fix:配合调试修改代码

src/main/java/com/qyft/gd/device/common/constant/DeviceCommands.java

@@ -115,7 +115,7 @@ public class DeviceCommands {
     /**
      * 停止加热
      */
-    public static final String STOP_HEATING = "stopHeating";
+    public static final String STOP_HEATING = "closeHeating";
 
     /**
      * 抬起托盘

src/main/java/com/qyft/gd/device/model/bo/DeviceStatus.java

@@ -89,7 +89,7 @@ public class DeviceStatus {
         @Schema(description = "托盘状态，0为无托盘，1为有托盘，2为托盘抬起")
         private Integer trayStatus;
         @Schema(description = "是否正在加热，true为正在加热，false为未加热")
-        private Double isHeating;
+        private Boolean isHeating;
         @Schema(description = "拍子状态，true为存在拍子，false无拍子")
         private Boolean capStatus;
         @Schema(description = "拍子密封状态，true为已密封，false为未密封")

src/main/java/com/qyft/gd/device/service/DeviceService.java

@@ -208,7 +208,9 @@ public class DeviceService {
      * 收合夹爪
      */
     public synchronized boolean closeClaw() {
-        DeviceFeedback deviceFeedback = tcpClient.sendCommand(DeviceCommands.CLOSE_CLAW);
+        Map<String, Object> params = new HashMap<>();
+        params.put("mode", "FULL_CLOSED");
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand(DeviceCommands.CLOSE_CLAW, params);
         if (deviceFeedback == null || deviceFeedback.getError() != null) {
             log.error("TCP closeClaw 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
             return false;

src/main/java/com/qyft/gd/service/CMDService.java

@@ -136,19 +136,19 @@ public class CMDService {
         // 打开钩子
         cmdList.add(() -> deviceService.openClaw());
         // 下降高度
-        cmdList.add(() -> deviceService.moveRailArmToPoint(x2, y2, z2 - (Integer) map.get("sys_offset_tube_rack_take_height")));
+        cmdList.add(() -> deviceService.moveRailArmToPoint(x2, y2, z2 - Integer.parseInt((String)map.get("sys_offset_tube_rack_take_height"))));
         // 闭合钩子
         cmdList.add(() -> deviceService.closeClaw());
         // 机械臂抬起高度
-        cmdList.add(() -> deviceService.moveRailArmToPoint(x2, y2, z2 + (Integer) map.get("sys_offset_tube_rack_take_height") + (Integer) map.get("sys_offset_tube_height")));
+        cmdList.add(() -> deviceService.moveRailArmToPoint(x2, y2, z2 + Integer.parseInt((String)map.get("sys_offset_tube_rack_take_height")) + Integer.parseInt((String)map.get("sys_offset_tube_height"))));
         // 机械臂移动到指定加热位
-        cmdList.add(() -> deviceService.moveRailArmToPoint(x1, y1, z2 + (Integer) map.get("sys_offset_tube_rack_take_height") + (Integer) map.get("sys_offset_tube_height")));
+        cmdList.add(() -> deviceService.moveRailArmToPoint(x1, y1, z2 + Integer.parseInt((String)map.get("sys_offset_tube_rack_take_height")) + Integer.parseInt((String)map.get("sys_offset_tube_height"))));
         // 机械臂下降高度
         cmdList.add(() -> deviceService.moveRailArmToPoint(x1, y1, z1));
         // 机械臂打开钩子
         cmdList.add(() -> deviceService.openClaw());
         // 机械臂上升高度
-        cmdList.add(() -> deviceService.moveRailArmToPoint(x1, y1, z1 + (Integer) map.get("sys_offset_tube_rack_take_height")));
+        cmdList.add(() -> deviceService.moveRailArmToPoint(x1, y1, z1 + Integer.parseInt((String)map.get("sys_offset_tube_rack_take_height"))));
         // 关闭钩子
         cmdList.add(() -> deviceService.closeClaw());
 
@@ -354,19 +354,19 @@ public class CMDService {
         // 打开钩子
         cmdList.add(() -> deviceService.openClaw());
         // 下降高度
-        cmdList.add(() -> deviceService.moveRailArmToPoint(x1, y1, z1 - (Integer) map.get("sys_offset_tube_rack_take_height")));
+        cmdList.add(() -> deviceService.moveRailArmToPoint(x1, y1, z1 - Integer.parseInt((String)map.get("sys_offset_tube_rack_take_height"))));
         // 闭合钩子
         cmdList.add(() -> deviceService.closeClaw());
         // 机械臂抬起高度
-        cmdList.add(() -> deviceService.moveRailArmToPoint(x1, y1, z1 + (Integer) map.get("sys_offset_tube_rack_take_height") + (Integer) map.get("sys_offset_tube_height")));
+        cmdList.add(() -> deviceService.moveRailArmToPoint(x1, y1, z1 + Integer.parseInt((String)map.get("sys_offset_tube_rack_take_height")) + Integer.parseInt((String)map.get("sys_offset_tube_height"))));
         // 机械臂移动到加液位高度
-        cmdList.add(() -> deviceService.moveRailArmToPoint(x2, y2, z1 + (Integer) map.get("sys_offset_tube_rack_take_height") + (Integer) map.get("sys_offset_tube_height")));
+        cmdList.add(() -> deviceService.moveRailArmToPoint(x2, y2, z1 + Integer.parseInt((String)map.get("sys_offset_tube_rack_take_height")) + Integer.parseInt((String)map.get("sys_offset_tube_height"))));
         // 机械臂下降高度
         cmdList.add(() -> deviceService.moveRailArmToPoint(x2, y2, z2));
         // 机械臂打开钩子
         cmdList.add(() -> deviceService.openClaw());
         // 机械臂上升高度
-        cmdList.add(() -> deviceService.moveRailArmToPoint(x2, y2, z2 + (Integer) map.get("sys_offset_tube_rack_take_height")));
+        cmdList.add(() -> deviceService.moveRailArmToPoint(x2, y2, z2 + Integer.parseInt((String)map.get("sys_offset_tube_rack_take_height"))));
         // 关闭钩子
         cmdList.add(() -> deviceService.closeClaw());