diff --git a/src/main/java/com/qyft/gd/service/CMDService.java b/src/main/java/com/qyft/gd/service/CMDService.java
index adcf9d2..d35c2fc 100644
--- a/src/main/java/com/qyft/gd/service/CMDService.java
+++ b/src/main/java/com/qyft/gd/service/CMDService.java
@@ -49,20 +49,20 @@ public class CMDService {
         commandMap.put(Commands.CLOSE_CLAW, this::closeClaw);
     }
     // 机械臂爪子开启
-    private List<Supplier<Boolean>> openClaw(Map<String, Object> params) {
+    public List<Supplier<Boolean>> openClaw(Map<String, Object> params) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         cmdList.add(() -> deviceService.openClaw());
         return cmdList;
     }
 
     // 机械臂爪子闭合
-    private List<Supplier<Boolean>> closeClaw(Map<String, Object> params) {
+    public List<Supplier<Boolean>> closeClaw(Map<String, Object> params) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         cmdList.add(() -> deviceService.closeClaw());
         return cmdList;
     }
     // 移至加热
-    private List<Supplier<Boolean>> moveToHeatArea(Map<String, Object> params) {
+    public List<Supplier<Boolean>> moveToHeatArea(Map<String, Object> params) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         Map<String ,Object> map = baseDataService.getOffsetMap();
         String heatAreaPosition = baseDataService.getHeatAreaPositionById((Integer) params.get("areaId"));
@@ -100,14 +100,14 @@ public class CMDService {
         return cmdList;
     }
 // 移动单个试管
-    private List<Supplier<Boolean> >moveTube(Map<String, Object> params) {
+    public List<Supplier<Boolean> >moveTube(Map<String, Object> params) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
 
         return cmdList;
     }
 
 // 机械臂
-    private List<Supplier<Boolean>> moveMachineArm(Map<String, Object> params) {
+    public List<Supplier<Boolean>> moveMachineArm(Map<String, Object> params) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         String position = (String) params.get("position");
         String [] positionArr =position.split(",");
@@ -118,7 +118,7 @@ public class CMDService {
         return cmdList;
     }
 // 装回盖子
-    private List<Supplier<Boolean>> putBackCap(Map<String, Object> params) {
+    public List<Supplier<Boolean>> putBackCap(Map<String, Object> params) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         // 加热位机器代码
         String heaterId = baseDataService.getHeatAreaHardwareIdById((Integer) params.get("areaId"));
@@ -159,7 +159,7 @@ public class CMDService {
         return cmdList;
     }
 // 取试管架盖
-    private List<Supplier<Boolean>> takeOffCap(Map<String, Object> params) {
+    public List<Supplier<Boolean>> takeOffCap(Map<String, Object> params) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         // 拍子坐标
         String position = baseDataService.getHeatAreaLidPositionById((Integer) params.get("areaId"));
@@ -202,20 +202,20 @@ public class CMDService {
         return cmdList;
     }
 // 拍照
-    private List<Supplier<Boolean>> takePhoto(Map<String, Object> params) {
+    public List<Supplier<Boolean>> takePhoto(Map<String, Object> params) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         cmdList.add(() -> deviceService.takePhoto());
         return cmdList;
     }
 // 停止加热
-    private List<Supplier<Boolean>> stopHeat(Map<String, Object> params) {
+    public List<Supplier<Boolean>> stopHeat(Map<String, Object> params) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         String hardwareId = baseDataService.getHeatAreaHardwareIdById((Integer) params.get("areaId"));
         cmdList.add(() -> deviceService.stopHeating(hardwareId));
         return cmdList;
     }
 // 开始加热
-    private List<Supplier<Boolean>> startHeat(Map<String, Object> params) {
+    public List<Supplier<Boolean>> startHeat(Map<String, Object> params) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         String hardwareId = baseDataService.getHeatAreaHardwareIdById((Integer) params.get("areaId"));
         Double temperature;
@@ -228,21 +228,21 @@ public class CMDService {
         return cmdList;
     }
 // 开始摇匀
-    private List<Supplier<Boolean>> startShakeUp(Map<String, Object> params) {
+    public List<Supplier<Boolean>> startShakeUp(Map<String, Object> params) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         cmdList.add(() -> deviceService.setShakingSpeed((Integer) params.get("speed")));
         cmdList.add(() -> deviceService.startShaking());
         return cmdList;
     }
 // 结束摇匀
-    private List<Supplier<Boolean>> stopShakeUp(Map<String, Object> params) {
+    public List<Supplier<Boolean>> stopShakeUp(Map<String, Object> params) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         cmdList.add(() -> deviceService.stopShaking());
         return cmdList;
     }
 
 // 移至加液
-    private List<Supplier<Boolean>> moveToActionArea(Map<String, Object> params) {
+    public List<Supplier<Boolean>> moveToActionArea(Map<String, Object> params) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         Map<String ,Object> map = baseDataService.getOffsetMap();
         String heatAreaPosition = baseDataService.getHeatAreaPositionById((Integer) params.get("areaId"));
@@ -281,7 +281,7 @@ public class CMDService {
 
     }
 // 加液
-    private List<Supplier<Boolean>> injectFluid(Map<String, Object> params) {
+    public List<Supplier<Boolean>> injectFluid(Map<String, Object> params) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         // 试管的坐标
         String tubePosition = baseDataService.getTubePositionBySolutionArea((Integer) params.get("tubeNum"));
@@ -296,7 +296,7 @@ public class CMDService {
         return cmdList;
     }
 // 放下托盘
-    private List<Supplier<Boolean>> downTray(Map<String, Object> params) {
+    public List<Supplier<Boolean>> downTray(Map<String, Object> params) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         String hardwareId = baseDataService.getHeatAreaHardwareIdById((Integer) params.get("areaId"));
         if(params.get("height") != null && params.get("speed") != null) {
@@ -307,7 +307,7 @@ public class CMDService {
     }
 
     // 抬起托盘
-    private List<Supplier<Boolean>> upTray(Map<String, Object> params) {
+    public List<Supplier<Boolean>> upTray(Map<String, Object> params) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         String hardwareId = baseDataService.getHeatAreaHardwareIdById((Integer) params.get("areaId"));
         if(params.get("height") != null && params.get("speed") != null) {