feat:增加业务指令debug推送

3 months ago · 82bf7065e1
23 changed files with 1034 additions and 123 deletions
--- a/build.gradle
+++ b/build.gradle
@ -41,6 +41,7 @@ dependencies {
    implementation 'org.springframework.boot:spring-boot-starter-validation:3.4.5'
    implementation 'org.java-websocket:Java-WebSocket:1.6.0'
    implementation 'com.fazecast:jSerialComm:2.11.0'
+    implementation 'com.opencsv:opencsv:5.11'

    compileOnly 'org.projectlombok:lombok'
    annotationProcessor 'org.projectlombok:lombok'
--- a/src/main/java/com/iflytop/gd/app/cmd/DoorCloseCommand.java
+++ b/src/main/java/com/iflytop/gd/app/cmd/DoorCloseCommand.java
@ -27,7 +27,7 @@ public class DoorCloseCommand extends BaseCommandHandler {
    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
        return runAsync(() -> {
            Double doorOpenDistance = devicePositionService.getPosition(DevicePositionCode.doorClose).getDistance();
-            deviceCommandUtilService.doorMove(doorOpenDistance);
+            deviceCommandUtilService.doorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), doorOpenDistance);
        });
    }
 }
--- a/src/main/java/com/iflytop/gd/app/cmd/DoorOpenCommand.java
+++ b/src/main/java/com/iflytop/gd/app/cmd/DoorOpenCommand.java
@ -1,11 +1,11 @@
 package com.iflytop.gd.app.cmd;

 import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.core.device.DeviceState;
 import com.iflytop.gd.app.model.dto.CmdDTO;
 import com.iflytop.gd.app.service.DeviceCommandUtilService;
 import com.iflytop.gd.app.service.DevicePositionService;
 import com.iflytop.gd.app.service.DeviceStateService;
+import com.iflytop.gd.app.service.GantryArmService;
 import com.iflytop.gd.common.annotation.CommandMapping;
 import com.iflytop.gd.common.enums.data.DevicePositionCode;
 import lombok.RequiredArgsConstructor;
@ -25,12 +25,14 @@ public class DoorOpenCommand extends BaseCommandHandler {
    private final DeviceCommandUtilService deviceCommandUtilService;
    private final DevicePositionService devicePositionService;
    private final DeviceStateService deviceStateService;
+    private final GantryArmService gantryArmService;

    @Override
    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
        return runAsync(() -> {
+            gantryArmService.setLiquidIdleTrue();//释放加液区等待
            Double doorOpenDistance = devicePositionService.getPosition(DevicePositionCode.doorOpen).getDistance();
-            deviceCommandUtilService.doorMove(doorOpenDistance);
+            deviceCommandUtilService.doorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), doorOpenDistance);
            deviceStateService.setDoorStatus(true);
        });
    }
--- a/src/main/java/com/iflytop/gd/app/cmd/HeatStartCommand.java
+++ b/src/main/java/com/iflytop/gd/app/cmd/HeatStartCommand.java
@ -29,7 +29,7 @@ public class HeatStartCommand extends BaseCommandHandler {
        HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
        return runAsync(() -> {
            double temperature = deviceStateService.getHeatModuleState(heatModuleId).getTemperature();
-            deviceCommandUtilService.heatRodOpen(heatModuleId, temperature);
+            deviceCommandUtilService.heatRodOpen(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, temperature);
        });
    }
 }
--- a/src/main/java/com/iflytop/gd/app/cmd/HeatStopCommand.java
+++ b/src/main/java/com/iflytop/gd/app/cmd/HeatStopCommand.java
@ -26,7 +26,7 @@ public class HeatStopCommand extends BaseCommandHandler {
        String heatId = cmdDTO.getStringParam("heatId");
        HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
        return runAsync(() -> {
-            deviceCommandUtilService.heatRodClose(heatModuleId);
+            deviceCommandUtilService.heatRodClose(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId);
        });
    }
 }
--- a/src/main/java/com/iflytop/gd/app/cmd/MoveToHeatAreaCommand.java
+++ b/src/main/java/com/iflytop/gd/app/cmd/MoveToHeatAreaCommand.java
@ -33,41 +33,41 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
        HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
        return runAsync(() -> {
            Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液区托盘夹爪点
-            deviceCommandUtilService.gantryMove(liquidAreaTrayPoint3D); //将机械臂移动至加液区托盘上方
+            deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D); //将机械臂移动至加液区托盘上方
            double clawTrayPick = devicePositionService.getPosition(DevicePositionCode.clawTrayPick).getDistance();//获取夹爪托盘夹取距离
-            deviceCommandUtilService.clawMove(clawTrayPick);//将夹爪张开
+            deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayPick);//将夹爪张开
            double clawDescend = devicePositionService.getPosition(DevicePositionCode.clawDescend).getDistance();//获取下降机械臂使夹爪可以夹住的距离
-            deviceCommandUtilService.gantryZMove(clawDescend);  //下降机械臂使夹爪可以夹住托盘
+            deviceCommandUtilService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawDescend);  //下降机械臂使夹爪可以夹住托盘
            double clawTrayGrip = devicePositionService.getPosition(DevicePositionCode.clawTrayGrip).getDistance();//获取夹爪托盘夹紧距离
-            deviceCommandUtilService.clawMove(clawTrayGrip);//将夹爪收紧
+            deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayGrip);//将夹爪收紧
            double traySafetyHeight = devicePositionService.getPosition(DevicePositionCode.traySafetyHeight).getDistance();//获取移动托盘的安全高度
-            deviceCommandUtilService.gantryZMoveBy(-traySafetyHeight);//机械臂提升至移动托盘的安全高度
+            deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -traySafetyHeight);//机械臂提升至移动托盘的安全高度
            Point3D heatAreaTrayClawPoint3D = deviceCommandUtilService.getHeatAreaTrayClawPoint3D(heatModuleId);//获取指定托盘上方点位
            Point3D heatAreaTrayClawSafetyHeightPoint3D = new Point3D(heatAreaTrayClawPoint3D.getX(), heatAreaTrayClawPoint3D.getY(), heatAreaTrayClawPoint3D.getZ() - traySafetyHeight);//加热区托盘点位上方减去移动托盘的安全高度
-            deviceCommandUtilService.gantryMove(heatAreaTrayClawSafetyHeightPoint3D);//将携带托盘的机械臂移动至托盘上方
-            deviceCommandUtilService.gantryZMoveBy(traySafetyHeight);//下降机械臂将托盘与试管落入加热区
-            deviceCommandUtilService.gantryZMoveBy(-clawDescend);//将机械臂提升至托盘上方高度
+            deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaTrayClawSafetyHeightPoint3D);//将携带托盘的机械臂移动至托盘上方
+            deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), traySafetyHeight);//下降机械臂将托盘与试管落入加热区
+            deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -clawDescend);//将机械臂提升至托盘上方高度
            Point3D capStorageCapClawPoint3D = devicePositionService.getPosition(DevicePositionCode.capStorageCapClawPoint).getPoint3D();//获取拍子存放区上方点位;
-            deviceCommandUtilService.gantryMove(capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方
+            deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方
            //下降机械臂使夹爪可以夹住拍子
            double clawCapPick = devicePositionService.getPosition(DevicePositionCode.clawCapPick).getDistance(); //拍子夹取距离
-            deviceCommandUtilService.clawMove(clawCapPick);//将夹爪张开
-            deviceCommandUtilService.gantryZMove(clawDescend);  //下降机械臂使夹爪可以夹住拍子
+            deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪张开
+            deviceCommandUtilService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawDescend);  //下降机械臂使夹爪可以夹住拍子
            double clawCapGrip = devicePositionService.getPosition(DevicePositionCode.clawCapGrip).getDistance(); //获取拍子夹紧距离
-            deviceCommandUtilService.clawMove(clawCapGrip);//将夹爪收紧
+            deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapGrip);//将夹爪收紧
            double capSafetyHeight = devicePositionService.getPosition(DevicePositionCode.capSafetyHeight).getDistance();//获取移动拍子的安全高度
-            deviceCommandUtilService.gantryZMoveBy(-capSafetyHeight);//机械臂提升至移动拍子的安全高度
-            deviceCommandUtilService.capMotorMove(1); //提升拍子存放区1个位置
+            deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -capSafetyHeight);//机械臂提升至移动拍子的安全高度
+            deviceCommandUtilService.capMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 1); //提升拍子存放区1个位置
            Point3D heatAreaCapClawPoint3D = deviceCommandUtilService.getHeatAreaCapClawPointPoint3D(heatModuleId);//获取托盘上方拍子点位
            Point3D heatAreaCapClawSafetyHeightPoint3D = new Point3D(heatAreaCapClawPoint3D.getX(), heatAreaCapClawPoint3D.getY(), heatAreaCapClawPoint3D.getZ() - capSafetyHeight);//加热区拍子上方加上移动拍子的安全高度
-            deviceCommandUtilService.gantryMove(heatAreaCapClawSafetyHeightPoint3D);//将机械臂移动至拍子上方加上移动拍子的安全高度
-            deviceCommandUtilService.gantryZMoveBy(traySafetyHeight); //降下机械臂使拍子盖住托盘试管
-            deviceCommandUtilService.clawMove(clawCapPick);//将夹爪张开
-            deviceCommandUtilService.gantryZMoveBy(-clawDescend);//抬升机械臂至托盘上方
+            deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaCapClawSafetyHeightPoint3D);//将机械臂移动至拍子上方加上移动拍子的安全高度
+            deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), traySafetyHeight); //降下机械臂使拍子盖住托盘试管
+            deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪张开
+            deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -clawDescend);//抬升机械臂至托盘上方
            gantryArmService.setLiquidIdleTrue();//释放加液区等待

            double trayLower = devicePositionService.getPosition(DevicePositionCode.trayLower).getDistance(); //获取加热位下降托盘位置
-            deviceCommandUtilService.heaterMotorMove(heatModuleId, trayLower);//下降加热位托盘
+            deviceCommandUtilService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLower);//下降加热位托盘
        });
    }
 }
--- a/src/main/java/com/iflytop/gd/app/cmd/MoveToSolutionAreaCommand.java
+++ b/src/main/java/com/iflytop/gd/app/cmd/MoveToSolutionAreaCommand.java
@ -33,42 +33,42 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
        HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
        return runAsync(() -> {
            gantryArmService.waitLiquidIdle();//等待加液区空闲
-
+            gantryArmService.setLiquidIdleFalse();//锁定加液区
            double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //获取加热位抬升托盘位置
-            deviceCommandUtilService.heaterMotorMove(heatModuleId, trayLift);//抬升加热位托盘
+            deviceCommandUtilService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLift);//抬升加热位托盘
            //TODO 判断托盘是否有拍子
            Point3D heatAreaCapClawPoint3D = deviceCommandUtilService.getHeatAreaCapClawPointPoint3D(heatModuleId);//获取托盘上方拍子点位
-            deviceCommandUtilService.gantryMove(heatAreaCapClawPoint3D);//将机械臂移动至拍子上方
+            deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaCapClawPoint3D);//将机械臂移动至拍子上方
            double clawCapPick = devicePositionService.getPosition(DevicePositionCode.clawCapPick).getDistance(); //拍子夹取距离
-            deviceCommandUtilService.clawMove(clawCapPick);//将夹爪张开
+            deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪张开
            double clawDescend = devicePositionService.getPosition(DevicePositionCode.clawDescend).getDistance();//获取下降机械臂使夹爪可以夹住的距离
-            deviceCommandUtilService.gantryZMove(clawDescend);  //下降机械臂使夹爪可以夹住拍子
+            deviceCommandUtilService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawDescend);  //下降机械臂使夹爪可以夹住拍子
            double clawCapGrip = devicePositionService.getPosition(DevicePositionCode.clawCapGrip).getDistance(); //获取拍子夹紧距离
-            deviceCommandUtilService.clawMove(clawCapGrip);//将夹爪收紧
+            deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapGrip);//将夹爪收紧
            double capSafetyHeight = devicePositionService.getPosition(DevicePositionCode.capSafetyHeight).getDistance();//获取移动拍子的安全高度
-            deviceCommandUtilService.gantryZMoveBy(-capSafetyHeight);//机械臂提升至移动拍子的安全高度
-            deviceCommandUtilService.capMotorMove(-1); //下降拍子存放区1个位置
+            deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -capSafetyHeight);//机械臂提升至移动拍子的安全高度
+            deviceCommandUtilService.capMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), -1); //下降拍子存放区1个位置
            Point3D capStorageCapClawPoint3D = devicePositionService.getPosition(DevicePositionCode.capStorageCapClawPoint).getPoint3D();//获取拍子存放区上方点位;
            Point3D capStorageCapClawSafetyHeightPoint3D = new Point3D(capStorageCapClawPoint3D.getX(), capStorageCapClawPoint3D.getY(), capStorageCapClawPoint3D.getZ() - capSafetyHeight);//拍子存放区上方加上移动拍子的安全高度
-            deviceCommandUtilService.gantryMove(capStorageCapClawSafetyHeightPoint3D);//移动机械臂至拍子存放区上方上减去拍子的安全高度
-            deviceCommandUtilService.gantryZMoveBy(capSafetyHeight);//下降机械臂，使拍子落入存放区
-            deviceCommandUtilService.clawMove(clawCapPick); //松开夹爪，放开拍子
-            deviceCommandUtilService.gantryZMoveBy(clawDescend);//将机械臂抬升至托盘上方
+            deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), capStorageCapClawSafetyHeightPoint3D);//移动机械臂至拍子存放区上方上减去拍子的安全高度
+            deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), capSafetyHeight);//下降机械臂，使拍子落入存放区
+            deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick); //松开夹爪，放开拍子
+            deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawDescend);//将机械臂抬升至托盘上方
            Point3D heatAreaTrayClawPoint3D = deviceCommandUtilService.getHeatAreaTrayClawPoint3D(heatModuleId);//获取指定托盘上方点位
-            deviceCommandUtilService.gantryMove(heatAreaTrayClawPoint3D);//将机械臂移动至托盘上方
+            deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaTrayClawPoint3D);//将机械臂移动至托盘上方
            double clawTrayPick = devicePositionService.getPosition(DevicePositionCode.clawTrayPick).getDistance();//获取夹爪托盘夹取距离
-            deviceCommandUtilService.clawMove(clawTrayPick);//将夹爪张开
-            deviceCommandUtilService.gantryZMove(clawDescend);  //下降机械臂使夹爪可以夹住托盘
+            deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayPick);//将夹爪张开
+            deviceCommandUtilService.gantryZMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawDescend);  //下降机械臂使夹爪可以夹住托盘
            double clawTrayGrip = devicePositionService.getPosition(DevicePositionCode.clawTrayGrip).getDistance();//获取夹爪托盘夹紧距离
-            deviceCommandUtilService.clawMove(clawTrayGrip);//将夹爪收紧
+            deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayGrip);//将夹爪收紧
            double traySafetyHeight = devicePositionService.getPosition(DevicePositionCode.traySafetyHeight).getDistance();//获取移动托盘的安全高度
-            deviceCommandUtilService.gantryZMoveBy(-traySafetyHeight);//机械臂提升至移动托盘的安全高度
+            deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -traySafetyHeight);//机械臂提升至移动托盘的安全高度
            Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液区托盘夹爪点
            Point3D liquidAreaTraySafetyHeightPoint3D = new Point3D(liquidAreaTrayPoint3D.getX(), liquidAreaTrayPoint3D.getY(), liquidAreaTrayPoint3D.getZ() - traySafetyHeight);//加液区托盘点位上方加上移动托盘的安全高度
-            deviceCommandUtilService.gantryMove(liquidAreaTraySafetyHeightPoint3D);//移动机械臂至加液区托盘点位上方减去移动托盘的安全高度
-            deviceCommandUtilService.gantryZMoveBy(traySafetyHeight);//下降机械臂将托盘与试管落入加液区
-            deviceCommandUtilService.clawMove(clawTrayPick);//松开夹爪，放下托盘
-            deviceCommandUtilService.gantryZMoveBy(-clawDescend);//抬升机械臂至托盘上方
+            deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTraySafetyHeightPoint3D);//移动机械臂至加液区托盘点位上方减去移动托盘的安全高度
+            deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), traySafetyHeight);//下降机械臂将托盘与试管落入加液区
+            deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayPick);//松开夹爪，放下托盘
+            deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -clawDescend);//抬升机械臂至托盘上方
        });
    }
 }
--- a/src/main/java/com/iflytop/gd/app/cmd/ShakeStartCommand.java
+++ b/src/main/java/com/iflytop/gd/app/cmd/ShakeStartCommand.java
@ -23,7 +23,7 @@ public class ShakeStartCommand extends BaseCommandHandler {
    @Override
    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
        return runAsync(() -> {
-            deviceCommandUtilService.shakeStart();//开始摇匀
+            deviceCommandUtilService.shakeStart(cmdDTO.getCommandId(), cmdDTO.getCommand());//开始摇匀
        });
    }
 }
--- a/src/main/java/com/iflytop/gd/app/cmd/ShakeStopCommand.java
+++ b/src/main/java/com/iflytop/gd/app/cmd/ShakeStopCommand.java
@ -23,7 +23,7 @@ public class ShakeStopCommand extends BaseCommandHandler {
    @Override
    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
        return runAsync(() -> {
-            deviceCommandUtilService.shakeStop();//停止摇匀
+            deviceCommandUtilService.shakeStop(cmdDTO.getCommandId(), cmdDTO.getCommand());//停止摇匀
        });
    }
 }
--- a/src/main/java/com/iflytop/gd/app/cmd/SolutionAddCommand.java
+++ b/src/main/java/com/iflytop/gd/app/cmd/SolutionAddCommand.java
@ -45,8 +45,8 @@ public class SolutionAddCommand extends BaseCommandHandler {
                        throw new AppException(ResultCode.CRAFT_CONTAINER_NOT_FOUND);
                    }
                    Point2D tubePoint2D = deviceCommandUtilService.getPointByTubeNum(tubeNum);//根据试管编号获取点位
-                    deviceCommandUtilService.dualRobotMovePoint(tubePoint2D);//移动加液机械臂到指定试管点位
-                    deviceCommandUtilService.acidPumpMoveBy(acidPumpDevice, volume);//添加溶液
+                    deviceCommandUtilService.dualRobotMovePoint(cmdDTO.getCommandId(), cmdDTO.getCommand(), tubePoint2D);//移动加液机械臂到指定试管点位
+                    deviceCommandUtilService.acidPumpMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), acidPumpDevice, volume);//添加溶液
                }
            }
            deviceCommandUtilService.dualRobotOrigin();
--- a/src/main/java/com/iflytop/gd/app/cmd/TakePhotoCommand.java
+++ b/src/main/java/com/iflytop/gd/app/cmd/TakePhotoCommand.java
@ -23,9 +23,9 @@ public class TakePhotoCommand extends BaseCommandHandler {
    @Override
    public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
        return runAsync(() -> {
-            deviceCommandUtilService.fillLightOpen(100.0);//TODO 开启补光灯 亮度从数据库获取
-            deviceCommandUtilService.takePhoto();//拍照
-            deviceCommandUtilService.fillLightClose();//关闭补光灯
+            deviceCommandUtilService.fillLightOpen(cmdDTO.getCommandId(), cmdDTO.getCommand(), 100.0);//TODO 开启补光灯 亮度从数据库获取
+            deviceCommandUtilService.takePhoto(cmdDTO.getCommandId(), cmdDTO.getCommand());//拍照
+            deviceCommandUtilService.fillLightClose(cmdDTO.getCommandId(), cmdDTO.getCommand());//关闭补光灯
        });
    }
 }
--- a/src/main/java/com/iflytop/gd/app/cmd/TrayDownCommand.java
+++ b/src/main/java/com/iflytop/gd/app/cmd/TrayDownCommand.java
@ -30,7 +30,7 @@ public class TrayDownCommand extends BaseCommandHandler {
        HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
        return runAsync(() -> {
            double trayLower = devicePositionService.getPosition(DevicePositionCode.trayLower).getDistance(); //获取加热位下降托盘位置
-            deviceCommandUtilService.heaterMotorMove(heatModuleId, trayLower);//下降加热位托盘
+            deviceCommandUtilService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLower);//下降加热位托盘
        });
    }
 }
--- a/src/main/java/com/iflytop/gd/app/cmd/TrayUpCommand.java
+++ b/src/main/java/com/iflytop/gd/app/cmd/TrayUpCommand.java
@ -30,7 +30,7 @@ public class TrayUpCommand extends BaseCommandHandler {
        HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
        return runAsync(() -> {
            double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //获取加热位抬升托盘位置
-            deviceCommandUtilService.heaterMotorMove(heatModuleId, trayLift);//抬升加热位托盘
+            deviceCommandUtilService.heaterMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId, trayLift);//抬升加热位托盘
        });
    }
 }
--- a/src/main/java/com/iflytop/gd/app/core/CraftsContext.java
+++ b/src/main/java/com/iflytop/gd/app/core/CraftsContext.java
@ -32,7 +32,6 @@ public class CraftsContext implements Runnable {
    private final List<CraftsStep> craftsStepList;
    private final StateMachine<CraftStates, CraftEvents> sm;
    private final WebSocketService webSocketService;
-    ;
    private final CraftsStepService craftsStepService;
    private int currentIndex = 0;

--- a/src/main/java/com/iflytop/gd/app/core/device/CraftsState.java
+++ b/src/main/java/com/iflytop/gd/app/core/device/CraftsState.java
@ -1,5 +1,7 @@
 package com.iflytop.gd.app.core.device;

+import com.iflytop.gd.app.model.entity.Crafts;
+import com.iflytop.gd.app.model.entity.Ores;
 import com.iflytop.gd.common.enums.automaton.CraftStates;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.Data;
@ -9,4 +11,13 @@ import lombok.Data;
 public class CraftsState {
    @Schema(description = "工艺状态")
    private CraftStates state;
+
+    @Schema(description = "工艺所属矿石")
+    private Ores ores;
+
+    @Schema(description = "工艺")
+    private Crafts craft;
+
+    @Schema(description = "工艺当前步骤下标")
+    private int currentIndex = 0;
 }
--- a/src/main/java/com/iflytop/gd/app/model/bo/DeviceInitializationData.java
+++ b/src/main/java/com/iflytop/gd/app/model/bo/DeviceInitializationData.java
@ -0,0 +1,11 @@
+package com.iflytop.gd.app.model.bo;
+
+import lombok.Data;
+
+@Data
+public class DeviceInitializationData {
+    private int id;
+    private String mid;
+    private String regIndex;
+    private int regInitVal;
+}
--- a/src/main/java/com/iflytop/gd/app/service/CraftsStepService.java
+++ b/src/main/java/com/iflytop/gd/app/service/CraftsStepService.java
@ -54,6 +54,7 @@ public class CraftsStepService {

        webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "等待加液区空闲", null));
        gantryArmService.waitLiquidIdle();//等待加液区空闲
+        gantryArmService.setLiquidIdleFalse();//锁定加液区
        webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "加液区已空闲", null));

        double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //获取加热位抬升托盘位置
@ -235,6 +236,7 @@ public class CraftsStepService {

        webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "等待加液区空闲", null));
        gantryArmService.waitLiquidIdle();//等待加液区空闲
+        gantryArmService.setLiquidIdleFalse();//锁定加液区
        webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "加液区已空闲", null));

        double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //获取加热位抬升托盘位置
--- a/src/main/java/com/iflytop/gd/app/service/DeviceCommandService.java
+++ b/src/main/java/com/iflytop/gd/app/service/DeviceCommandService.java
@ -53,9 +53,13 @@ public class DeviceCommandService {
    }

    public synchronized CommandFuture[] sendCommandQueue(DeviceCommandBundle... deviceCommandBundles) {
+        return sendCommandQueue(null, null, deviceCommandBundles);
+    }
+
+    public synchronized CommandFuture[] sendCommandQueue(String cmdId, String cmdCode, DeviceCommandBundle... deviceCommandBundles) {
        List<CommandFuture> commandFutureList = new ArrayList<>();
        for (DeviceCommandBundle deviceCommandBundle : deviceCommandBundles) {
-            commandFutureList.add(createDeviceCommandFuture(deviceCommandBundle));
+            commandFutureList.add(createDeviceCommandFuture(cmdId, cmdCode, deviceCommandBundle));
        }
        CommandFuture[] commandFutureArray = commandFutureList.toArray(new CommandFuture[0]);
        try {
--- a/src/main/java/com/iflytop/gd/app/service/DeviceCommandUtilService.java
+++ b/src/main/java/com/iflytop/gd/app/service/DeviceCommandUtilService.java
@ -26,8 +26,15 @@ public class DeviceCommandUtilService {
     * 门电机移动
     */
    public void doorMove(double position) throws Exception {
+        doorMove(null, null, position);
+    }
+
+    /**
+     * 门电机移动
+     */
+    public void doorMove(String cmdId, String cmdCode, double position) throws Exception {
        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.doorMove(position);
-        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(deviceCommand);
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
        commandWait(deviceCommandFuture);
    }

@ -35,10 +42,17 @@ public class DeviceCommandUtilService {
     * 龙门架机械臂移动到指定点
     */
    public void gantryMove(Point3D point) throws Exception {
+        gantryMove(null, null, point);
+    }
+
+    /**
+     * 龙门架机械臂移动到指定点
+     */
+    public void gantryMove(String cmdId, String cmdCode, Point3D point) throws Exception {
        DeviceCommandBundle gantryXMoveDeviceCommand = DeviceCommandGenerator.gantryXMove(point.getX());
        DeviceCommandBundle gantryYMoveDeviceCommand = DeviceCommandGenerator.gantryYMove(point.getY());
        DeviceCommandBundle gantryZMoveDeviceCommand = DeviceCommandGenerator.gantryZMove(point.getZ());
-        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(gantryXMoveDeviceCommand, gantryYMoveDeviceCommand, gantryZMoveDeviceCommand);
+        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(cmdId, cmdCode, gantryXMoveDeviceCommand, gantryYMoveDeviceCommand, gantryZMoveDeviceCommand);
        commandWait(deviceCommandFutureArr);
    }

@ -46,8 +60,15 @@ public class DeviceCommandUtilService {
     * 龙门架机械臂X轴移动到指定点
     */
    public void gantryXMove(double position) throws Exception {
+        gantryXMove(null, null, position);
+    }
+
+    /**
+     * 龙门架机械臂X轴移动到指定点
+     */
+    public void gantryXMove(String cmdId, String cmdCode, double position) throws Exception {
        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMove(position);
-        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(deviceCommand);
+        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(cmdId, cmdCode, deviceCommand);
        commandWait(deviceCommandFutureArr);
    }

@ -55,8 +76,15 @@ public class DeviceCommandUtilService {
     * 龙门架机械臂Y轴移动到指定点
     */
    public void gantryYMove(double position) throws Exception {
+        gantryYMove(null, null, position);
+    }
+
+    /**
+     * 龙门架机械臂Y轴移动到指定点
+     */
+    public void gantryYMove(String cmdId, String cmdCode, double position) throws Exception {
        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYMove(position);
-        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(deviceCommand);
+        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(cmdId, cmdCode, deviceCommand);
        commandWait(deviceCommandFutureArr);
    }

@ -64,8 +92,15 @@ public class DeviceCommandUtilService {
     * 龙门架机械臂Z轴移动到指定点
     */
    public void gantryZMove(double position) throws Exception {
+        gantryZMove(null, null, position);
+    }
+
+    /**
+     * 龙门架机械臂Z轴移动到指定点
+     */
+    public void gantryZMove(String cmdId, String cmdCode, double position) throws Exception {
        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMove(position);
-        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(deviceCommand);
+        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(cmdId, cmdCode, deviceCommand);
        commandWait(deviceCommandFutureArr);
    }

@ -73,8 +108,15 @@ public class DeviceCommandUtilService {
     * 龙门架机械臂X轴相对移动到指定点
     */
    public void gantryXMoveBy(double position) throws Exception {
+        gantryXMoveBy(null, null, position);
+    }
+
+    /**
+     * 龙门架机械臂X轴相对移动到指定点
+     */
+    public void gantryXMoveBy(String cmdId, String cmdCode, double position) throws Exception {
        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMoveBy(position);
-        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(deviceCommand);
+        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(cmdId, cmdCode, deviceCommand);
        commandWait(deviceCommandFutureArr);
    }

@ -82,8 +124,15 @@ public class DeviceCommandUtilService {
     * 龙门架机械臂Y轴相对移动到指定点
     */
    public void gantryYMoveBy(double position) throws Exception {
+        gantryYMoveBy(null, null, position);
+    }
+
+    /**
+     * 龙门架机械臂Y轴相对移动到指定点
+     */
+    public void gantryYMoveBy(String cmdId, String cmdCode, double position) throws Exception {
        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYMoveBy(position);
-        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(deviceCommand);
+        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(cmdId, cmdCode, deviceCommand);
        commandWait(deviceCommandFutureArr);
    }

@ -91,8 +140,15 @@ public class DeviceCommandUtilService {
     * 龙门架机械臂Z轴相对移动到指定点
     */
    public void gantryZMoveBy(double position) throws Exception {
+        gantryZMoveBy(null, null, position);
+    }
+
+    /**
+     * 龙门架机械臂Z轴相对移动到指定点
+     */
+    public void gantryZMoveBy(String cmdId, String cmdCode, double position) throws Exception {
        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMoveBy(position);
-        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(deviceCommand);
+        CommandFuture[] deviceCommandFutureArr = deviceCommandService.sendCommandQueue(cmdId, cmdCode, deviceCommand);
        commandWait(deviceCommandFutureArr);
    }

@ -100,8 +156,15 @@ public class DeviceCommandUtilService {
     * 移动夹爪
     */
    public void clawMove(double position) throws Exception {
+        clawMove(null, null, position);
+    }
+
+    /**
+     * 移动夹爪
+     */
+    public void clawMove(String cmdId, String cmdCode, double position) throws Exception {
        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.clawMove(position);
-        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(deviceCommand);
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
        commandWait(deviceCommandFuture);
    }

@ -111,18 +174,33 @@ public class DeviceCommandUtilService {
     * @param num 1为上升1格，-1为下降1格
     */
    public void capMotorMove(int num) throws Exception {
+        capMotorMove(null, null, num);
+    }
+
+    /**
+     * 调整拍子升降电机位置
+     *
+     * @param num 1为上升1格，-1为下降1格
+     */
+    public void capMotorMove(String cmdId, String cmdCode, int num) throws Exception {
        double capHeight = 0.0; //TODO 每个拍子的高度 从数据库中获取
        //TODO 获取当前拍子升降电机位置
        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.trayMotorMove(num * capHeight);
-        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(deviceCommand);
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
        commandWait(deviceCommandFuture);
    }

-
    /**
     * 加热模块升降电机移动到指定位置
     */
    public void heaterMotorMove(HeatModuleCode heatModuleId, double position) throws Exception {
+        heaterMotorMove(null, null, heatModuleId, position);
+    }
+
+    /**
+     * 加热模块升降电机移动到指定位置
+     */
+    public void heaterMotorMove(String cmdId, String cmdCode, HeatModuleCode heatModuleId, double position) throws Exception {
        DeviceCommandBundle deviceCommand = switch (heatModuleId) {
            case heat_module_01 -> DeviceCommandGenerator.heaterMotor1Move(position);
            case heat_module_02 -> DeviceCommandGenerator.heaterMotor2Move(position);
@ -131,7 +209,7 @@ public class DeviceCommandUtilService {
            case heat_module_05 -> DeviceCommandGenerator.heaterMotor5Move(position);
            case heat_module_06 -> DeviceCommandGenerator.heaterMotor6Move(position);
        };
-        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(deviceCommand);
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
        commandWait(deviceCommandFuture);
    }

@ -139,8 +217,15 @@ public class DeviceCommandUtilService {
     * 双轴械臂 移动至指定点
     */
    public void dualRobotMovePoint(Point2D point2D) throws Exception {
+        dualRobotMovePoint(null, null, point2D);
+    }
+
+    /**
+     * 双轴械臂 移动至指定点
+     */
+    public void dualRobotMovePoint(String cmdId, String cmdCode, Point2D point2D) throws Exception {
        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.dualRobotMovePoint(point2D.getX(), point2D.getY());
-        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(deviceCommand);
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
        commandWait(deviceCommandFuture);
    }

@ -148,18 +233,31 @@ public class DeviceCommandUtilService {
     * 加液机械臂回原点
     */
    public void dualRobotOrigin() throws Exception {
+        dualRobotOrigin(null, null);
+    }
+
+    /**
+     * 加液机械臂回原点
+     */
+    public void dualRobotOrigin(String cmdId, String cmdCode) throws Exception {
        DeviceCommandBundle dualRobotJoint1OriginDeviceCommand = DeviceCommandGenerator.dualRobotJoint1Origin();
        DeviceCommandBundle dualRobotJoint2OriginDeviceCommand = DeviceCommandGenerator.dualRobotJoint2Origin();
-        CommandFuture dualRobotJoint1OriginDeviceCommandFuture = deviceCommandService.sendCommand(dualRobotJoint1OriginDeviceCommand);
-        CommandFuture dualRobotJoint2OriginDeviceCommandFuture = deviceCommandService.sendCommand(dualRobotJoint2OriginDeviceCommand);
+        CommandFuture dualRobotJoint1OriginDeviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, dualRobotJoint1OriginDeviceCommand);
+        CommandFuture dualRobotJoint2OriginDeviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, dualRobotJoint2OriginDeviceCommand);
        commandWait(dualRobotJoint1OriginDeviceCommandFuture, dualRobotJoint2OriginDeviceCommandFuture);
    }

-
    /**
     * 添加溶液
     */
    public void acidPumpMoveBy(AcidPumpDeviceCode acidPumpDevice, double position) throws Exception {
+        acidPumpMoveBy(null, null, acidPumpDevice, position);
+    }
+
+    /**
+     * 添加溶液
+     */
+    public void acidPumpMoveBy(String cmdId, String cmdCode, AcidPumpDeviceCode acidPumpDevice, double position) throws Exception {
        DeviceCommandBundle deviceCommand = switch (acidPumpDevice) {
            case acid_pump_01 -> DeviceCommandGenerator.acidPump1MoveBy(position);
            case acid_pump_02 -> DeviceCommandGenerator.acidPump2MoveBy(position);
@ -170,7 +268,7 @@ public class DeviceCommandUtilService {
            case acid_pump_07 -> DeviceCommandGenerator.acidPump7MoveBy(position);
            case acid_pump_08 -> DeviceCommandGenerator.acidPump8MoveBy(position);
        };
-        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(deviceCommand);
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
        commandWait(deviceCommandFuture);
    }

@ -178,8 +276,15 @@ public class DeviceCommandUtilService {
     * 开始摇匀
     */
    public void shakeStart() throws Exception {
+        shakeStart(null, null);
+    }
+
+    /**
+     * 开始摇匀
+     */
+    public void shakeStart(String cmdId, String cmdCode) throws Exception {
        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.shakeMotorStart();
-        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(deviceCommand);
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
        commandWait(deviceCommandFuture);
    }

@ -187,8 +292,15 @@ public class DeviceCommandUtilService {
     * 停止摇匀
     */
    public void shakeStop() throws Exception {
+        shakeStop(null, null);
+    }
+
+    /**
+     * 停止摇匀
+     */
+    public void shakeStop(String cmdId, String cmdCode) throws Exception {
        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.shakeMotorStop();
-        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(deviceCommand);
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
        commandWait(deviceCommandFuture);
    }

@ -196,6 +308,13 @@ public class DeviceCommandUtilService {
     * 指定加热模块开始加热
     */
    public void heatRodOpen(HeatModuleCode heatModuleId, double temperature) throws Exception {
+        heatRodOpen(null, null, heatModuleId, temperature);
+    }
+
+    /**
+     * 指定加热模块开始加热
+     */
+    public void heatRodOpen(String cmdId, String cmdCode, HeatModuleCode heatModuleId, double temperature) throws Exception {
        DeviceCommandBundle deviceCommand = switch (heatModuleId) {
            case heat_module_01 -> DeviceCommandGenerator.heatRod1Open(temperature);
            case heat_module_02 -> DeviceCommandGenerator.heatRod2Open(temperature);
@ -204,7 +323,7 @@ public class DeviceCommandUtilService {
            case heat_module_05 -> DeviceCommandGenerator.heatRod5Open(temperature);
            case heat_module_06 -> DeviceCommandGenerator.heatRod6Open(temperature);
        };
-        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(deviceCommand);
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
        commandWait(deviceCommandFuture);
    }

@ -212,6 +331,13 @@ public class DeviceCommandUtilService {
     * 指定加热模块停止加热
     */
    public void heatRodClose(HeatModuleCode heatModuleId) throws Exception {
+        heatRodClose(null, null, heatModuleId);
+    }
+
+    /**
+     * 指定加热模块停止加热
+     */
+    public void heatRodClose(String cmdId, String cmdCode, HeatModuleCode heatModuleId) throws Exception {
        DeviceCommandBundle deviceCommand = switch (heatModuleId) {
            case heat_module_01 -> DeviceCommandGenerator.heatRod1Close();
            case heat_module_02 -> DeviceCommandGenerator.heatRod2Close();
@ -220,7 +346,7 @@ public class DeviceCommandUtilService {
            case heat_module_05 -> DeviceCommandGenerator.heatRod5Close();
            case heat_module_06 -> DeviceCommandGenerator.heatRod6Close();
        };
-        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(deviceCommand);
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
        commandWait(deviceCommandFuture);
    }

@ -228,8 +354,15 @@ public class DeviceCommandUtilService {
     * 开启补光灯
     */
    public void fillLightOpen(Double brightness) throws Exception {
+        fillLightOpen(null, null, brightness);
+    }
+
+    /**
+     * 开启补光灯
+     */
+    public void fillLightOpen(String cmdId, String cmdCode, Double brightness) throws Exception {
        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.fillLightOpen(brightness);
-        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(deviceCommand);
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
        commandWait(deviceCommandFuture);
    }

@ -237,8 +370,15 @@ public class DeviceCommandUtilService {
     * 关闭补光灯
     */
    public void fillLightClose() throws Exception {
+        fillLightClose(null, null);
+    }
+
+    /**
+     * 关闭补光灯
+     */
+    public void fillLightClose(String cmdId, String cmdCode) throws Exception {
        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.fillLightClose();
-        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(deviceCommand);
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
        commandWait(deviceCommandFuture);
    }

@ -246,8 +386,15 @@ public class DeviceCommandUtilService {
     * 拍照
     */
    public void takePhoto() throws Exception {
+        takePhoto(null, null);
+    }
+
+    /**
+     * 拍照
+     */
+    public void takePhoto(String cmdId, String cmdCode) throws Exception {
        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.takePhoto();
-        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(deviceCommand);
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
        commandWait(deviceCommandFuture);
    }

--- a/src/main/java/com/iflytop/gd/app/service/DeviceStateInitializerService.java
+++ b/src/main/java/com/iflytop/gd/app/service/DeviceStateInitializerService.java
@ -3,30 +3,70 @@ package com.iflytop.gd.app.service;
 import com.iflytop.gd.app.core.device.DeviceState;
 import com.iflytop.gd.app.core.device.HeatModuleState;
 import com.iflytop.gd.app.core.device.SolutionContainerState;
+import com.iflytop.gd.app.model.bo.DeviceInitializationData;
 import com.iflytop.gd.app.model.entity.Container;
 import com.iflytop.gd.common.enums.ContainerCode;
 import com.iflytop.gd.common.enums.ContainerType;
 import com.iflytop.gd.common.enums.HeatModuleCode;
+import com.iflytop.gd.hardware.comm.can.A8kCanBusService;
+import com.iflytop.gd.hardware.type.MId;
+import com.opencsv.CSVReader;
 import jakarta.annotation.PostConstruct;
 import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;

+import java.io.FileReader;
+import java.nio.file.Paths;
 import java.util.List;

+@Slf4j
@Service
@RequiredArgsConstructor
-public class DeviceStateInitializerService {
+public class DeviceInitService {
    private final ContainerService containerService;
    private final DeviceStateService deviceStateService;
+    private final A8kCanBusService canBusService;

    @PostConstruct
-    public void initializeDeviceState() {
+    public void init() {
+        initDeviceSetData();
+        initDeviceState();
+    }
+
+    public void initDeviceSetData() {
+        try {
+            Thread.sleep(2000);
+            String filePath = Paths.get("src", "main", "resources", "init", "zapp_sub_module_reg_initial_value.csv").toString();
+            CSVReader reader = new CSVReader(new FileReader(filePath));
+            reader.readNext();
+            String[] line;
+            while ((line = reader.readNext()) != null) {
+                DeviceInitializationData data = new DeviceInitializationData();
+                data.setId(Integer.parseInt(line[0]));
+                data.setMid(line[1]);
+                data.setRegIndex(line[2]);
+                data.setRegInitVal(Integer.parseInt(line[3]));
+                sendToDevice(data);
+            }
+            reader.close();
+        } catch (Exception e) {
+            log.error("设备初始化失败", e);
+        }
+
+    }
+
+    public void sendToDevice(DeviceInitializationData data) {
+        System.out.println("Sending to device: " + data.getMid() + " - " + data.getRegIndex() + " = " + data.getRegInitVal());
+//        canBusService.moduleSetReg(MId.valueOf(data.getMid()));
+    }
+
+    public void initDeviceState() {
        DeviceState deviceState = deviceStateService.getDeviceState();
        List<HeatModuleState> heatArea = deviceState.getHeatModule();
        for (HeatModuleCode code : HeatModuleCode.values()) {
            heatArea.add(new HeatModuleState(code));
        }
-
        List<Container> containerList = containerService.getList();
        List<SolutionContainerState> solutionBucket = deviceState.getSolutionModule().getSolutionContainer();
        for (Container container : containerList) {
@ -36,7 +76,6 @@ public class DeviceStateInitializerService {
                solutionBucket.add(new SolutionContainerState(container.getId(), ContainerCode.valueOf(container.getCode()), ContainerType.neutralization));
            }
        }
-
        deviceState.setInitComplete(true);
    }
 }
--- a/src/main/java/com/iflytop/gd/app/service/GantryArmService.java
+++ b/src/main/java/com/iflytop/gd/app/service/GantryArmService.java
@ -32,7 +32,18 @@ public class GantryArmService {
            liquidLock.unlock();
        }
    }
-
+    /**
+     * 锁定加液区
+     */
+    public void setLiquidIdleFalse() {
+        liquidLock.lock();
+        try {
+            deviceStateService.setSolutionModuleStateIdle(false);
+            liquidIdleCondition.signalAll(); // 唤醒所有等待的线程
+        } finally {
+            liquidLock.unlock();
+        }
+    }
    /**
     * 释放加液区
     */
--- a/src/main/resources/init/zapp_sub_module_reg_initial_value.csv
+++ b/src/main/resources/init/zapp_sub_module_reg_initial_value.csv
@ -0,0 +1,684 @@
+id,mid,regIndex,regInitVal
+1,HBotClawSV,kreg_mini_servo_limit_velocity,10000
+2,HBotClawSV,kreg_mini_servo_limit_torque,300
+3,HBotClawSV,kreg_mini_servo_protective_torque,800
+4,HBotClawSV,kreg_mini_servo_target_pos_tolerance,15
+5,HBotClawSV,kreg_mini_servo_servo_min_angle,0
+6,HBotClawSV,kreg_mini_servo_servo_max_angle,4095
+7,HBotClawSV,kreg_mini_servo_servo_max_temp,70
+8,HBotClawSV,kreg_mini_servo_servo_max_voltage,254
+9,HBotClawSV,kreg_mini_servo_servo_min_voltage,90
+10,HBotClawSV,kreg_mini_servo_servo_max_torque,1000
+11,HBotClawSV,kreg_mini_servo_servo_unload_condition,44
+12,HBotClawSV,kreg_mini_servo_servo_protect_current,500
+13,HBotClawSV,kreg_mini_servo_servo_protect_torque,40
+14,HBotClawSV,kreg_mini_servo_servo_protect_time,200
+15,HBotClawSV,kreg_mini_servo_servo_overload_torque,40
+16,HBotClawSV,kreg_mini_servo_servo_acc,0
+17,DualRobotAxis1SV,kreg_mini_servo_limit_velocity,10000
+18,DualRobotAxis1SV,kreg_mini_servo_limit_torque,300
+19,DualRobotAxis1SV,kreg_mini_servo_protective_torque,800
+20,DualRobotAxis1SV,kreg_mini_servo_target_pos_tolerance,15
+21,DualRobotAxis1SV,kreg_mini_servo_servo_min_angle,0
+22,DualRobotAxis1SV,kreg_mini_servo_servo_max_angle,4095
+23,DualRobotAxis1SV,kreg_mini_servo_servo_max_temp,70
+24,DualRobotAxis1SV,kreg_mini_servo_servo_max_voltage,254
+25,DualRobotAxis1SV,kreg_mini_servo_servo_min_voltage,90
+26,DualRobotAxis1SV,kreg_mini_servo_servo_max_torque,1000
+27,DualRobotAxis1SV,kreg_mini_servo_servo_unload_condition,44
+28,DualRobotAxis1SV,kreg_mini_servo_servo_protect_current,500
+29,DualRobotAxis1SV,kreg_mini_servo_servo_protect_torque,20
+30,DualRobotAxis1SV,kreg_mini_servo_servo_protect_time,200
+31,DualRobotAxis1SV,kreg_mini_servo_servo_overload_torque,80
+32,DualRobotAxis1SV,kreg_mini_servo_servo_acc,0
+33,DualRobotAxis2SV,kreg_mini_servo_limit_velocity,10000
+34,DualRobotAxis2SV,kreg_mini_servo_limit_torque,300
+35,DualRobotAxis2SV,kreg_mini_servo_protective_torque,800
+36,DualRobotAxis2SV,kreg_mini_servo_target_pos_tolerance,15
+37,DualRobotAxis2SV,kreg_mini_servo_servo_min_angle,0
+38,DualRobotAxis2SV,kreg_mini_servo_servo_max_angle,4095
+39,DualRobotAxis2SV,kreg_mini_servo_servo_max_temp,70
+40,DualRobotAxis2SV,kreg_mini_servo_servo_max_voltage,254
+41,DualRobotAxis2SV,kreg_mini_servo_servo_min_voltage,90
+42,DualRobotAxis2SV,kreg_mini_servo_servo_max_torque,1000
+43,DualRobotAxis2SV,kreg_mini_servo_servo_unload_condition,44
+44,DualRobotAxis2SV,kreg_mini_servo_servo_protect_current,500
+45,DualRobotAxis2SV,kreg_mini_servo_servo_protect_torque,30
+46,DualRobotAxis2SV,kreg_mini_servo_servo_protect_time,200
+47,DualRobotAxis2SV,kreg_mini_servo_servo_overload_torque,80
+48,DualRobotAxis2SV,kreg_mini_servo_servo_acc,0
+49,LiquidDistributionArm,kreg_liquid_distribution_arm_enable,1
+50,LiquidDistributionArm,kreg_liquid_distribution_arm_pos0_d0,1800
+51,LiquidDistributionArm,kreg_liquid_distribution_arm_pos0_d1,1800
+52,LiquidDistributionArm,kreg_liquid_distribution_arm_pos1_d0,1799
+53,LiquidDistributionArm,kreg_liquid_distribution_arm_pos1_d1,2100
+54,LiquidDistributionArm,kreg_liquid_distribution_arm_pos2_d0,0
+55,LiquidDistributionArm,kreg_liquid_distribution_arm_pos2_d1,0
+56,LiquidDistributionArm,kreg_liquid_distribution_arm_pos3_d0,0
+57,LiquidDistributionArm,kreg_liquid_distribution_arm_pos3_d1,0
+58,LiquidDistributionArm,kreg_liquid_distribution_arm_pos4_d0,0
+59,LiquidDistributionArm,kreg_liquid_distribution_arm_pos4_d1,0
+60,LiquidDistributionArm,kreg_liquid_distribution_arm_pos5_d0,0
+61,LiquidDistributionArm,kreg_liquid_distribution_arm_pos5_d1,0
+62,LiquidDistributionArm,kreg_liquid_distribution_arm_pos6_d0,0
+63,LiquidDistributionArm,kreg_liquid_distribution_arm_pos6_d1,0
+64,LiquidDistributionArm,kreg_liquid_distribution_arm_pos7_d0,0
+65,LiquidDistributionArm,kreg_liquid_distribution_arm_pos7_d1,0
+66,LiquidDistributionArm,kreg_liquid_distribution_arm_pos8_d0,0
+67,LiquidDistributionArm,kreg_liquid_distribution_arm_pos8_d1,0
+68,LiquidDistributionArm,kreg_liquid_distribution_arm_pos9_d0,0
+69,LiquidDistributionArm,kreg_liquid_distribution_arm_pos9_d1,0
+70,LiquidDistributionArm,kreg_liquid_distribution_arm_pos10_d0,0
+71,LiquidDistributionArm,kreg_liquid_distribution_arm_pos10_d1,0
+72,LiquidDistributionArm,kreg_liquid_distribution_arm_pos11_d0,0
+73,LiquidDistributionArm,kreg_liquid_distribution_arm_pos11_d1,0
+74,LiquidDistributionArm,kreg_liquid_distribution_arm_pos12_d0,0
+75,LiquidDistributionArm,kreg_liquid_distribution_arm_pos12_d1,0
+76,LiquidDistributionArm,kreg_liquid_distribution_arm_pos13_d0,0
+77,LiquidDistributionArm,kreg_liquid_distribution_arm_pos13_d1,0
+78,LiquidDistributionArm,kreg_liquid_distribution_arm_pos14_d0,0
+79,LiquidDistributionArm,kreg_liquid_distribution_arm_pos14_d1,0
+80,LiquidDistributionArm,kreg_liquid_distribution_arm_pos15_d0,0
+81,LiquidDistributionArm,kreg_liquid_distribution_arm_pos15_d1,0
+82,LiquidDistributionArm,kreg_liquid_distribution_arm_pos16_d0,0
+83,LiquidDistributionArm,kreg_liquid_distribution_arm_pos16_d1,0
+84,DoorM,kreg_step_motor_shaft,1
+85,DoorM,kreg_step_motor_one_circle_pulse,10000
+86,DoorM,kreg_step_motor_one_circle_pulse_denominator,1
+87,DoorM,kreg_step_motor_default_velocity,500
+88,DoorM,kreg_step_motor_low_velocity,0
+89,DoorM,kreg_step_motor_mid_velocity,0
+90,DoorM,kreg_step_motor_high_velocity,0
+91,DoorM,kreg_step_motor_ihold,5
+92,DoorM,kreg_step_motor_irun,15
+93,DoorM,kreg_step_motor_iholddelay,10
+94,DoorM,kreg_step_motor_iglobalscaler,0
+95,DoorM,kreg_step_motor_mres,0
+96,DoorM,kreg_step_motor_run_to_zero_speed,100
+97,DoorM,kreg_step_motor_look_zero_edge_speed,100
+98,DoorM,kreg_step_motor_max_d,0
+99,DoorM,kreg_step_motor_min_d,0
+100,DoorM,kreg_step_motor_in_debug_mode,0
+101,DoorM,kreg_step_motor_vstart,100
+102,DoorM,kreg_step_motor_a1,50
+103,DoorM,kreg_step_motor_amax,100
+104,DoorM,kreg_step_motor_v1,300
+105,DoorM,kreg_step_motor_dmax,100
+106,DoorM,kreg_step_motor_d1,50
+107,DoorM,kreg_step_motor_vstop,100
+108,DoorM,kreg_step_motor_tzerowait,0
+109,DoorM,kreg_step_motor_enc_resolution,0
+110,DoorM,kreg_step_motor_enable_enc,0
+111,DoorM,kreg_step_motor_dzero_pos,0
+112,DoorM,kret_step_motor_pos_devi_tolerance,0
+113,DoorM,kret_step_motor_io_trigger_append_distance,0
+114,ShakeM,kreg_step_motor_shaft,1
+115,ShakeM,kreg_step_motor_one_circle_pulse,10000
+116,ShakeM,kreg_step_motor_one_circle_pulse_denominator,1
+117,ShakeM,kreg_step_motor_default_velocity,500
+118,ShakeM,kreg_step_motor_low_velocity,0
+119,ShakeM,kreg_step_motor_mid_velocity,0
+120,ShakeM,kreg_step_motor_high_velocity,0
+121,ShakeM,kreg_step_motor_ihold,5
+122,ShakeM,kreg_step_motor_irun,10
+123,ShakeM,kreg_step_motor_iholddelay,10
+124,ShakeM,kreg_step_motor_iglobalscaler,0
+125,ShakeM,kreg_step_motor_mres,0
+126,ShakeM,kreg_step_motor_run_to_zero_speed,100
+127,ShakeM,kreg_step_motor_look_zero_edge_speed,100
+128,ShakeM,kreg_step_motor_max_d,0
+129,ShakeM,kreg_step_motor_min_d,0
+130,ShakeM,kreg_step_motor_in_debug_mode,0
+131,ShakeM,kreg_step_motor_vstart,100
+132,ShakeM,kreg_step_motor_a1,50
+133,ShakeM,kreg_step_motor_amax,100
+134,ShakeM,kreg_step_motor_v1,300
+135,ShakeM,kreg_step_motor_dmax,100
+136,ShakeM,kreg_step_motor_d1,50
+137,ShakeM,kreg_step_motor_vstop,100
+138,ShakeM,kreg_step_motor_tzerowait,0
+139,ShakeM,kreg_step_motor_enc_resolution,0
+140,ShakeM,kreg_step_motor_enable_enc,0
+141,ShakeM,kreg_step_motor_dzero_pos,0
+142,ShakeM,kret_step_motor_pos_devi_tolerance,0
+143,ShakeM,kret_step_motor_io_trigger_append_distance,0
+144,CapStorageM,kreg_step_motor_shaft,1
+145,CapStorageM,kreg_step_motor_one_circle_pulse,10000
+146,CapStorageM,kreg_step_motor_one_circle_pulse_denominator,5
+147,CapStorageM,kreg_step_motor_default_velocity,500
+148,CapStorageM,kreg_step_motor_low_velocity,0
+149,CapStorageM,kreg_step_motor_mid_velocity,0
+150,CapStorageM,kreg_step_motor_high_velocity,0
+151,CapStorageM,kreg_step_motor_ihold,5
+152,CapStorageM,kreg_step_motor_irun,10
+153,CapStorageM,kreg_step_motor_iholddelay,10
+154,CapStorageM,kreg_step_motor_iglobalscaler,0
+155,CapStorageM,kreg_step_motor_mres,0
+156,CapStorageM,kreg_step_motor_run_to_zero_speed,100
+157,CapStorageM,kreg_step_motor_look_zero_edge_speed,100
+158,CapStorageM,kreg_step_motor_max_d,0
+159,CapStorageM,kreg_step_motor_min_d,0
+160,CapStorageM,kreg_step_motor_in_debug_mode,0
+161,CapStorageM,kreg_step_motor_vstart,100
+162,CapStorageM,kreg_step_motor_a1,50
+163,CapStorageM,kreg_step_motor_amax,100
+164,CapStorageM,kreg_step_motor_v1,300
+165,CapStorageM,kreg_step_motor_dmax,100
+166,CapStorageM,kreg_step_motor_d1,50
+167,CapStorageM,kreg_step_motor_vstop,100
+168,CapStorageM,kreg_step_motor_tzerowait,0
+169,CapStorageM,kreg_step_motor_enc_resolution,0
+170,CapStorageM,kreg_step_motor_enable_enc,0
+171,CapStorageM,kreg_step_motor_dzero_pos,0
+172,CapStorageM,kret_step_motor_pos_devi_tolerance,0
+173,CapStorageM,kret_step_motor_io_trigger_append_distance,0
+174,HBotXM,kreg_step_motor_shaft,1
+175,HBotXM,kreg_step_motor_one_circle_pulse,10000
+176,HBotXM,kreg_step_motor_one_circle_pulse_denominator,5
+177,HBotXM,kreg_step_motor_default_velocity,500
+178,HBotXM,kreg_step_motor_low_velocity,0
+179,HBotXM,kreg_step_motor_mid_velocity,0
+180,HBotXM,kreg_step_motor_high_velocity,0
+181,HBotXM,kreg_step_motor_ihold,5
+182,HBotXM,kreg_step_motor_irun,30
+183,HBotXM,kreg_step_motor_iholddelay,10
+184,HBotXM,kreg_step_motor_iglobalscaler,0
+185,HBotXM,kreg_step_motor_mres,0
+186,HBotXM,kreg_step_motor_run_to_zero_speed,100
+187,HBotXM,kreg_step_motor_look_zero_edge_speed,100
+188,HBotXM,kreg_step_motor_max_d,0
+189,HBotXM,kreg_step_motor_min_d,0
+190,HBotXM,kreg_step_motor_in_debug_mode,0
+191,HBotXM,kreg_step_motor_vstart,100
+192,HBotXM,kreg_step_motor_a1,50
+193,HBotXM,kreg_step_motor_amax,100
+194,HBotXM,kreg_step_motor_v1,300
+195,HBotXM,kreg_step_motor_dmax,100
+196,HBotXM,kreg_step_motor_d1,50
+197,HBotXM,kreg_step_motor_vstop,100
+198,HBotXM,kreg_step_motor_tzerowait,0
+199,HBotXM,kreg_step_motor_enc_resolution,0
+200,HBotXM,kreg_step_motor_enable_enc,0
+201,HBotXM,kreg_step_motor_dzero_pos,0
+202,HBotXM,kret_step_motor_pos_devi_tolerance,0
+203,HBotXM,kret_step_motor_io_trigger_append_distance,0
+204,HBotYM,kreg_step_motor_shaft,1
+205,HBotYM,kreg_step_motor_one_circle_pulse,10000
+206,HBotYM,kreg_step_motor_one_circle_pulse_denominator,4
+207,HBotYM,kreg_step_motor_default_velocity,500
+208,HBotYM,kreg_step_motor_low_velocity,0
+209,HBotYM,kreg_step_motor_mid_velocity,0
+210,HBotYM,kreg_step_motor_high_velocity,0
+211,HBotYM,kreg_step_motor_ihold,5
+212,HBotYM,kreg_step_motor_irun,20
+213,HBotYM,kreg_step_motor_iholddelay,10
+214,HBotYM,kreg_step_motor_iglobalscaler,0
+215,HBotYM,kreg_step_motor_mres,0
+216,HBotYM,kreg_step_motor_run_to_zero_speed,100
+217,HBotYM,kreg_step_motor_look_zero_edge_speed,100
+218,HBotYM,kreg_step_motor_max_d,0
+219,HBotYM,kreg_step_motor_min_d,0
+220,HBotYM,kreg_step_motor_in_debug_mode,0
+221,HBotYM,kreg_step_motor_vstart,100
+222,HBotYM,kreg_step_motor_a1,50
+223,HBotYM,kreg_step_motor_amax,100
+224,HBotYM,kreg_step_motor_v1,300
+225,HBotYM,kreg_step_motor_dmax,100
+226,HBotYM,kreg_step_motor_d1,50
+227,HBotYM,kreg_step_motor_vstop,100
+228,HBotYM,kreg_step_motor_tzerowait,0
+229,HBotYM,kreg_step_motor_enc_resolution,0
+230,HBotYM,kreg_step_motor_enable_enc,0
+231,HBotYM,kreg_step_motor_dzero_pos,0
+232,HBotYM,kret_step_motor_pos_devi_tolerance,0
+233,HBotYM,kret_step_motor_io_trigger_append_distance,0
+234,HBotZM,kreg_step_motor_shaft,1
+235,HBotZM,kreg_step_motor_one_circle_pulse,10000
+236,HBotZM,kreg_step_motor_one_circle_pulse_denominator,5
+237,HBotZM,kreg_step_motor_default_velocity,500
+238,HBotZM,kreg_step_motor_low_velocity,0
+239,HBotZM,kreg_step_motor_mid_velocity,0
+240,HBotZM,kreg_step_motor_high_velocity,0
+241,HBotZM,kreg_step_motor_ihold,5
+242,HBotZM,kreg_step_motor_irun,15
+243,HBotZM,kreg_step_motor_iholddelay,10
+244,HBotZM,kreg_step_motor_iglobalscaler,0
+245,HBotZM,kreg_step_motor_mres,0
+246,HBotZM,kreg_step_motor_run_to_zero_speed,100
+247,HBotZM,kreg_step_motor_look_zero_edge_speed,100
+248,HBotZM,kreg_step_motor_max_d,0
+249,HBotZM,kreg_step_motor_min_d,0
+250,HBotZM,kreg_step_motor_in_debug_mode,0
+251,HBotZM,kreg_step_motor_vstart,100
+252,HBotZM,kreg_step_motor_a1,50
+253,HBotZM,kreg_step_motor_amax,100
+254,HBotZM,kreg_step_motor_v1,300
+255,HBotZM,kreg_step_motor_dmax,100
+256,HBotZM,kreg_step_motor_d1,50
+257,HBotZM,kreg_step_motor_vstop,100
+258,HBotZM,kreg_step_motor_tzerowait,0
+259,HBotZM,kreg_step_motor_enc_resolution,0
+260,HBotZM,kreg_step_motor_enable_enc,0
+261,HBotZM,kreg_step_motor_dzero_pos,0
+262,HBotZM,kret_step_motor_pos_devi_tolerance,0
+263,HBotZM,kret_step_motor_io_trigger_append_distance,0
+264,Heater1M,kreg_step_motor_shaft,1
+265,Heater1M,kreg_step_motor_one_circle_pulse,10000
+266,Heater1M,kreg_step_motor_one_circle_pulse_denominator,4
+267,Heater1M,kreg_step_motor_default_velocity,500
+268,Heater1M,kreg_step_motor_low_velocity,0
+269,Heater1M,kreg_step_motor_mid_velocity,0
+270,Heater1M,kreg_step_motor_high_velocity,0
+271,Heater1M,kreg_step_motor_ihold,5
+272,Heater1M,kreg_step_motor_irun,10
+273,Heater1M,kreg_step_motor_iholddelay,10
+274,Heater1M,kreg_step_motor_iglobalscaler,0
+275,Heater1M,kreg_step_motor_mres,0
+276,Heater1M,kreg_step_motor_run_to_zero_speed,100
+277,Heater1M,kreg_step_motor_look_zero_edge_speed,100
+278,Heater1M,kreg_step_motor_max_d,0
+279,Heater1M,kreg_step_motor_min_d,0
+280,Heater1M,kreg_step_motor_in_debug_mode,0
+281,Heater1M,kreg_step_motor_vstart,100
+282,Heater1M,kreg_step_motor_a1,50
+283,Heater1M,kreg_step_motor_amax,100
+284,Heater1M,kreg_step_motor_v1,300
+285,Heater1M,kreg_step_motor_dmax,100
+286,Heater1M,kreg_step_motor_d1,50
+287,Heater1M,kreg_step_motor_vstop,100
+288,Heater1M,kreg_step_motor_tzerowait,0
+289,Heater1M,kreg_step_motor_enc_resolution,0
+290,Heater1M,kreg_step_motor_enable_enc,0
+291,Heater1M,kreg_step_motor_dzero_pos,0
+292,Heater1M,kret_step_motor_pos_devi_tolerance,0
+293,Heater1M,kret_step_motor_io_trigger_append_distance,0
+294,Heater2M,kreg_step_motor_shaft,1
+295,Heater2M,kreg_step_motor_one_circle_pulse,10000
+296,Heater2M,kreg_step_motor_one_circle_pulse_denominator,4
+297,Heater2M,kreg_step_motor_default_velocity,500
+298,Heater2M,kreg_step_motor_low_velocity,0
+299,Heater2M,kreg_step_motor_mid_velocity,0
+300,Heater2M,kreg_step_motor_high_velocity,0
+301,Heater2M,kreg_step_motor_ihold,5
+302,Heater2M,kreg_step_motor_irun,10
+303,Heater2M,kreg_step_motor_iholddelay,10
+304,Heater2M,kreg_step_motor_iglobalscaler,0
+305,Heater2M,kreg_step_motor_mres,0
+306,Heater2M,kreg_step_motor_run_to_zero_speed,100
+307,Heater2M,kreg_step_motor_look_zero_edge_speed,100
+308,Heater2M,kreg_step_motor_max_d,0
+309,Heater2M,kreg_step_motor_min_d,0
+310,Heater2M,kreg_step_motor_in_debug_mode,0
+311,Heater2M,kreg_step_motor_vstart,100
+312,Heater2M,kreg_step_motor_a1,50
+313,Heater2M,kreg_step_motor_amax,100
+314,Heater2M,kreg_step_motor_v1,300
+315,Heater2M,kreg_step_motor_dmax,100
+316,Heater2M,kreg_step_motor_d1,50
+317,Heater2M,kreg_step_motor_vstop,100
+318,Heater2M,kreg_step_motor_tzerowait,0
+319,Heater2M,kreg_step_motor_enc_resolution,0
+320,Heater2M,kreg_step_motor_enable_enc,0
+321,Heater2M,kreg_step_motor_dzero_pos,0
+322,Heater2M,kret_step_motor_pos_devi_tolerance,0
+323,Heater2M,kret_step_motor_io_trigger_append_distance,0
+324,Heater3M,kreg_step_motor_shaft,1
+325,Heater3M,kreg_step_motor_one_circle_pulse,10000
+326,Heater3M,kreg_step_motor_one_circle_pulse_denominator,4
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+666,AcidPump8M,kreg_step_motor_run_to_zero_speed,100
+667,AcidPump8M,kreg_step_motor_look_zero_edge_speed,100
+668,AcidPump8M,kreg_step_motor_max_d,0
+669,AcidPump8M,kreg_step_motor_min_d,0
+670,AcidPump8M,kreg_step_motor_in_debug_mode,0
+671,AcidPump8M,kreg_step_motor_vstart,100
+672,AcidPump8M,kreg_step_motor_a1,50
+673,AcidPump8M,kreg_step_motor_amax,100
+674,AcidPump8M,kreg_step_motor_v1,300
+675,AcidPump8M,kreg_step_motor_dmax,100
+676,AcidPump8M,kreg_step_motor_d1,50
+677,AcidPump8M,kreg_step_motor_vstop,100
+678,AcidPump8M,kreg_step_motor_tzerowait,0
+679,AcidPump8M,kreg_step_motor_enc_resolution,0
+680,AcidPump8M,kreg_step_motor_enable_enc,0
+681,AcidPump8M,kreg_step_motor_dzero_pos,0
+682,AcidPump8M,kret_step_motor_pos_devi_tolerance,0
+683,AcidPump8M,kret_step_motor_io_trigger_append_distance,0