fix:调整设备状态参数，有些可能获取不到

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

@@ -12,86 +12,127 @@ import java.util.List;
 @Data
 public class DeviceStatus {
 
-    @Schema(description = "门状态，true为开启状态，false为关闭状态")
+    @Schema(description = "是否是急停状态，true为急停")
+    private Boolean emergencyStop;
+
+    @Schema(description = "门状态，0为关闭状态，1为开启状态")
     private Boolean doorStatus;
+
     @Schema(description = "导轨机械臂状态")
     private RailArm railArm;
-    @Schema(description = "加液机械臂状态")
-    private LiquidArm liquidArm;
-    @Schema(description = "加液泵状态")
-    private List<Pump> pump;
-    @Schema(description = "摇匀状态，true为正在摇匀，false为停止摇匀")
-    private Boolean shakingStatus;
-    @Schema(description = "摇匀速度")
-    private Integer shakingSpeed;
-    @Schema(description = "加热状态，true为正在摇匀，false为停止摇匀")
-    private Boolean heatingStatus;
-    @Schema(description = "加热器状态")
-    private List<Heater> heater;
-    @Schema(description = "加液位是否存在托盘，true为存在托盘，false为无托盘")
-    private Boolean liquidTrayStatus;
 
+    @Schema(description = "加液操作区属性")
+    private LiquidArea liquidArea;
+
+    @Schema(description = "加热操作区属性")
+    private List<HeatingArea> heater;
+
+    @Schema(description = "碱容器状态")
+    private LiquidBucket alkaliBucket;
+
+
+    /**
+     * 导轨机械臂属性
+     */
     @Data
-    public static class RailArm{
-        @Schema(description = "所在x坐标")
+    public static class RailArm {
+        @Schema(description = "当前所在x坐标")
         private Integer x;
-        @Schema(description = "所在y坐标")
+        @Schema(description = "当前所在y坐标")
         private Integer y;
-        @Schema(description = "所在z坐标")
+        @Schema(description = "当前所在z坐标")
         private Integer z;
-        @Schema(description = "轴1角度")
+        @Schema(description = "当前轴1角度")
         private Double joint1;
-        @Schema(description = "轴2角度")
+        @Schema(description = "当前轴2角度")
         private Double joint2;
-        @Schema(description = "导轨移动距离")
+        @Schema(description = "当前机械臂（轴3）上下移动距离")
+        private Integer distance;
+        @Schema(description = "当前导轨移动距离")
         private Double railDistance;
-        @Schema(description = "夹爪移动距离")
+        @Schema(description = "当前夹爪移动距离")
         private Double clawDistance;
-        @Schema(description = "机械臂速度")
-        private int speed;
         @Schema(description = "夹爪状态，true为张开状态，false为闭合状态")
         private Boolean clawStatus;
+        @Schema(description = "导轨是否在原点，true为在原点")
+        private int isZeroPos;
+        @Schema(description = "导轨是否在限位点，true为在限位点")
+        private int isLimitPos;
+    }
+
+
+    /**
+     * 加液操作区属性
+     */
+    @Data
+    public static class LiquidArea {
+        @Schema(description = "加液机械臂状态")
+        private LiquidArm liquidArm;
+
+        @Schema(description = "是否正在摇匀，true为正在摇匀，false为停止摇匀")
+        private Boolean isShaking;
+
+        @Schema(description = "是否存在托盘，true为存在托盘，false为无托盘")
+        private Boolean liquidTray;
+
+        @Schema(description = "溶液容器状态")
+        private LiquidBucket solutionBucket;
     }
 
+    /**
+     * 加热操作区属性
+     */
     @Data
-    public static class LiquidArm{
-        @Schema(description = "所在x坐标")
+    public static class HeatingArea {
+        @Schema(description = "加热器id")
+        private String heaterId;
+        @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;
+        @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")
+        private Boolean isSealed;
+    }
+
+
+    /**
+     * 加液机械臂属性
+     */
+    @Data
+    public static class LiquidArm {
+        @Schema(description = "当前所在x坐标")
         private Integer x;
-        @Schema(description = "所在y坐标")
+        @Schema(description = "当前所在y坐标")
         private Integer y;
-        @Schema(description = "所在z坐标")
+        @Schema(description = "当前所在z坐标")
         private Integer z;
-        @Schema(description = "轴1角度")
+        @Schema(description = "当前轴1角度")
         private Double joint1;
-        @Schema(description = "轴2角度")
+        @Schema(description = "当前轴2角度")
         private Double joint2;
-        @Schema(description = "机械臂速度")
-        private int speed;
+        @Schema(description = "加液泵状态")
+        private List<Pump> pump;
     }
 
+    /**
+     * 泵属性
+     */
     @Data
-    public static class Pump{
+    public static class Pump {
         @Schema(description = "加液泵id")
         private String pumpId;
-        @Schema(description = "加液泵流量")
-        private Integer flowRate;
+        @Schema(description = "是否正在加液，true正在加液，false未运行")
+        private Integer isPumping;
     }
 
+
     @Data
-    public static class Heater{
-        @Schema(description = "加热器id")
-        private String heaterId;
-        @Schema(description = "托盘状态，true为存在托盘，false为无托盘")
-        private Boolean trayStatus;
-        @Schema(description = "托盘移动的距离")
-        private Double trayHeight;
-        @Schema(description = "托盘移动的速度")
-        private Double traySpeed;
-        @Schema(description = "加热状态，true为正在加热，false为未加热")
-        private Double heatingStatus;
-        @Schema(description = "加热目标温度")
-        private Double temperature;
-        @Schema(description = "拍子状态，true为存在拍子，false无拍子")
-        private Boolean capStatus;
+    public static class LiquidBucket {
+        @Schema(description = "容器是否为空，true为空，false不为空")
+        private Boolean isEmpty;
+        @Schema(description = "容器是否为满，true为满，false不满")
+        private Boolean isFull;
     }
 }

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

@@ -95,7 +95,7 @@ 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 boolean moveRailArmJoint(double joint1, double joint2, int distance) {
         Map<String, Object> params = new HashMap<>();
         params.put("joint1", joint1);
         params.put("joint2", joint2);