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;
+
+/**
+ * 门电机 关门
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_door_close")
+public class DebugDoorClose extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public void handle(CmdDTO cmdDTO) throws Exception {
+        Double position = cmdDTO.getDoubleParam("position");
+        DeviceCommand deviceCommand = DeviceCommandGenerator.doorMove(position);
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+}
diff --git a/src/main/java/com/iflytop/gd/app/cmd/debug/DebugDoorOpen.java b/src/main/java/com/iflytop/gd/app/cmd/debug/DebugDoorOpen.java
new file mode 100644
index 0000000..f0e44e2
--- /dev/null
+++ b/src/main/java/com/iflytop/gd/app/cmd/debug/DebugDoorOpen.java
@@ -0,0 +1,31 @@
+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;
+
+/**
+ * 门电机 开门
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_door_open")
+public class DebugDoorOpen extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+
+    @Override
+    public void handle(CmdDTO cmdDTO) throws Exception {
+        Double position = cmdDTO.getDoubleParam("position");
+        DeviceCommand deviceCommand = DeviceCommandGenerator.doorMove(position);
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+}
diff --git a/src/main/java/com/iflytop/gd/app/cmd/debug/DebugDoorOrigin.java b/src/main/java/com/iflytop/gd/app/cmd/debug/DebugDoorOrigin.java
new file mode 100644
index 0000000..4c5e815
--- /dev/null
+++ b/src/main/java/com/iflytop/gd/app/cmd/debug/DebugDoorOrigin.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;
+
+/**
+ * 门电机 回原点
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_door_stop")
+public class DebugDoorOrigin extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+    @Override
+    public void handle(CmdDTO cmdDTO) throws Exception {
+        DeviceCommand deviceCommand = DeviceCommandGenerator.doorOrigin();
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+}
diff --git a/src/main/java/com/iflytop/gd/app/cmd/debug/DebugDoorSet.java b/src/main/java/com/iflytop/gd/app/cmd/debug/DebugDoorSet.java
new file mode 100644
index 0000000..7f9d45d
--- /dev/null
+++ b/src/main/java/com/iflytop/gd/app/cmd/debug/DebugDoorSet.java
@@ -0,0 +1,32 @@
+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;
+
+/**
+ * 门电机 设置参数
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_door_set")
+public class DebugDoorSet 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);
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+}
diff --git a/src/main/java/com/iflytop/gd/app/cmd/debug/DebugDoorStop.java b/src/main/java/com/iflytop/gd/app/cmd/debug/DebugDoorStop.java
new file mode 100644
index 0000000..b784a56
--- /dev/null
+++ b/src/main/java/com/iflytop/gd/app/cmd/debug/DebugDoorStop.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;
+
+/**
+ * 门电机 停止移动
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("debug_door_stop")
+public class DebugDoorStop extends BaseCommandHandler {
+    private final DeviceCommandService deviceCommandService;
+    @Override
+    public void handle(CmdDTO cmdDTO) throws Exception {
+        DeviceCommand deviceCommand = DeviceCommandGenerator.doorStop();
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+}