diff --git a/src/main/java/com/qyft/ms/app/controller/SelfTestController.java b/src/main/java/com/qyft/ms/app/controller/SelfTestController.java
index 80fef5f..ef2eb1c 100644
--- a/src/main/java/com/qyft/ms/app/controller/SelfTestController.java
+++ b/src/main/java/com/qyft/ms/app/controller/SelfTestController.java
@@ -10,11 +10,10 @@ import com.qyft.ms.system.model.bo.DeviceCommand;
 import com.qyft.ms.system.service.device.DeviceCommandService;
 import io.swagger.v3.oas.annotations.Operation;
 import io.swagger.v3.oas.annotations.tags.Tag;
+import jakarta.annotation.PostConstruct;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import org.springframework.web.bind.annotation.GetMapping;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.RestController;
+import org.springframework.web.bind.annotation.*;
 
 import java.util.concurrent.ExecutionException;
 import java.util.concurrent.TimeUnit;
@@ -31,7 +30,7 @@ public class SelfTestController {
     private final DeviceStatus deviceStatus;
 
     @Operation(summary = "获取自检状态")
-    @GetMapping("/")
+    @GetMapping("/status")
     public Result<SelfTestVO> getSelfTestStatus() throws ExecutionException, InterruptedException, TimeoutException {
         DeviceCommand overallDeviceStatusGetCommand = DeviceCommandGenerator.overallDeviceStatusGet();
         CommandFuture overallDeviceStatusGetCommandFuture = deviceCommandService.sendCommandNoFront(overallDeviceStatusGetCommand);
@@ -39,15 +38,17 @@ public class SelfTestController {
         boolean xAxisAtOrigin = overallDeviceStatusGetCommandFuture.getResponseResult().getJSONObject("data").getBool("xAxisAtOrigin");
         boolean yAxisAtOrigin = overallDeviceStatusGetCommandFuture.getResponseResult().getJSONObject("data").getBool("yAxisAtOrigin");
         boolean zAxisAtOrigin = overallDeviceStatusGetCommandFuture.getResponseResult().getJSONObject("data").getBool("zAxisAtOrigin");
-
         selfTestService.getSelfTestStatus().setXAxisAtOrigin(xAxisAtOrigin);
         selfTestService.getSelfTestStatus().setYAxisAtOrigin(yAxisAtOrigin);
         selfTestService.getSelfTestStatus().setZAxisAtOrigin(zAxisAtOrigin);
 
-        if (xAxisAtOrigin && yAxisAtOrigin && zAxisAtOrigin) {
-            deviceStatus.setSelfTestCompleted(true);
-        }
         return Result.success(selfTestService.getSelfTestStatus());
     }
 
+    @Operation(summary = "自检完毕")
+    @PostMapping("/finish")
+    public Result<SelfTestVO> selfTestFinish(){
+        deviceStatus.setSelfTestCompleted(true);
+        return Result.success();
+    }
 }
diff --git a/src/main/java/com/qyft/ms/app/core/listener/DeviceInitializerListener.java b/src/main/java/com/qyft/ms/app/core/listener/DeviceInitializerListener.java
new file mode 100644
index 0000000..5970de6
--- /dev/null
+++ b/src/main/java/com/qyft/ms/app/core/listener/DeviceInitializerListener.java
@@ -0,0 +1,42 @@
+package com.qyft.ms.app.core.listener;
+
+import com.qyft.ms.app.device.status.DeviceStatus;
+import com.qyft.ms.system.common.device.command.CommandFuture;
+import com.qyft.ms.system.common.device.command.DeviceCommandGenerator;
+import com.qyft.ms.system.model.bo.DeviceCommand;
+import com.qyft.ms.system.service.device.DeviceCommandService;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.boot.context.event.ApplicationReadyEvent;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.Executors;
+import java.util.concurrent.ScheduledExecutorService;
+import java.util.concurrent.TimeUnit;
+
+@Slf4j
+@Component
+@RequiredArgsConstructor
+public class DeviceInitializerListener {
+    private final DeviceCommandService deviceCommandService;
+    private final DeviceStatus deviceStatus;
+
+    @EventListener(ApplicationReadyEvent.class)
+    public void onApplicationReady() {
+        ScheduledExecutorService scheduler = Executors.newSingleThreadScheduledExecutor();
+        Runnable task = () -> {
+            try {
+                DeviceCommand overallDeviceStatusGetCommand = DeviceCommandGenerator.overallDeviceStatusGet();
+                CommandFuture overallDeviceStatusGetCommandFuture = deviceCommandService.sendCommandNoFront(overallDeviceStatusGetCommand);
+                overallDeviceStatusGetCommandFuture.getResponseFuture().get(5, TimeUnit.SECONDS);
+                boolean emergencyStop = overallDeviceStatusGetCommandFuture.getResponseResult().getJSONObject("data").getBool("emergencyStop");
+                deviceStatus.setStopPressed(emergencyStop);
+                scheduler.shutdown();
+            } catch (Exception e) {
+                log.error("开机获取急停状态失败", e);
+            }
+        };
+        scheduler.scheduleAtFixedRate(task, 0, 1, TimeUnit.SECONDS);
+    }
+}
diff --git a/src/main/java/com/qyft/ms/system/controller/FrontCmdController.java b/src/main/java/com/qyft/ms/system/controller/FrontCmdController.java
index 69d769a..ec20f17 100644
--- a/src/main/java/com/qyft/ms/system/controller/FrontCmdController.java
+++ b/src/main/java/com/qyft/ms/system/controller/FrontCmdController.java
@@ -18,6 +18,9 @@ import org.springframework.web.bind.annotation.RequestBody;
 import org.springframework.web.bind.annotation.RequestMapping;
 import org.springframework.web.bind.annotation.RestController;
 
+import java.util.Arrays;
+import java.util.HashSet;
+import java.util.Set;
 import java.util.concurrent.CompletableFuture;
 
 @Tag(name = "前端调用指令")
@@ -30,17 +33,18 @@ public class FrontCmdController {
     private final WebSocketService webSocketService;
     private final DeviceStatus deviceStatus;
 
+    private static final Set<String> NO_SELF_TEST_CMDS =
+            new HashSet<>(Arrays.asList("device_self_test", "motor_x_to_home", "motor_y_to_home", "motor_z_to_home"));
+
     @Operation(summary = "前端统一调用一个接口")
     @PostMapping
     public Result<?> controlMethod(@RequestBody FrontCmdControlForm form) {
         String cmdId = form.getCmdId();
         String cmdCode = form.getCmdCode();
         try {
-            if(!"device_self_test".equals(cmdCode)){
-                if (!deviceStatus.isSelfTestCompleted()) {
-                    log.error("未进行自检，无法执行业务指令");
-                    return Result.failed("未进行自检，无法执行业务指令");
-                }
+            if (!NO_SELF_TEST_CMDS.contains(cmdCode) && !deviceStatus.isSelfTestCompleted()) {
+                log.error("未进行自检，无法执行业务指令");
+                return Result.failed("未进行自检，无法执行业务指令");
             }
             if(deviceStatus.isStopPressed()){
                 log.error("设备急停中");
diff --git a/src/main/java/com/qyft/ms/system/core/listener/DeviceTcpMessageEventListener.java b/src/main/java/com/qyft/ms/system/core/listener/DeviceTcpMessageEventListener.java
index 2315cba..71ed152 100644
--- a/src/main/java/com/qyft/ms/system/core/listener/DeviceTcpMessageEventListener.java
+++ b/src/main/java/com/qyft/ms/system/core/listener/DeviceTcpMessageEventListener.java
@@ -27,9 +27,9 @@ public class DeviceTcpMessageEventListener {
         log.info("设备反馈信息{}", JSONUtil.toJsonStr(deviceResult));
         String tag = deviceResult.getStr("tag");
         if ("ACK".equals(tag)) {
-            log.info("ACK {}", JSONUtil.toJsonStr(deviceResult));
+//            log.info("ACK {}", JSONUtil.toJsonStr(deviceResult));
         } else if ("RESPONSE".equals(tag)) {
-            log.info("RESPONSE {}", JSONUtil.toJsonStr(deviceResult));
+//            log.info("RESPONSE {}", JSONUtil.toJsonStr(deviceResult));
             deviceCommandService.completeCommandResponse(deviceResult);
         } else if ("EVENT".equals(tag)) {
             String eventType = deviceResult.getJSONObject("data").getStr("event_type");