有一些方法应该是synchronized的

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

@@ -22,7 +22,7 @@ public class DeviceService {
      *
      * @param distance 移动距离
      */
-    public boolean moveRailArmRail(double distance) {
+    public synchronized boolean moveRailArmRail(double distance) {
         Map<String, Object> params = new HashMap<>();
         params.put("distance", distance);
         DeviceFeedback deviceFeedback = tcpClient.sendCommand("moveRailArmRail", params);
@@ -40,7 +40,7 @@ public class DeviceService {
      * @param joint2   关节2角度
      * @param distance 移动距离
      */
-    public boolean moveRailArmJoint(double joint1, double joint2, double distance) {
+    public synchronized boolean moveRailArmJoint(double joint1, double joint2, double distance) {
         Map<String, Object> params = new HashMap<>();
         params.put("joint1", joint1);
         params.put("joint2", joint2);
@@ -60,7 +60,7 @@ public class DeviceService {
      * @param y 坐标y
      * @param z 坐标z
      */
-    public boolean moveRailArmToPoint(int x, int y, int z) {
+    public synchronized boolean moveRailArmToPoint(int x, int y, int z) {
         Map<String, Object> params = new HashMap<>();
         params.put("x", x);
         params.put("y", y);
@@ -143,7 +143,7 @@ public class DeviceService {
      * @param joint1 关节1角度
      * @param joint2 关节2角度
      */
-    public boolean moveLiquidArmJoint(double joint1, double joint2) {
+    public synchronized boolean moveLiquidArmJoint(double joint1, double joint2) {
         Map<String, Object> params = new HashMap<>();
         params.put("joint1", joint1);
         params.put("joint2", joint2);
@@ -162,7 +162,7 @@ public class DeviceService {
      * @param y 坐标y
      * @param z 坐标z
      */
-    public boolean moveLiquidArmToPoint(int x, int y, int z) {
+    public synchronized boolean moveLiquidArmToPoint(int x, int y, int z) {
         Map<String, Object> params = new HashMap<>();
         params.put("x", x);
         params.put("y", y);
@@ -197,7 +197,7 @@ public class DeviceService {
      * @param pumpId 泵id
      * @param volume 液体体积
      */
-    public boolean addLiquid(String pumpId, int volume) {
+    public synchronized boolean addLiquid(String pumpId, int volume) {
         Map<String, Object> params = new HashMap<>();
         params.put("pumpId", pumpId);
         params.put("volume", volume);