fix:统一调试指令传递的模块id

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

@@ -7,6 +7,7 @@ import com.iflytop.gd.common.annotation.CommandMapping;
 import com.iflytop.gd.common.cmd.CommandFuture;
 import com.iflytop.gd.common.cmd.DeviceCommandBundle;
 import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import com.iflytop.gd.common.enums.HeatModuleId;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -26,15 +27,16 @@ public class FanStartCommandHandler extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            Integer index = cmdDTO.getIntegerParam("index");
+            String index = cmdDTO.getStringParam("index");
+            HeatModuleId heatModuleId = HeatModuleId.valueOf(index);
             DeviceCommandBundle deviceCommand;
-            switch (index) {
-                case 1 -> deviceCommand = DeviceCommandGenerator.fan1Open();
-                case 2 -> deviceCommand = DeviceCommandGenerator.fan2Open();
-                case 3 -> deviceCommand = DeviceCommandGenerator.fan3Open();
-                case 4 -> deviceCommand = DeviceCommandGenerator.fan4Open();
-                case 5 -> deviceCommand = DeviceCommandGenerator.fan5Open();
-                case 6 -> deviceCommand = DeviceCommandGenerator.fan6Open();
+            switch (heatModuleId) {
+                case heat_module_01 -> deviceCommand = DeviceCommandGenerator.fan1Open();
+                case heat_module_02 -> deviceCommand = DeviceCommandGenerator.fan2Open();
+                case heat_module_03 -> deviceCommand = DeviceCommandGenerator.fan3Open();
+                case heat_module_04 -> deviceCommand = DeviceCommandGenerator.fan4Open();
+                case heat_module_05 -> deviceCommand = DeviceCommandGenerator.fan5Open();
+                case heat_module_06 -> deviceCommand = DeviceCommandGenerator.fan6Open();
                 default -> throw new RuntimeException("index 未找到");
             }
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);

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

@@ -7,6 +7,7 @@ import com.iflytop.gd.common.annotation.CommandMapping;
 import com.iflytop.gd.common.cmd.CommandFuture;
 import com.iflytop.gd.common.cmd.DeviceCommandBundle;
 import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import com.iflytop.gd.common.enums.HeatModuleId;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -26,15 +27,16 @@ public class FanStopCommandHandler extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            Integer index = cmdDTO.getIntegerParam("index");
+            String index = cmdDTO.getStringParam("index");
+            HeatModuleId heatModuleId = HeatModuleId.valueOf(index);
             DeviceCommandBundle deviceCommand;
-            switch (index) {
-                case 1 -> deviceCommand = DeviceCommandGenerator.fan1Close();
-                case 2 -> deviceCommand = DeviceCommandGenerator.fan2Close();
-                case 3 -> deviceCommand = DeviceCommandGenerator.fan3Close();
-                case 4 -> deviceCommand = DeviceCommandGenerator.fan4Close();
-                case 5 -> deviceCommand = DeviceCommandGenerator.fan5Close();
-                case 6 -> deviceCommand = DeviceCommandGenerator.fan6Close();
+            switch (heatModuleId) {
+                case heat_module_01 -> deviceCommand = DeviceCommandGenerator.fan1Close();
+                case heat_module_02 -> deviceCommand = DeviceCommandGenerator.fan2Close();
+                case heat_module_03 -> deviceCommand = DeviceCommandGenerator.fan3Close();
+                case heat_module_04 -> deviceCommand = DeviceCommandGenerator.fan4Close();
+                case heat_module_05 -> deviceCommand = DeviceCommandGenerator.fan5Close();
+                case heat_module_06 -> deviceCommand = DeviceCommandGenerator.fan6Close();
                 default -> throw new RuntimeException("index 未找到");
             }
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);

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

@@ -7,6 +7,7 @@ import com.iflytop.gd.common.annotation.CommandMapping;
 import com.iflytop.gd.common.cmd.CommandFuture;
 import com.iflytop.gd.common.cmd.DeviceCommandBundle;
 import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import com.iflytop.gd.common.enums.HeatModuleId;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -26,16 +27,17 @@ public class HeaterStartCommandHandler extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            Integer index = cmdDTO.getIntegerParam("index");
+            String index = cmdDTO.getStringParam("index");
             Double temperature = cmdDTO.getDoubleParam("temperature");
+            HeatModuleId heatModuleId = HeatModuleId.valueOf(index);
             DeviceCommandBundle deviceCommand;
-            switch (index) {
-                case 1 -> deviceCommand = DeviceCommandGenerator.heatRod1Open(temperature);
-                case 2 -> deviceCommand = DeviceCommandGenerator.heatRod2Open(temperature);
-                case 3 -> deviceCommand = DeviceCommandGenerator.heatRod3Open(temperature);
-                case 4 -> deviceCommand = DeviceCommandGenerator.heatRod4Open(temperature);
-                case 5 -> deviceCommand = DeviceCommandGenerator.heatRod5Open(temperature);
-                case 6 -> deviceCommand = DeviceCommandGenerator.heatRod6Open(temperature);
+            switch (heatModuleId) {
+                case heat_module_01 -> deviceCommand = DeviceCommandGenerator.heatRod1Open(temperature);
+                case heat_module_02 -> deviceCommand = DeviceCommandGenerator.heatRod2Open(temperature);
+                case heat_module_03 -> deviceCommand = DeviceCommandGenerator.heatRod3Open(temperature);
+                case heat_module_04 -> deviceCommand = DeviceCommandGenerator.heatRod4Open(temperature);
+                case heat_module_05 -> deviceCommand = DeviceCommandGenerator.heatRod5Open(temperature);
+                case heat_module_06 -> deviceCommand = DeviceCommandGenerator.heatRod6Open(temperature);
                 default -> throw new RuntimeException("index 未找到");
             }
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);

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

@@ -7,6 +7,7 @@ import com.iflytop.gd.common.annotation.CommandMapping;
 import com.iflytop.gd.common.cmd.CommandFuture;
 import com.iflytop.gd.common.cmd.DeviceCommandBundle;
 import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import com.iflytop.gd.common.enums.HeatModuleId;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -26,15 +27,16 @@ public class HeaterStopCommandHandler extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            Integer index = cmdDTO.getIntegerParam("index");
+            String index = cmdDTO.getStringParam("index");
+            HeatModuleId heatModuleId = HeatModuleId.valueOf(index);
             DeviceCommandBundle deviceCommand;
-            switch (index) {
-                case 1 -> deviceCommand = DeviceCommandGenerator.heatRod1Close();
-                case 2 -> deviceCommand = DeviceCommandGenerator.heatRod2Close();
-                case 3 -> deviceCommand = DeviceCommandGenerator.heatRod3Close();
-                case 4 -> deviceCommand = DeviceCommandGenerator.heatRod4Close();
-                case 5 -> deviceCommand = DeviceCommandGenerator.heatRod5Close();
-                case 6 -> deviceCommand = DeviceCommandGenerator.heatRod6Close();
+            switch (heatModuleId) {
+                case heat_module_01 -> deviceCommand = DeviceCommandGenerator.heatRod1Close();
+                case heat_module_02 -> deviceCommand = DeviceCommandGenerator.heatRod2Close();
+                case heat_module_03 -> deviceCommand = DeviceCommandGenerator.heatRod3Close();
+                case heat_module_04 -> deviceCommand = DeviceCommandGenerator.heatRod4Close();
+                case heat_module_05 -> deviceCommand = DeviceCommandGenerator.heatRod5Close();
+                case heat_module_06 -> deviceCommand = DeviceCommandGenerator.heatRod6Close();
                 default -> throw new RuntimeException("index 未找到");
             }
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);

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

@@ -7,6 +7,7 @@ import com.iflytop.gd.common.annotation.CommandMapping;
 import com.iflytop.gd.common.cmd.CommandFuture;
 import com.iflytop.gd.common.cmd.DeviceCommandBundle;
 import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import com.iflytop.gd.common.enums.AcidPumpDevice;
 import com.iflytop.gd.common.enums.cmd.CmdDirection;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -27,22 +28,23 @@ public class LiquidPumpStartCommandHandler extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            Integer index = cmdDTO.getIntegerParam("index");
+            String index = cmdDTO.getStringParam("index");
             String direction = cmdDTO.getStringParam("direction");
             Double volume = cmdDTO.getDoubleParam("volume");
             Double velocity = cmdDTO.getDoubleParam("velocity");
             CmdDirection directionEnum = CmdDirection.valueOf(direction);
+            AcidPumpDevice acidPumpDevice = AcidPumpDevice.valueOf(index);
             DeviceCommandBundle deviceCommand;
             if(velocity != null) {
-                switch (index) {
-                    case 1 -> deviceCommand = DeviceCommandGenerator.acidPump1Set(velocity);
-                    case 2 -> deviceCommand = DeviceCommandGenerator.acidPump2Set(velocity);
-                    case 3 -> deviceCommand = DeviceCommandGenerator.acidPump3Set(velocity);
-                    case 4 -> deviceCommand = DeviceCommandGenerator.acidPump4Set(velocity);
-                    case 5 -> deviceCommand = DeviceCommandGenerator.acidPump5Set(velocity);
-                    case 6 -> deviceCommand = DeviceCommandGenerator.acidPump6Set(velocity);
-                    case 7 -> deviceCommand = DeviceCommandGenerator.acidPump7Set(velocity);
-                    case 8 -> deviceCommand = DeviceCommandGenerator.acidPump8Set(velocity);
+                switch (acidPumpDevice) {
+                    case acid_pump_01 -> deviceCommand = DeviceCommandGenerator.acidPump1Set(velocity);
+                    case acid_pump_02 -> deviceCommand = DeviceCommandGenerator.acidPump2Set(velocity);
+                    case acid_pump_03 -> deviceCommand = DeviceCommandGenerator.acidPump3Set(velocity);
+                    case acid_pump_04 -> deviceCommand = DeviceCommandGenerator.acidPump4Set(velocity);
+                    case acid_pump_05 -> deviceCommand = DeviceCommandGenerator.acidPump5Set(velocity);
+                    case acid_pump_06 -> deviceCommand = DeviceCommandGenerator.acidPump6Set(velocity);
+                    case acid_pump_07 -> deviceCommand = DeviceCommandGenerator.acidPump7Set(velocity);
+                    case acid_pump_08 -> deviceCommand = DeviceCommandGenerator.acidPump8Set(velocity);
                     default -> throw new RuntimeException("index 未找到");
                 }
 
@@ -50,15 +52,15 @@ public class LiquidPumpStartCommandHandler extends BaseCommandHandler {
                 commandWait(deviceCommandFuture);
             }
 
-            switch (index) {
-                case 1 -> deviceCommand = DeviceCommandGenerator.acidPump1Move(directionEnum, volume);
-                case 2 -> deviceCommand = DeviceCommandGenerator.acidPump2Move(directionEnum, volume);
-                case 3 -> deviceCommand = DeviceCommandGenerator.acidPump3Move(directionEnum, volume);
-                case 4 -> deviceCommand = DeviceCommandGenerator.acidPump4Move(directionEnum, volume);
-                case 5 -> deviceCommand = DeviceCommandGenerator.acidPump5Move(directionEnum, volume);
-                case 6 -> deviceCommand = DeviceCommandGenerator.acidPump6Move(directionEnum, volume);
-                case 7 -> deviceCommand = DeviceCommandGenerator.acidPump7Move(directionEnum, volume);
-                case 8 -> deviceCommand = DeviceCommandGenerator.acidPump8Move(directionEnum, volume);
+            switch (acidPumpDevice) {
+                case acid_pump_01 -> deviceCommand = DeviceCommandGenerator.acidPump1Move(directionEnum, volume);
+                case acid_pump_02 -> deviceCommand = DeviceCommandGenerator.acidPump2Move(directionEnum, volume);
+                case acid_pump_03 -> deviceCommand = DeviceCommandGenerator.acidPump3Move(directionEnum, volume);
+                case acid_pump_04 -> deviceCommand = DeviceCommandGenerator.acidPump4Move(directionEnum, volume);
+                case acid_pump_05 -> deviceCommand = DeviceCommandGenerator.acidPump5Move(directionEnum, volume);
+                case acid_pump_06 -> deviceCommand = DeviceCommandGenerator.acidPump6Move(directionEnum, volume);
+                case acid_pump_07 -> deviceCommand = DeviceCommandGenerator.acidPump7Move(directionEnum, volume);
+                case acid_pump_08 -> deviceCommand = DeviceCommandGenerator.acidPump8Move(directionEnum, volume);
                 default -> throw new RuntimeException("index 未找到");
             }
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);

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

@@ -7,6 +7,7 @@ import com.iflytop.gd.common.annotation.CommandMapping;
 import com.iflytop.gd.common.cmd.CommandFuture;
 import com.iflytop.gd.common.cmd.DeviceCommandBundle;
 import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import com.iflytop.gd.common.enums.AcidPumpDevice;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -26,17 +27,18 @@ public class LiquidPumpStopCommandHandler extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            Integer index = cmdDTO.getIntegerParam("index");
+            String index = cmdDTO.getStringParam("index");
+            AcidPumpDevice acidPumpDevice = AcidPumpDevice.valueOf(index);
             DeviceCommandBundle deviceCommand;
-            switch (index) {
-                case 1 -> deviceCommand = DeviceCommandGenerator.acidPump1Stop();
-                case 2 -> deviceCommand = DeviceCommandGenerator.acidPump2Stop();
-                case 3 -> deviceCommand = DeviceCommandGenerator.acidPump3Stop();
-                case 4 -> deviceCommand = DeviceCommandGenerator.acidPump4Stop();
-                case 5 -> deviceCommand = DeviceCommandGenerator.acidPump5Stop();
-                case 6 -> deviceCommand = DeviceCommandGenerator.acidPump6Stop();
-                case 7 -> deviceCommand = DeviceCommandGenerator.acidPump7Stop();
-                case 8 -> deviceCommand = DeviceCommandGenerator.acidPump8Stop();
+            switch (acidPumpDevice) {
+                case acid_pump_01 -> deviceCommand = DeviceCommandGenerator.acidPump1Stop();
+                case acid_pump_02 -> deviceCommand = DeviceCommandGenerator.acidPump2Stop();
+                case acid_pump_03 -> deviceCommand = DeviceCommandGenerator.acidPump3Stop();
+                case acid_pump_04 -> deviceCommand = DeviceCommandGenerator.acidPump4Stop();
+                case acid_pump_05 -> deviceCommand = DeviceCommandGenerator.acidPump5Stop();
+                case acid_pump_06 -> deviceCommand = DeviceCommandGenerator.acidPump6Stop();
+                case acid_pump_07 -> deviceCommand = DeviceCommandGenerator.acidPump7Stop();
+                case acid_pump_08 -> deviceCommand = DeviceCommandGenerator.acidPump8Stop();
                 default -> throw new RuntimeException("index 未找到");
             }
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);

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

@@ -7,6 +7,7 @@ import com.iflytop.gd.common.annotation.CommandMapping;
 import com.iflytop.gd.common.cmd.CommandFuture;
 import com.iflytop.gd.common.cmd.DeviceCommandBundle;
 import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import com.iflytop.gd.common.enums.HeatModuleId;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -27,32 +28,32 @@ public class PalletElevatorLiftDownCommandHandler extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            Integer index = cmdDTO.getIntegerParam("index");
+            String index = cmdDTO.getStringParam("index");
             Double distance = cmdDTO.getDoubleParam("distance");
             Double velocity = cmdDTO.getDoubleParam("velocity");
             DeviceCommandBundle deviceCommand;
-
-            if(velocity != null) {
-                switch (index) {
-                    case 1 -> deviceCommand = DeviceCommandGenerator.heaterMotor1Set(distance);
-                    case 2 -> deviceCommand = DeviceCommandGenerator.heaterMotor2Set(distance);
-                    case 3 -> deviceCommand = DeviceCommandGenerator.heaterMotor3Set(distance);
-                    case 4 -> deviceCommand = DeviceCommandGenerator.heaterMotor4Set(distance);
-                    case 5 -> deviceCommand = DeviceCommandGenerator.heaterMotor5Set(distance);
-                    case 6 -> deviceCommand = DeviceCommandGenerator.heaterMotor6Set(distance);
+            HeatModuleId heatModuleId = HeatModuleId.valueOf(index);
+            if (velocity != null) {
+                switch (heatModuleId) {
+                    case heat_module_01 -> deviceCommand = DeviceCommandGenerator.heaterMotor1Set(distance);
+                    case heat_module_02 -> deviceCommand = DeviceCommandGenerator.heaterMotor2Set(distance);
+                    case heat_module_03 -> deviceCommand = DeviceCommandGenerator.heaterMotor3Set(distance);
+                    case heat_module_04 -> deviceCommand = DeviceCommandGenerator.heaterMotor4Set(distance);
+                    case heat_module_05 -> deviceCommand = DeviceCommandGenerator.heaterMotor5Set(distance);
+                    case heat_module_06 -> deviceCommand = DeviceCommandGenerator.heaterMotor6Set(distance);
                     default -> throw new RuntimeException("index 未找到");
                 }
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                 commandWait(deviceCommandFuture);
             }
 
-            switch (index) {
-                case 1 -> deviceCommand = DeviceCommandGenerator.heaterMotor1MoveBy(distance);
-                case 2 -> deviceCommand = DeviceCommandGenerator.heaterMotor2MoveBy(distance);
-                case 3 -> deviceCommand = DeviceCommandGenerator.heaterMotor3MoveBy(distance);
-                case 4 -> deviceCommand = DeviceCommandGenerator.heaterMotor4MoveBy(distance);
-                case 5 -> deviceCommand = DeviceCommandGenerator.heaterMotor5MoveBy(distance);
-                case 6 -> deviceCommand = DeviceCommandGenerator.heaterMotor6MoveBy(distance);
+            switch (heatModuleId) {
+                case heat_module_01 -> deviceCommand = DeviceCommandGenerator.heaterMotor1MoveBy(distance);
+                case heat_module_02 -> deviceCommand = DeviceCommandGenerator.heaterMotor2MoveBy(distance);
+                case heat_module_03 -> deviceCommand = DeviceCommandGenerator.heaterMotor3MoveBy(distance);
+                case heat_module_04 -> deviceCommand = DeviceCommandGenerator.heaterMotor4MoveBy(distance);
+                case heat_module_05 -> deviceCommand = DeviceCommandGenerator.heaterMotor5MoveBy(distance);
+                case heat_module_06 -> deviceCommand = DeviceCommandGenerator.heaterMotor6MoveBy(distance);
                 default -> throw new RuntimeException("index 未找到");
             }
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);

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

@@ -7,6 +7,7 @@ import com.iflytop.gd.common.annotation.CommandMapping;
 import com.iflytop.gd.common.cmd.CommandFuture;
 import com.iflytop.gd.common.cmd.DeviceCommandBundle;
 import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import com.iflytop.gd.common.enums.HeatModuleId;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -26,32 +27,32 @@ public class PalletElevatorLiftUpCommandHandler extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            Integer index = cmdDTO.getIntegerParam("index");
+            String index = cmdDTO.getStringParam("index");
             Double distance = cmdDTO.getDoubleParam("distance");
             Double velocity = cmdDTO.getDoubleParam("velocity");
             DeviceCommandBundle deviceCommand;
-
-            if(velocity != null) {
-                switch (index) {
-                    case 1 -> deviceCommand = DeviceCommandGenerator.heaterMotor1Set(distance);
-                    case 2 -> deviceCommand = DeviceCommandGenerator.heaterMotor2Set(distance);
-                    case 3 -> deviceCommand = DeviceCommandGenerator.heaterMotor3Set(distance);
-                    case 4 -> deviceCommand = DeviceCommandGenerator.heaterMotor4Set(distance);
-                    case 5 -> deviceCommand = DeviceCommandGenerator.heaterMotor5Set(distance);
-                    case 6 -> deviceCommand = DeviceCommandGenerator.heaterMotor6Set(distance);
+            HeatModuleId heatModuleId = HeatModuleId.valueOf(index);
+            if (velocity != null) {
+                switch (heatModuleId) {
+                    case heat_module_01 -> deviceCommand = DeviceCommandGenerator.heaterMotor1Set(distance);
+                    case heat_module_02 -> deviceCommand = DeviceCommandGenerator.heaterMotor2Set(distance);
+                    case heat_module_03 -> deviceCommand = DeviceCommandGenerator.heaterMotor3Set(distance);
+                    case heat_module_04 -> deviceCommand = DeviceCommandGenerator.heaterMotor4Set(distance);
+                    case heat_module_05 -> deviceCommand = DeviceCommandGenerator.heaterMotor5Set(distance);
+                    case heat_module_06 -> deviceCommand = DeviceCommandGenerator.heaterMotor6Set(distance);
                     default -> throw new RuntimeException("index 未找到");
                 }
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                 commandWait(deviceCommandFuture);
             }
 
-            switch (index) {
-                case 1 -> deviceCommand = DeviceCommandGenerator.heaterMotor1MoveBy(distance);
-                case 2 -> deviceCommand = DeviceCommandGenerator.heaterMotor2MoveBy(distance);
-                case 3 -> deviceCommand = DeviceCommandGenerator.heaterMotor3MoveBy(distance);
-                case 4 -> deviceCommand = DeviceCommandGenerator.heaterMotor4MoveBy(distance);
-                case 5 -> deviceCommand = DeviceCommandGenerator.heaterMotor5MoveBy(distance);
-                case 6 -> deviceCommand = DeviceCommandGenerator.heaterMotor6MoveBy(distance);
+            switch (heatModuleId) {
+                case heat_module_01 -> deviceCommand = DeviceCommandGenerator.heaterMotor1MoveBy(distance);
+                case heat_module_02 -> deviceCommand = DeviceCommandGenerator.heaterMotor2MoveBy(distance);
+                case heat_module_03 -> deviceCommand = DeviceCommandGenerator.heaterMotor3MoveBy(distance);
+                case heat_module_04 -> deviceCommand = DeviceCommandGenerator.heaterMotor4MoveBy(distance);
+                case heat_module_05 -> deviceCommand = DeviceCommandGenerator.heaterMotor5MoveBy(distance);
+                case heat_module_06 -> deviceCommand = DeviceCommandGenerator.heaterMotor6MoveBy(distance);
                 default -> throw new RuntimeException("index 未找到");
             }
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);

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

@@ -7,6 +7,7 @@ import com.iflytop.gd.common.annotation.CommandMapping;
 import com.iflytop.gd.common.cmd.CommandFuture;
 import com.iflytop.gd.common.cmd.DeviceCommandBundle;
 import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import com.iflytop.gd.common.enums.HeatModuleId;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -27,15 +28,16 @@ public class PalletElevatorStopCommandHandler extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            Integer index = cmdDTO.getIntegerParam("index");
+            String index = cmdDTO.getStringParam("index");
+            HeatModuleId heatModuleId = HeatModuleId.valueOf(index);
             DeviceCommandBundle deviceCommand;
-            switch (index) {
-                case 1 -> deviceCommand = DeviceCommandGenerator.heaterMotor1Stop();
-                case 2 -> deviceCommand = DeviceCommandGenerator.heaterMotor2Stop();
-                case 3 -> deviceCommand = DeviceCommandGenerator.heaterMotor3Stop();
-                case 4 -> deviceCommand = DeviceCommandGenerator.heaterMotor4Stop();
-                case 5 -> deviceCommand = DeviceCommandGenerator.heaterMotor5Stop();
-                case 6 -> deviceCommand = DeviceCommandGenerator.heaterMotor6Stop();
+            switch (heatModuleId) {
+                case heat_module_01 -> deviceCommand = DeviceCommandGenerator.heaterMotor1Stop();
+                case heat_module_02 -> deviceCommand = DeviceCommandGenerator.heaterMotor2Stop();
+                case heat_module_03 -> deviceCommand = DeviceCommandGenerator.heaterMotor3Stop();
+                case heat_module_04 -> deviceCommand = DeviceCommandGenerator.heaterMotor4Stop();
+                case heat_module_05 -> deviceCommand = DeviceCommandGenerator.heaterMotor5Stop();
+                case heat_module_06 -> deviceCommand = DeviceCommandGenerator.heaterMotor6Stop();
                 default -> throw new RuntimeException("index 未找到");
             }
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);

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

@@ -32,22 +32,22 @@ public class TransportationArmMoveCommandHandler extends BaseCommandHandler {
             Double yDimDistance = cmdDTO.getDoubleParam("yDimDistance");
             Double zDimDistance = cmdDTO.getDoubleParam("zDimDistance");
 
-            Double xDimvelocity = cmdDTO.getDoubleParam("xDimvelocity");
-            Double yDimvelocity = cmdDTO.getDoubleParam("yDimvelocity");
-            Double zDimvelocity = cmdDTO.getDoubleParam("zDimvelocity");
+            Double xDimVelocity = cmdDTO.getDoubleParam("xDimVelocity");
+            Double yDimVelocity = cmdDTO.getDoubleParam("yDimVelocity");
+            Double zDimVelocity = cmdDTO.getDoubleParam("zDimVelocity");
             List<CommandFuture> futuresList = new ArrayList<>();
-            if(xDimvelocity != null){
-                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXSet(xDimvelocity);
+            if(xDimVelocity != null){
+                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXSet(xDimVelocity);
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                 futuresList.add(deviceCommandFuture);
             }
-            if(yDimvelocity != null){
-                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYSet(yDimvelocity);
+            if(yDimVelocity != null){
+                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYSet(yDimVelocity);
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                 futuresList.add(deviceCommandFuture);
             }
-            if(zDimvelocity != null){
-                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZSet(zDimvelocity);
+            if(zDimVelocity != null){
+                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZSet(zDimVelocity);
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                 futuresList.add(deviceCommandFuture);
             }

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

@@ -16,7 +16,10 @@ import org.springframework.stereotype.Service;
 
 import java.util.ArrayList;
 import java.util.List;
-import java.util.concurrent.*;
+import java.util.concurrent.BlockingQueue;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.ConcurrentMap;
+import java.util.concurrent.LinkedBlockingQueue;
 
 @Slf4j
 @Service
@@ -98,14 +101,21 @@ public class DeviceCommandService {
             }
         } else {
             //虚拟模式
-            try (ScheduledExecutorService scheduler = Executors.newSingleThreadScheduledExecutor()) {
-                scheduler.schedule(() -> {
+            new Thread(() -> {
+                try {
+                    String actionName = commandFuture.getDeviceCommandBundle().getDeviceCommand().getAction().name();
+                    if (actionName.contains("move") || actionName.contains("origin")) {
+                        Thread.sleep(2000);
+                    }
                     JSONObject jsonObject = new JSONObject();
                     jsonObject.putOnce("cmdId", cmdId);
                     jsonObject.putOnce("success", true);
                     completeCommandResponse(jsonObject);
-                }, 2, TimeUnit.SECONDS);
+                } catch (InterruptedException e) {
+                    // 处理中断异常
+                    Thread.currentThread().interrupt();
                 }
+            }).start();
         }
 
     }

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

@@ -84,12 +84,12 @@ public class DeviceCommandUtilService {
      */
     public void heaterMotorMove(HeatModuleId heatModuleId, double position) throws Exception {
         DeviceCommandBundle deviceCommand = switch (heatModuleId) {
-            case HeatModuleId.MODULE_01 -> DeviceCommandGenerator.heaterMotor1Move(position);
-            case HeatModuleId.MODULE_02 -> DeviceCommandGenerator.heaterMotor2Move(position);
-            case HeatModuleId.MODULE_03 -> DeviceCommandGenerator.heaterMotor3Move(position);
-            case HeatModuleId.MODULE_04 -> DeviceCommandGenerator.heaterMotor4Move(position);
-            case HeatModuleId.MODULE_05 -> DeviceCommandGenerator.heaterMotor5Move(position);
-            case HeatModuleId.MODULE_06 -> DeviceCommandGenerator.heaterMotor6Move(position);
+            case heat_module_01 -> DeviceCommandGenerator.heaterMotor1Move(position);
+            case heat_module_02 -> DeviceCommandGenerator.heaterMotor2Move(position);
+            case heat_module_03 -> DeviceCommandGenerator.heaterMotor3Move(position);
+            case heat_module_04 -> DeviceCommandGenerator.heaterMotor4Move(position);
+            case heat_module_05 -> DeviceCommandGenerator.heaterMotor5Move(position);
+            case heat_module_06 -> DeviceCommandGenerator.heaterMotor6Move(position);
         };
         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(deviceCommand);
         commandWait(deviceCommandFuture);

src/main/java/com/iflytop/gd/common/cmd/DeviceCommandGenerator.java

@@ -901,7 +901,7 @@ public class DeviceCommandGenerator {
     public static DeviceCommandBundle clawMove(Double position) {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setPosition(position);
-        return controlCmd(CmdDevice.claw, CmdAction.tight, params, "夹爪 移动");
+        return controlCmd(CmdDevice.claw, CmdAction.move, params, "夹爪 移动");
     }
 
     /**

src/main/java/com/iflytop/gd/common/enums/AcidPumpDevice.java

@@ -8,23 +8,12 @@ import lombok.Getter;
  */
 @Getter
 public enum AcidPumpDevice {
-    PUMP_01("acid_pump_01"),
-    PUMP_02("acid_pump_02"),
-    PUMP_03("acid_pump_03"),
-    PUMP_04("acid_pump_04"),
-    PUMP_05("acid_pump_05"),
-    PUMP_06("acid_pump_06"),
-    PUMP_07("acid_pump_07"),
-    PUMP_08("acid_pump_08");
-
-    private final String id;
-
-    AcidPumpDevice(String id) {
-        this.id = id;
-    }
-
-    @Override
-    public String toString() {
-        return id;
-    }
+    acid_pump_01,
+    acid_pump_02,
+    acid_pump_03,
+    acid_pump_04,
+    acid_pump_05,
+    acid_pump_06,
+    acid_pump_07,
+    acid_pump_08;
 }

src/main/java/com/iflytop/gd/common/enums/HeatModuleId.java

@@ -8,21 +8,10 @@ import lombok.Getter;
  */
 @Getter
 public enum HeatModuleId {
-    MODULE_01("heat_module_01"),
-    MODULE_02("heat_module_02"),
-    MODULE_03("heat_module_03"),
-    MODULE_04("heat_module_04"),
-    MODULE_05("heat_module_05"),
-    MODULE_06("heat_module_06");
-
-    private final String id;
-
-    HeatModuleId(String id) {
-        this.id = id;
-    }
-
-    @Override
-    public String toString() {
-        return id;
-    }
+    heat_module_01,
+    heat_module_02,
+    heat_module_03,
+    heat_module_04,
+    heat_module_05,
+    heat_module_06;
 }

src/main/java/com/iflytop/gd/common/enums/cmd/CmdAction.java

@@ -1,6 +1,9 @@
 package com.iflytop.gd.common.enums.cmd;
 
 public enum CmdAction {
-    open, close, stop, start, origin, move, move_by, move_joint, move_point, set, get, tight, loose,
-    open_power, close_power, open_circle, close_circle, open_heart, close_heart, open_cool, close_cool, take_photo
+    move, move_by, move_joint, move_point, origin,
+
+    open, close, stop, start, set, get,
+    open_power, close_power, open_circle, close_circle,
+    open_heart, close_heart, open_cool, close_cool, take_photo
 }