调整调试指令

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorCloseCommand.java

@@ -26,10 +26,16 @@ public class DebugDoorCloseCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        Double speed = cmdDTO.getDoubleParam("speed");
         return runAsync(() -> {
-            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.doorMove(Double.valueOf(0));
-            CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-            CommandUtil.wait(deviceCommandFuture);
+            if (speed != null) {
+                DeviceCommandBundle doorSetDeviceCommandBundle = DeviceCommandGenerator.doorSet(speed);
+                CommandFuture doorSetDeviceCommandSetFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), doorSetDeviceCommandBundle);
+                CommandUtil.wait(doorSetDeviceCommandSetFuture);
+            }
+            DeviceCommandBundle doorMoveDeviceCommand = DeviceCommandGenerator.doorMove(0.0);
+            CommandFuture doorMoveDeviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), doorMoveDeviceCommand);
+            CommandUtil.wait(doorMoveDeviceCommandFuture);
         });
     }
 }

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugDoorOpenCommand.java

@@ -1,11 +1,10 @@
 package com.iflytop.sgs.app.cmd.debug;
 
-import cn.hutool.core.lang.Assert;
 import com.iflytop.sgs.app.core.BaseCommandHandler;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
 import com.iflytop.sgs.app.model.entity.DevicePosition;
-import com.iflytop.sgs.app.service.device.DeviceCommandService;
 import com.iflytop.sgs.app.service.api.DevicePositionService;
+import com.iflytop.sgs.app.service.device.DeviceCommandService;
 import com.iflytop.sgs.common.annotation.CommandMapping;
 import com.iflytop.sgs.common.cmd.CommandFuture;
 import com.iflytop.sgs.common.cmd.DeviceCommandBundle;
@@ -31,11 +30,14 @@ public class DebugDoorOpenCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        double speed = cmdDTO.getDoubleParam("speed");
+        Double speed = cmdDTO.getDoubleParam("speed");
         DevicePosition devicePosition = devicePositionService.getPosition(DevicePositionCode.doorOpen);
         return runAsync(() -> {
-            CommandFuture deviceCommandSetFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), DeviceCommandGenerator.doorSet(speed));
-            CommandUtil.wait(deviceCommandSetFuture);
+            if (speed != null) {
+                DeviceCommandBundle doorSetDeviceCommandBundle = DeviceCommandGenerator.doorSet(speed);
+                CommandFuture doorSetDeviceCommandSetFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), doorSetDeviceCommandBundle);
+                CommandUtil.wait(doorSetDeviceCommandSetFuture);
+            }
 
             CommandFuture deviceCommandOpenFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), DeviceCommandGenerator.doorMove(devicePosition.getDistance()));
             CommandUtil.wait(deviceCommandOpenFuture);

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugFanStartCommand.java

@@ -27,16 +27,16 @@ public class DebugFanStartCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        String heatModuleCodeStr = cmdDTO.getStringParam("heatModuleCode");
+        HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatModuleCodeStr);
         return runAsync(() -> {
-            String index = cmdDTO.getStringParam("index");
-            HeatModuleCode heatModuleId = HeatModuleCode.valueOf(index);
             DeviceCommandBundle deviceCommand;
-            switch (heatModuleId) {
+            switch (heatModuleCode) {
                 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();
-                default -> throw new RuntimeException("index 未找到");
+                default -> throw new RuntimeException("heatModuleCode 未找到");
             }
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
             CommandUtil.wait(deviceCommandFuture);

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugFanStopCommand.java

@@ -27,16 +27,16 @@ public class DebugFanStopCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        String heatModuleCodeStr = cmdDTO.getStringParam("heatModuleCode");
+        HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatModuleCodeStr);
         return runAsync(() -> {
-            String index = cmdDTO.getStringParam("index");
-            HeatModuleCode heatModuleId = HeatModuleCode.valueOf(index);
             DeviceCommandBundle deviceCommand;
-            switch (heatModuleId) {
+            switch (heatModuleCode) {
                 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();
-                default -> throw new RuntimeException("index 未找到");
+                default -> throw new RuntimeException("heatModuleCode 未找到");
             }
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
             CommandUtil.wait(deviceCommandFuture);

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugHeaterStartCommand.java

@@ -27,17 +27,17 @@ public class DebugHeaterStartCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        String heatModuleCodeStr = cmdDTO.getStringParam("heatModuleCode");
+        Double temperature = cmdDTO.getDoubleParam("temperature");
+        HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatModuleCodeStr);
         return runAsync(() -> {
-            String index = cmdDTO.getStringParam("index");
-            Double temperature = cmdDTO.getDoubleParam("temperature");
-            HeatModuleCode heatModuleId = HeatModuleCode.valueOf(index);
             DeviceCommandBundle deviceCommand;
-            switch (heatModuleId) {
+            switch (heatModuleCode) {
                 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);
-                default -> throw new RuntimeException("index 未找到");
+                default -> throw new RuntimeException("heatModuleCode 未找到");
             }
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
             CommandUtil.wait(deviceCommandFuture);

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugHeaterStopCommand.java

@@ -27,16 +27,16 @@ public class DebugHeaterStopCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        String heatModuleCodeStr = cmdDTO.getStringParam("heatModuleCode");
+        HeatModuleCode heatModuleCode = HeatModuleCode.valueOf(heatModuleCodeStr);
         return runAsync(() -> {
-            String index = cmdDTO.getStringParam("index");
-            HeatModuleCode heatModuleId = HeatModuleCode.valueOf(index);
             DeviceCommandBundle deviceCommand;
-            switch (heatModuleId) {
+            switch (heatModuleCode) {
                 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();
-                default -> throw new RuntimeException("index 未找到");
+                default -> throw new RuntimeException("heatModuleCode 未找到");
             }
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
             CommandUtil.wait(deviceCommandFuture);

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidMotorMoveByCommand.java

@@ -28,14 +28,12 @@ public class DebugLiquidMotorMoveByCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         this.stop = false;
+        Double distance = cmdDTO.getDoubleParam("distance");
+        Double speed = cmdDTO.getDoubleParam("speed");
+        Integer times = cmdDTO.getIntegerParam("times");
         return runAsync(() -> {
-            Double distance = cmdDTO.getDoubleParam("distance");
-
-            Double speed = cmdDTO.getDoubleParam("speed");
-            Integer times = cmdDTO.getIntegerParam("times");
-
             if (speed != null) {
-                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.motorLiquidSet(speed);
+                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidMotorSet(speed);
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                 CommandUtil.wait(deviceCommandFuture);
             }
@@ -45,26 +43,24 @@ public class DebugLiquidMotorMoveByCommand extends BaseCommandHandler {
                         return;
                     }
                     if (distance != null) {
-                        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.motorLiquidMoveBy(distance);
+                        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidMotorMoveBy(distance);
                         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                         CommandUtil.wait(deviceCommandFuture);
                     }
                     if (distance != null) {
-                        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.motorLiquidMoveBy(-distance);
+                        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidMotorMoveBy(-distance);
                         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                         CommandUtil.wait(deviceCommandFuture);
                     }
                 }
             } else {
                 if (distance != null) {
-                    DeviceCommandBundle deviceCommand = DeviceCommandGenerator.motorLiquidMoveBy(distance);
+                    DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidMotorMoveBy(distance);
                     CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
                     CommandUtil.wait(deviceCommandFuture);
                 }
 
             }
-
-
         });
     }
 

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidMotorMoveToCommand.java

@@ -24,16 +24,18 @@ import java.util.concurrent.CompletableFuture;
 public class DebugLiquidMotorMoveToCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
-
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
-        double position = cmdDTO.getDoubleParam("position");
-        double speed = cmdDTO.getDoubleParam("speed");
+        Double position = cmdDTO.getDoubleParam("position");
+        Double speed = cmdDTO.getDoubleParam("speed");
         return runAsync(() -> {
-            CommandFuture deviceSetCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), DeviceCommandGenerator.motorLiquidSet(speed));
-            CommandUtil.wait(deviceSetCommandFuture);
-            CommandFuture deviceMoveCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), DeviceCommandGenerator.motorLiquidMove(position));
-            CommandUtil.wait(deviceMoveCommandFuture);
+            DeviceCommandBundle liquidMotorSetDeviceCommandBundle = DeviceCommandGenerator.liquidMotorSet(speed);
+            CommandFuture liquidMotorSetDeviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidMotorSetDeviceCommandBundle);
+            CommandUtil.wait(liquidMotorSetDeviceCommandFuture);
+
+            DeviceCommandBundle liquidMotorMoveDeviceCommandBundle = DeviceCommandGenerator.liquidMotorMove(position);
+            CommandFuture liquidMotorMoveDeviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidMotorMoveDeviceCommandBundle);
+            CommandUtil.wait(liquidMotorMoveDeviceCommandFuture);
         });
     }
 }

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidMotorOriginCommand.java

@@ -15,7 +15,7 @@ import org.springframework.stereotype.Component;
 import java.util.concurrent.CompletableFuture;
 
 /**
- * 加液位电机复位
+ * 加液位电机回原点
  */
 @Slf4j
 @Component

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidMotorStopCommand.java

@@ -27,7 +27,7 @@ public class DebugLiquidMotorStopCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.motorLiquidStop();
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidMotorStop();
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
             CommandUtil.wait(deviceCommandFuture);
         });

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpMoveByCommand.java

@@ -28,12 +28,10 @@ public class DebugLiquidPumpMoveByCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         this.stop = false;
+        Double distance = cmdDTO.getDoubleParam("distance");
+        Double speed = cmdDTO.getDoubleParam("speed");
+        Integer times = cmdDTO.getIntegerParam("times");
         return runAsync(() -> {
-            Double distance = cmdDTO.getDoubleParam("distance");
-
-            Double speed = cmdDTO.getDoubleParam("speed");
-            Integer times = cmdDTO.getIntegerParam("times");
-
             if (speed != null) {
                 DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidPumpSet(speed);
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidPumpStartCommand.java

@@ -27,11 +27,11 @@ public class DebugLiquidPumpStartCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
+        Double speed = cmdDTO.getDoubleParam("speed");
+        String direction = cmdDTO.getStringParam("direction");//front back 正转倒转
+        Integer channel = 1;
+        CmdDirection cmdDirection = CmdDirection.valueOf(direction);
         return runAsync(() -> {
-            Double speed = cmdDTO.getDoubleParam("speed");
-            String direction = cmdDTO.getStringParam("direction");//front back 正转倒转
-            Integer channel = 1;
-            CmdDirection cmdDirection = CmdDirection.valueOf(direction);
             DeviceCommandBundle deviceCommand;
             if (speed != null) {
                 deviceCommand = DeviceCommandGenerator.liquidPumpStart(cmdDirection);

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugValveSwitchThickCommand.java → src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidValveOpenThickCommand.java

@@ -20,8 +20,8 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandMapping("valve_switch_thick")
-public class DebugValveSwitchThickCommand extends BaseCommandHandler {
+@CommandMapping("liquid_valve_open_thick")
+public class DebugLiquidValveOpenThickCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
     @Override

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugValveSwitchThinCommand.java → src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidValveOpenThinCommand.java

@@ -20,8 +20,8 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandMapping("valve_switch_thin")
-public class DebugValveSwitchThinCommand extends BaseCommandHandler {
+@CommandMapping("liquid_valve_open_thin")
+public class DebugLiquidValveOpenThinCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
     @Override

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugValveSwitchVacantCommand.java → src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidValveOpenVacantCommand.java

@@ -20,8 +20,8 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandMapping("valve_switch_vacant")
-public class DebugValveSwitchVacantCommand extends BaseCommandHandler {
+@CommandMapping("liquid_valve_open_vacant")
+public class DebugLiquidValveOpenVacantCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
     @Override

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugValveSwitchWasteCommand.java → src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidValveOpenWasteCommand.java

@@ -20,8 +20,8 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandMapping("valve_switch_waste")
-public class DebugValveSwitchWasteCommand extends BaseCommandHandler {
+@CommandMapping("liquid_valve_open_waste")
+public class DebugLiquidValveOpenWasteCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
     @Override

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugValveSwitchWaterCommand.java → src/main/java/com/iflytop/sgs/app/cmd/debug/DebugLiquidValveOpenWaterCommand.java

@@ -20,8 +20,8 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandMapping("valve_switch_water")
-public class DebugValveSwitchWaterCommand extends BaseCommandHandler {
+@CommandMapping("liquid_valve_open_water")
+public class DebugLiquidValveOpenWaterCommand extends BaseCommandHandler {
     private final DeviceCommandService deviceCommandService;
 
     @Override

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXMoveByCommand.java

@@ -28,14 +28,10 @@ public class DebugMotorXMoveByCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         this.stop = false;
+        Double distance = cmdDTO.getDoubleParam("distance");
+        Double speed = cmdDTO.getDoubleParam("speed");
+        Integer times = cmdDTO.getIntegerParam("times");
         return runAsync(() -> {
-            Double distance = cmdDTO.getDoubleParam("distance");
-
-
-            Double speed = cmdDTO.getDoubleParam("speed");
-
-            Integer times = cmdDTO.getIntegerParam("times");
-
             if (speed != null) {
                 DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferXSet(speed);
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorXMoveToCommand.java

@@ -26,7 +26,7 @@ public class DebugMotorXMoveToCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        double position = cmdDTO.getDoubleParam("position");
+        Double position = cmdDTO.getDoubleParam("position");
         return runAsync(() -> {
             DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferXMove(position);
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZMoveByCommand.java

@@ -28,13 +28,10 @@ public class DebugMotorZMoveByCommand extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         this.stop = false;
+        Double distance = cmdDTO.getDoubleParam("distance");
+        Double speed = cmdDTO.getDoubleParam("speed");
+        Integer times = cmdDTO.getIntegerParam("times");
         return runAsync(() -> {
-            Double distance = cmdDTO.getDoubleParam("distance");
-
-            Double speed = cmdDTO.getDoubleParam("speed");
-            Integer times = cmdDTO.getIntegerParam("times");
-
-
             if (speed != null) {
                 DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferZSet(speed);
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
@@ -65,7 +62,6 @@ public class DebugMotorZMoveByCommand extends BaseCommandHandler {
 
             }
 
-
         });
     }
 

src/main/java/com/iflytop/sgs/app/cmd/debug/DebugMotorZMoveToCommand.java

@@ -27,7 +27,7 @@ public class DebugMotorZMoveToCommand extends BaseCommandHandler {
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) throws Exception {
-        double position = cmdDTO.getDoubleParam("position");
+        Double position = cmdDTO.getDoubleParam("position");
         return runAsync(() -> {
             DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferZMove(position);
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);

src/main/java/com/iflytop/sgs/app/service/device/module/SolutionModuleService.java

@@ -97,7 +97,7 @@ public class SolutionModuleService {
      * 加液机械臂移动到指定点
      */
     public void motorLiquidMove(String cmdId, String cmdCode, double position) throws Exception {
-        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.motorLiquidMove(position);
+        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.liquidMotorMove(position);
         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
         CommandUtil.wait(deviceCommandFuture);
     }

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

@@ -86,7 +86,7 @@ public class DeviceCommandGenerator {
      *
      * @param speed 速度 单位 mm/s
      */
-    public static DeviceCommandBundle motorLiquidSet(Double speed) {
+    public static DeviceCommandBundle liquidMotorSet(Double speed) {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setSpeed(speed);
         return setInfoCmd(CmdDevice.liquid_motor, CmdAction.set, params, "加液臂电机设置参数");
@@ -178,7 +178,7 @@ public class DeviceCommandGenerator {
     /**
      * 加液位电机停止
      */
-    public static DeviceCommandBundle motorLiquidStop() {
+    public static DeviceCommandBundle liquidMotorStop() {
         return controlMotorCmd(CmdDevice.liquid_motor, CmdAction.stop, null, "加液位电机 停止");
     }
 
@@ -187,7 +187,7 @@ public class DeviceCommandGenerator {
      *
      * @param position 位置 单位 mm
      */
-    public static DeviceCommandBundle motorLiquidMove(Double position) {
+    public static DeviceCommandBundle liquidMotorMove(Double position) {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setPosition(position);
         return controlMotorCmd(CmdDevice.liquid_motor, CmdAction.move, params, "加液升降电机移动");
@@ -198,7 +198,7 @@ public class DeviceCommandGenerator {
      *
      * @param position 加液量 单位mL
      */
-    public static DeviceCommandBundle motorLiquidMoveBy(Double position) {
+    public static DeviceCommandBundle liquidMotorMoveBy(Double position) {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setPosition(position);
         return controlCmd(CmdDevice.liquid_motor, CmdAction.move_by, params, "加液机械臂 相对移动");
@@ -216,10 +216,10 @@ public class DeviceCommandGenerator {
     }
 
     /**
-     * 加液泵 泵1旋转
+     * 加液泵旋转
      *
      */
-    public static DeviceCommandBundle acidPump1Rotate(CmdDirection direction) {
+    public static DeviceCommandBundle liquidPumpRotate(CmdDirection direction) {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setDirection(direction);
         return setInfoCmd(CmdDevice.liquid_pump, CmdAction.rotate, params, "加液泵 旋转");