feat: init

.gitattributes

@@ -0,0 +1,3 @@
+/gradlew text eol=lf
+*.bat text eol=crlf
+*.jar binary

.gitignore

@@ -0,0 +1,38 @@
+.gradle
+build/
+logs/
+!gradle/wrapper/gradle-wrapper.jar
+!**/src/main/**/build/
+!**/src/test/**/build/
+
+### STS ###
+.apt_generated
+.classpath
+.factorypath
+.project
+.settings
+.springBeans
+.sts4-cache
+bin/
+!**/src/main/**/bin/
+!**/src/test/**/bin/
+
+### IntelliJ IDEA ###
+.idea
+*.iws
+*.iml
+*.ipr
+out/
+!**/src/main/**/out/
+!**/src/test/**/out/
+
+### NetBeans ###
+/nbproject/private/
+/nbbuild/
+/dist/
+/nbdist/
+/.nb-gradle/
+
+### VS Code ###
+.vscode/
+

build.gradle

@@ -0,0 +1,58 @@
+plugins {
+    id 'java'
+    id 'org.springframework.boot' version '3.3.8'
+    id 'io.spring.dependency-management' version '1.1.7'
+}
+
+group = 'com.qyft'
+version = '0.0.1'
+
+java {
+    toolchain {
+        languageVersion = JavaLanguageVersion.of(17)
+    }
+}
+
+configurations {
+    compileOnly {
+        extendsFrom annotationProcessor
+    }
+}
+
+repositories {
+    mavenCentral()
+}
+
+dependencies {
+    implementation 'org.springframework.boot:spring-boot-starter-web'
+    implementation group: 'ch.qos.logback', name: 'logback-core', version: '1.5.16'
+    implementation group: 'org.xerial', name: 'sqlite-jdbc', version: '3.48.0.0'
+    implementation 'org.mybatis.spring.boot:mybatis-spring-boot-starter:3.0.4'
+    implementation group: 'org.freemarker', name: 'freemarker', version: '2.3.34'
+    implementation group: 'com.baomidou', name: 'mybatis-plus-boot-starter', version: '3.5.10.1'
+    implementation group: 'com.baomidou', name: 'mybatis-plus-jsqlparser', version: '3.5.10.1'
+    implementation group: 'com.baomidou', name: 'mybatis-plus-generator', version: '3.5.10.1'
+    implementation group: 'cn.hutool', name: 'hutool-all', version: '5.8.35'
+    implementation group: 'com.github.xiaoymin', name: 'knife4j-openapi3-jakarta-spring-boot-starter', version: '4.5.0'
+    implementation group: 'io.jsonwebtoken', name: 'jjwt-api', version: '0.12.6'
+    runtimeOnly group: 'io.jsonwebtoken', name: 'jjwt-impl', version: '0.12.6'
+    runtimeOnly group: 'io.jsonwebtoken', name: 'jjwt-jackson', version: '0.12.6'
+    implementation group: 'com.alibaba', name: 'fastjson', version: '2.0.54'
+    implementation group: 'org.springframework.boot', name: 'spring-boot-starter-websocket', version: '3.4.2'
+    implementation group: 'io.netty', name: 'netty-all', version: '4.1.118.Final'
+
+    //++++++++项目级别的放到下面++++++++
+
+    //++++++++项目级别的放到上面++++++++
+
+    compileOnly 'org.projectlombok:lombok'
+    developmentOnly 'org.springframework.boot:spring-boot-devtools'
+    annotationProcessor 'org.projectlombok:lombok'
+    testImplementation 'org.springframework.boot:spring-boot-starter-test'
+    testImplementation 'org.mybatis.spring.boot:mybatis-spring-boot-starter-test:3.0.4'
+    testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
+}
+
+tasks.named('test') {
+    useJUnitPlatform()
+}

gradle/wrapper/gradle-wrapper.properties

@@ -0,0 +1,7 @@
+distributionBase=GRADLE_USER_HOME
+distributionPath=wrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.12.1-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=wrapper/dists

gradlew

@@ -0,0 +1,252 @@
+#!/bin/sh
+
+#
+# Copyright © 2015-2021 the original authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+
+##############################################################################
+#
+#   Gradle start up script for POSIX generated by Gradle.
+#
+#   Important for running:
+#
+#   (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is
+#       noncompliant, but you have some other compliant shell such as ksh or
+#       bash, then to run this script, type that shell name before the whole
+#       command line, like:
+#
+#           ksh Gradle
+#
+#       Busybox and similar reduced shells will NOT work, because this script
+#       requires all of these POSIX shell features:
+#         * functions;
+#         * expansions «$var», «${var}», «${var:-default}», «${var+SET}»,
+#           «${var#prefix}», «${var%suffix}», and «$( cmd )»;
+#         * compound commands having a testable exit status, especially «case»;
+#         * various built-in commands including «command», «set», and «ulimit».
+#
+#   Important for patching:
+#
+#   (2) This script targets any POSIX shell, so it avoids extensions provided
+#       by Bash, Ksh, etc; in particular arrays are avoided.
+#
+#       The "traditional" practice of packing multiple parameters into a
+#       space-separated string is a well documented source of bugs and security
+#       problems, so this is (mostly) avoided, by progressively accumulating
+#       options in "$@", and eventually passing that to Java.
+#
+#       Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS,
+#       and GRADLE_OPTS) rely on word-splitting, this is performed explicitly;
+#       see the in-line comments for details.
+#
+#       There are tweaks for specific operating systems such as AIX, CygWin,
+#       Darwin, MinGW, and NonStop.
+#
+#   (3) This script is generated from the Groovy template
+#       https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       within the Gradle project.
+#
+#       You can find Gradle at https://github.com/gradle/gradle/.
+#
+##############################################################################
+
+# Attempt to set APP_HOME
+
+# Resolve links: $0 may be a link
+app_path=$0
+
+# Need this for daisy-chained symlinks.
+while
+    APP_HOME=${app_path%"${app_path##*/}"}  # leaves a trailing /; empty if no leading path
+    [ -h "$app_path" ]
+do
+    ls=$( ls -ld "$app_path" )
+    link=${ls#*' -> '}
+    case $link in             #(
+      /*)   app_path=$link ;; #(
+      *)    app_path=$APP_HOME$link ;;
+    esac
+done
+
+# This is normally unused
+# shellcheck disable=SC2034
+APP_BASE_NAME=${0##*/}
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s
+' "$PWD" ) || exit
+
+# Use the maximum available, or set MAX_FD != -1 to use that value.
+MAX_FD=maximum
+
+warn () {
+    echo "$*"
+} >&2
+
+die () {
+    echo
+    echo "$*"
+    echo
+    exit 1
+} >&2
+
+# OS specific support (must be 'true' or 'false').
+cygwin=false
+msys=false
+darwin=false
+nonstop=false
+case "$( uname )" in                #(
+  CYGWIN* )         cygwin=true  ;; #(
+  Darwin* )         darwin=true  ;; #(
+  MSYS* | MINGW* )  msys=true    ;; #(
+  NONSTOP* )        nonstop=true ;;
+esac
+
+CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
+
+
+# Determine the Java command to use to start the JVM.
+if [ -n "$JAVA_HOME" ] ; then
+    if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
+        # IBM's JDK on AIX uses strange locations for the executables
+        JAVACMD=$JAVA_HOME/jre/sh/java
+    else
+        JAVACMD=$JAVA_HOME/bin/java
+    fi
+    if [ ! -x "$JAVACMD" ] ; then
+        die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+    fi
+else
+    JAVACMD=java
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+    fi
+fi
+
+# Increase the maximum file descriptors if we can.
+if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
+    case $MAX_FD in #(
+      max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
+        MAX_FD=$( ulimit -H -n ) ||
+            warn "Could not query maximum file descriptor limit"
+    esac
+    case $MAX_FD in  #(
+      '' | soft) :;; #(
+      *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
+        ulimit -n "$MAX_FD" ||
+            warn "Could not set maximum file descriptor limit to $MAX_FD"
+    esac
+fi
+
+# Collect all arguments for the java command, stacking in reverse order:
+#   * args from the command line
+#   * the main class name
+#   * -classpath
+#   * -D...appname settings
+#   * --module-path (only if needed)
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables.
+
+# For Cygwin or MSYS, switch paths to Windows format before running java
+if "$cygwin" || "$msys" ; then
+    APP_HOME=$( cygpath --path --mixed "$APP_HOME" )
+    CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" )
+
+    JAVACMD=$( cygpath --unix "$JAVACMD" )
+
+    # Now convert the arguments - kludge to limit ourselves to /bin/sh
+    for arg do
+        if
+            case $arg in                                #(
+              -*)   false ;;                            # don't mess with options #(
+              /?*)  t=${arg#/} t=/${t%%/*}              # looks like a POSIX filepath
+                    [ -e "$t" ] ;;                      #(
+              *)    false ;;
+            esac
+        then
+            arg=$( cygpath --path --ignore --mixed "$arg" )
+        fi
+        # Roll the args list around exactly as many times as the number of
+        # args, so each arg winds up back in the position where it started, but
+        # possibly modified.
+        #
+        # NB: a `for` loop captures its iteration list before it begins, so
+        # changing the positional parameters here affects neither the number of
+        # iterations, nor the values presented in `arg`.
+        shift                   # remove old arg
+        set -- "$@" "$arg"      # push replacement arg
+    done
+fi
+
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
+
+set -- \
+        "-Dorg.gradle.appname=$APP_BASE_NAME" \
+        -classpath "$CLASSPATH" \
+        org.gradle.wrapper.GradleWrapperMain \
+        "$@"
+
+# Stop when "xargs" is not available.
+if ! command -v xargs >/dev/null 2>&1
+then
+    die "xargs is not available"
+fi
+
+# Use "xargs" to parse quoted args.
+#
+# With -n1 it outputs one arg per line, with the quotes and backslashes removed.
+#
+# In Bash we could simply go:
+#
+#   readarray ARGS < <( xargs -n1 <<<"$var" ) &&
+#   set -- "${ARGS[@]}" "$@"
+#
+# but POSIX shell has neither arrays nor command substitution, so instead we
+# post-process each arg (as a line of input to sed) to backslash-escape any
+# character that might be a shell metacharacter, then use eval to reverse
+# that process (while maintaining the separation between arguments), and wrap
+# the whole thing up as a single "set" statement.
+#
+# This will of course break if any of these variables contains a newline or
+# an unmatched quote.
+#
+
+eval "set -- $(
+        printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" |
+        xargs -n1 |
+        sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' |
+        tr '\n' ' '
+    )" '"$@"'
+
+exec "$JAVACMD" "$@"

gradlew.bat

@@ -0,0 +1,94 @@
+@rem
+@rem Copyright 2015 the original author or authors.
+@rem
+@rem Licensed under the Apache License, Version 2.0 (the "License");
+@rem you may not use this file except in compliance with the License.
+@rem You may obtain a copy of the License at
+@rem
+@rem      https://www.apache.org/licenses/LICENSE-2.0
+@rem
+@rem Unless required by applicable law or agreed to in writing, software
+@rem distributed under the License is distributed on an "AS IS" BASIS,
+@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+@rem See the License for the specific language governing permissions and
+@rem limitations under the License.
+@rem
+@rem SPDX-License-Identifier: Apache-2.0
+@rem
+
+@if "%DEBUG%"=="" @echo off
+@rem ##########################################################################
+@rem
+@rem  Gradle startup script for Windows
+@rem
+@rem ##########################################################################
+
+@rem Set local scope for the variables with windows NT shell
+if "%OS%"=="Windows_NT" setlocal
+
+set DIRNAME=%~dp0
+if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
+set APP_BASE_NAME=%~n0
+set APP_HOME=%DIRNAME%
+
+@rem Resolve any "." and ".." in APP_HOME to make it shorter.
+for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
+
+@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
+
+@rem Find java.exe
+if defined JAVA_HOME goto findJavaFromJavaHome
+
+set JAVA_EXE=java.exe
+%JAVA_EXE% -version >NUL 2>&1
+if %ERRORLEVEL% equ 0 goto execute
+
+echo. 1>&2
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2
+echo. 1>&2
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
+echo location of your Java installation. 1>&2
+
+goto fail
+
+:findJavaFromJavaHome
+set JAVA_HOME=%JAVA_HOME:"=%
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+
+if exist "%JAVA_EXE%" goto execute
+
+echo. 1>&2
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2
+echo. 1>&2
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
+echo location of your Java installation. 1>&2
+
+goto fail
+
+:execute
+@rem Setup the command line
+
+set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
+
+
+@rem Execute Gradle
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
+
+:end
+@rem End local scope for the variables with windows NT shell
+if %ERRORLEVEL% equ 0 goto mainEnd
+
+:fail
+rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
+rem the _cmd.exe /c_ return code!
+set EXIT_CODE=%ERRORLEVEL%
+if %EXIT_CODE% equ 0 set EXIT_CODE=1
+if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE%
+exit /b %EXIT_CODE%
+
+:mainEnd
+if "%OS%"=="Windows_NT" endlocal
+
+:omega

settings.gradle

@@ -0,0 +1 @@
+rootProject.name = 'matrix-spray'

sql/init.sql

@@ -0,0 +1,95 @@
+-- 创建 sys_user 表
+CREATE TABLE IF NOT EXISTS sys_user
+(
+    id          INTEGER PRIMARY KEY AUTOINCREMENT,
+    username    TEXT NOT NULL,
+    nickname    TEXT,
+    password    TEXT NOT NULL,
+    role_id     INTEGER,
+    is_deleted  TINYINT DEFAULT 0,
+    create_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
+    update_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP
+);
+
+-- 插入测试数据
+INSERT INTO sys_user (username, nickname, password, role_id, is_deleted)
+VALUES ('admin', 'Admin', '12345', 1, 0),
+       ('john_doe', 'John Doe', 'password123', 2, 0),
+       ('test', 'test', 'test123', 3, 0);
+
+
+-- 创建 sys_role 表
+CREATE TABLE IF NOT EXISTS sys_role
+(
+    id          INTEGER PRIMARY KEY AUTOINCREMENT,
+    name        TEXT NOT NULL,
+    code        TEXT NOT NULL,
+    create_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
+    update_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP
+);
+
+-- 插入角色数据
+INSERT INTO sys_role (name, code)
+VALUES ('管理员', 'ADMIN'),
+       ('普通用户', 'USER'),
+       ('测试用户', 'TEST');
+
+-- 创建 matrix 基质类型表
+CREATE TABLE IF NOT EXISTS matrix
+(
+    id          INTEGER PRIMARY KEY AUTOINCREMENT,
+    name        TEXT NOT NULL,
+    create_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
+    update_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP
+);
+
+-- 创建 matrix_craft 基质工艺表
+CREATE TABLE IF NOT EXISTS matrix_craft
+(
+    id                      INTEGER PRIMARY KEY AUTOINCREMENT,
+    name                    TEXT NOT NULL,
+    matrix_id               INTEGER NOT NULL,
+    route_type              INTEGER,
+    z_height                INTEGER,
+    nitrogen_flow_velocity  INTEGER,
+    nitrogen_air_pressure   INTEGER,
+    matrix_flow_velocity    INTEGER,
+    voltage                 INTEGER,
+    movement_speed          INTEGER,
+    space                   INTEGER,
+    create_user             INTEGER,
+    create_time             TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
+    update_time             TIMESTAMP DEFAULT CURRENT_TIMESTAMP
+);
+
+-- 创建 syringe 注射器表
+CREATE TABLE IF NOT EXISTS syringe
+(
+    id                INTEGER PRIMARY KEY AUTOINCREMENT,
+    flow_rate         INTEGER,
+    fluid_volume      INTEGER,
+    run_time          INTEGER,
+    cycle_intervals   INTEGER
+);
+
+-- 创建 operation_log 操作记录表
+CREATE TABLE IF NOT EXISTS operation_log
+(
+    id                INTEGER PRIMARY KEY AUTOINCREMENT,
+    matrix_craft_id   INTEGER,
+    matrix_info       TEXT,
+    status            INTEGER,
+    create_user       INTEGER,
+    create_time       TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
+    update_time       TIMESTAMP DEFAULT CURRENT_TIMESTAMP
+);
+
+-- 创建 sys_settings 系统配置表
+CREATE TABLE IF NOT EXISTS sys_settings
+(
+    id          INTEGER PRIMARY KEY AUTOINCREMENT,
+    parent_id   INTEGER,
+    name        TEXT NOT NULL,
+    code        TEXT,
+    value       TEXT
+);

src/main/java/com/qyft/ms/MatrixSprayApplication.java

@@ -0,0 +1,15 @@
+package com.qyft.ms;
+
+import org.springframework.boot.SpringApplication;
+import org.springframework.boot.autoconfigure.SpringBootApplication;
+import org.springframework.boot.context.properties.ConfigurationPropertiesScan;
+
+@SpringBootApplication
+@ConfigurationPropertiesScan
+public class MatrixSprayApplication {
+
+    public static void main(String[] args) {
+        SpringApplication.run(MatrixSprayApplication.class, args);
+    }
+
+}

src/main/java/com/qyft/ms/common/constant/Commands.java

@@ -0,0 +1,117 @@
+package com.qyft.ms.common.constant;
+
+/**
+ * 操作指令
+ */
+public class Commands {
+    /**
+     * 抬起托盘
+     */
+    public static final String UP_TRAY = "upTray";
+
+    /**
+     * 降下托盘
+     */
+    public static final String DOWN_TRAY = "downTray";
+
+    /**
+     * 添加溶液
+     */
+    public static final String INJECT_FLUID = "injectFluid";
+
+    /**
+     * 恒温
+     */
+    public static final String KEEP_HEAT = "keepHeat";
+
+    /**
+     * 移至加液
+     */
+    public static final String MOVE_TO_ACTION_AREA = "moveToActionArea";
+
+    /**
+     * 检查加液位状态（是否被占用）
+     */
+    public static final String CHECK_ACTION_AREA = "checkActionArea";
+
+    /**
+     * 摇匀试管架
+     */
+    public static final String START_SHAKE_UP = "startShakeUp";
+
+    /**
+     * 停止摇匀试管架
+     */
+    public static final String STOP_SHAKE_UP = "stopShakeUp";
+
+    /**
+     * 开始加热
+     */
+    public static final String START_HEAT = "startHeat";
+
+    /**
+     * 停止加热
+     */
+    public static final String STOP_HEAT = "stopHeat";
+
+    /**
+     * 拍照
+     */
+    public static final String TAKE_PHOTO = "takePhoto";
+
+    /**
+     * 移至异常区
+     */
+    public static final String MOVE_TO_UNUSUAL = "moveToUnusual";
+
+    /**
+     * 从异常区移回加热区
+     */
+    public static final String MOVE_TO_HEAT_AREA = "moveToHeatArea";
+
+    /**
+     * 取试管架盖
+     */
+    public static final String TAKE_OFF_CAP = "takeOffCap";
+
+    /**
+     * 装回试管架盖
+     */
+    public static final String PUT_BACK_CAP = "putBackCap";
+
+    /**
+     * 机械臂移动至指定坐标（x, y, z）
+     */
+    public static final String MOVE_MACHINE_ARM = "moveMachineArm";
+
+    /**
+     * 获取当前某种溶液的数量
+     */
+    public static final String GET_LIQUID_AMOUNT = "getLiquidAmount";
+
+    /**
+     * 移动单个试管
+     */
+    public static final String MOVE_TUBE = "moveTube";
+
+    /**
+     * 机械臂爪子开启
+     */
+    public static final String OPEN_CLAW = "openClaw";
+
+    /**
+     * 机械臂爪子闭合
+     */
+    public static final String CLOSE_CLAW = "closeClaw";
+
+    /**
+     * 开门
+     */
+    public static final String OPEN_DOOR = "openDoor";
+
+    /**
+     * 关门
+     */
+    public static final String CLOSE_DOOR = "closeDoor";
+
+}

src/main/java/com/qyft/ms/common/constant/SysSettings.java

@@ -0,0 +1,27 @@
+package com.qyft.ms.common.constant;
+
+/**
+ * 操作指令
+ */
+public class SysSettings {
+    /**
+     * 加热区域
+     */
+    public static final String HEAT_AREA = "heat_area";
+
+    /**
+     * 加液区域
+     */
+    public static final String SOLUTION_AREA = "solution_area";
+
+    /**
+     * 拍子区域
+     */
+    public static final String LID_AREA = "lid_area";
+
+    /**
+     * 其他系统配置
+     */
+    public static final String SYS_SETTING = "sys_setting";
+
+}

src/main/java/com/qyft/ms/common/constant/WebSocketMessageType.java

@@ -0,0 +1,25 @@
+package com.qyft.ms.common.constant;
+
+public class WebSocketMessageType {
+    /**
+     * 设备状态
+     */
+    public static final String STATUS = "status";
+    /**
+     * 设备报警
+     */
+    public static final String ALARM = "alarm";
+    /**
+     * 设备指令反馈
+     */
+    public static final String CMD = "cmd";
+    /**
+     * 工艺执行反馈
+     */
+    public static final String CRAFTS = "crafts";
+    /**
+     * 容器剩余状态
+     */
+    public static final String CONTAINER = "container";
+
+}

src/main/java/com/qyft/ms/common/result/CMDResultCode.java

@@ -0,0 +1,27 @@
+package com.qyft.ms.common.result;
+
+import com.qyft.ms.system.common.result.IResultCode;
+import lombok.AllArgsConstructor;
+import lombok.NoArgsConstructor;
+
+import java.io.Serializable;
+
+@AllArgsConstructor
+@NoArgsConstructor
+public enum CMDResultCode implements IResultCode, Serializable {
+    SUCCESS("D0000", "执行完毕"),
+    FAILURE("D1111", "执行失败");
+
+    private String code;
+    private String msg;
+
+    @Override
+    public String getCode() {
+        return code;
+    }
+
+    @Override
+    public String getMsg() {
+        return msg;
+    }
+}

src/main/java/com/qyft/ms/config/WebSocketConfig.java

@@ -0,0 +1,14 @@
+package com.qyft.ms.config;
+
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+import org.springframework.web.socket.server.standard.ServerEndpointExporter;
+
+@Configuration
+public class WebSocketConfig {
+
+    @Bean
+    public ServerEndpointExporter serverEndpointExporter() {
+        return new ServerEndpointExporter();
+    }
+}

src/main/java/com/qyft/ms/config/WebSocketServer.java

@@ -0,0 +1,59 @@
+package com.qyft.ms.config;
+
+
+import com.fasterxml.jackson.core.JsonProcessingException;
+import com.fasterxml.jackson.databind.ObjectMapper;
+import com.qyft.ms.model.dto.WebsocketDTO;
+import jakarta.websocket.*;
+import jakarta.websocket.server.ServerEndpoint;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.Collections;
+import java.util.HashSet;
+import java.util.Set;
+
+@Slf4j
+@ServerEndpoint("/ws")
+@Component
+public class WebSocketServer {
+
+    private static final Set<Session> sessions = Collections.synchronizedSet(new HashSet<>());
+
+    public static void sendMessageToClients(String message) {
+        synchronized (sessions) {
+            for (Session session : sessions) {
+                try {
+                    session.getBasicRemote().sendText(message);
+                } catch (Exception e) {
+                    e.printStackTrace();
+                }
+            }
+        }
+    }
+
+    @OnOpen
+    public void onOpen(Session session) {
+        sessions.add(session);
+    }
+
+    @OnMessage
+    public void onMessage(String message, Session session) {
+        ObjectMapper objectMapper = new ObjectMapper();
+        try {
+            WebsocketDTO c = objectMapper.readValue(message, WebsocketDTO.class);
+            log.info("解析后的信息: commandName={}, commandId={}", c.getCommandName(), c.getCommandId());
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+    }
+
+    @OnClose
+    public void onClose(Session session) {
+        sessions.remove(session);  // 移除关闭连接的 Session
+    }
+
+    @OnError
+    public void onError(Throwable error) {
+    }
+}

src/main/java/com/qyft/ms/controller/CMDController.java

@@ -0,0 +1,47 @@
+package com.qyft.ms.controller;
+
+import cn.hutool.json.JSONUtil;
+import com.qyft.ms.model.form.CMDForm;
+import com.qyft.ms.service.CMDService;
+import com.qyft.ms.system.common.result.Result;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+import java.util.*;
+
+@Tag(name = "控制指令")
+@RestController
+@RequestMapping("/api/cmd")
+@RequiredArgsConstructor
+@Slf4j
+public class CMDController {
+
+    private final CMDService cmdService;
+
+    @Operation(summary = "执行指令")
+    @PostMapping("/execute")
+    public Result<String> execute(@RequestBody CMDForm cmdForm) {
+        try {
+            String commandId = UUID.randomUUID().toString();
+            if (cmdForm.getCommandId() == null || cmdForm.getCommandId().isEmpty()) {
+                cmdForm.setCommandId(commandId);
+            }
+            log.info("接收到指令: {}", JSONUtil.toJsonStr(cmdForm));
+            if (cmdService.executeCommand(cmdForm)) {
+                return Result.success(cmdForm.getCommandId());
+            } else {
+                return Result.failed("无效命令");
+            }
+        } catch (Exception e) {
+            log.error("指令执行异常: {}", JSONUtil.toJsonStr(cmdForm), e);
+            return Result.failed("执行失败");
+        }
+    }
+
+}

src/main/java/com/qyft/ms/controller/LogsController.java

@@ -0,0 +1,55 @@
+package com.qyft.ms.controller;
+
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.qyft.ms.model.entity.Logs;
+import com.qyft.ms.service.ILogsService;
+import com.qyft.ms.system.common.base.BasePageQuery;
+import com.qyft.ms.system.common.result.PageResult;
+import com.qyft.ms.system.common.result.Result;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.Parameter;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.Arrays;
+import java.util.List;
+import java.util.stream.Collectors;
+
+@Tag(name = "日志")
+@RestController
+@RequestMapping("/api/logs")
+@RequiredArgsConstructor
+@Slf4j
+public class LogsController {
+    private final ILogsService logsService;
+
+    @Operation(summary = "日志列表")
+    @GetMapping("/list")
+    public PageResult<Logs> getAllTasks(BasePageQuery pageQuery) {
+
+        return PageResult.success(logsService.page(new Page<>(pageQuery.getPageNum(), pageQuery.getPageSize())));
+    }
+
+    @Operation(summary = "日志新增")
+    @PostMapping("/add")
+    public Result<Integer> add(String log) {
+        return Result.success(logsService.insertLog(log));
+    }
+
+    @Operation(summary = "日志详情")
+    @GetMapping("/")
+    public Result<Logs> detail(@RequestParam Long id) {
+        return Result.success(logsService.getBaseMapper().selectById(id));
+    }
+
+    @Operation(summary = "删除日志")
+    @DeleteMapping("/{ids}")
+    public Result<Boolean> deleteLog(@Parameter(description = "日志ID，多个以英文逗号(,)分割") @PathVariable String ids) {
+        List<Long> idsArr = Arrays.stream(ids.split(","))
+                .map(Long::parseLong)
+                .collect(Collectors.toList());
+        return Result.success(logsService.removeByIds(idsArr));
+    }
+}

src/main/java/com/qyft/ms/controller/SysSettingsController.java

@@ -0,0 +1,56 @@
+package com.qyft.ms.controller;
+
+import com.qyft.ms.model.dto.SysSettingsDTO;
+import com.qyft.ms.service.ISysSettingsService;
+import com.qyft.ms.system.common.result.Result;
+import io.micrometer.common.lang.Nullable;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.Parameter;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.List;
+
+@Tag(name = "系统配置")
+@RestController
+@RequestMapping("/api/sys")
+@RequiredArgsConstructor
+@Slf4j
+public class SysSettingsController {
+    private final ISysSettingsService sysSettingsService;
+
+    @Operation(summary = "获取配置")
+    @GetMapping("/getConfig")
+    public Result<List<?>> getConfig(
+            @Parameter(
+                    description = "配置类型(heat_area 工作区配置 solution_area 加液区配置 lid_area 拍子区域配置 sys_setting 其他系统配置)"
+            )
+            @RequestParam
+            @Nullable
+            String type
+    ) {
+        if (type == null) {
+            return Result.success(sysSettingsService.getAllConfig());
+        } else {
+            return Result.success(sysSettingsService.getConfig(type));
+        }
+    }
+
+    @Operation(summary = "更新配置")
+    @PutMapping("/updateConfig")
+    public Result<String> updateConfig(@RequestBody List<SysSettingsDTO> dto) {
+        return Result.failed();
+    }
+
+    @Operation(summary = "修改系统日期与时间（Linux date -s）")
+    @PutMapping("/setSysDate/{newTime}")
+    public Result<String> setSysDate(@Parameter(description = "时间字符串 YYYY-MM-DD HH:mm:ss") @PathVariable String newTime) {
+        boolean isSuccess = sysSettingsService.setSysDate(newTime);
+        if (isSuccess) {
+            return Result.success();
+        }
+        return Result.failed();
+    }
+}

src/main/java/com/qyft/ms/device/client/TcpClient.java

@@ -0,0 +1,160 @@
+package com.qyft.ms.device.client;
+
+import cn.hutool.json.JSONUtil;
+import com.qyft.ms.device.common.jsonrpc.JsonRpcRequest;
+import com.qyft.ms.device.config.TcpConfig;
+import com.qyft.ms.device.handler.DeviceMessageHandler;
+import com.qyft.ms.device.model.bo.DeviceFeedback;
+import io.netty.bootstrap.Bootstrap;
+import io.netty.buffer.Unpooled;
+import io.netty.channel.*;
+import io.netty.channel.nio.NioEventLoopGroup;
+import io.netty.channel.socket.nio.NioSocketChannel;
+import io.netty.handler.codec.json.JsonObjectDecoder;
+import io.netty.util.CharsetUtil;
+import jakarta.annotation.PostConstruct;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.scheduling.annotation.Scheduled;
+import org.springframework.stereotype.Component;
+
+import java.net.InetSocketAddress;
+import java.util.HashMap;
+import java.util.Map;
+import java.util.UUID;
+import java.util.concurrent.CompletableFuture;
+import java.util.concurrent.TimeUnit;
+
+@Slf4j
+@Component
+@RequiredArgsConstructor
+public class TcpClient {
+
+    private final TcpConfig tcpConfig;
+
+    private final DeviceMessageHandler deviceMessageHandler;
+
+    private final EventLoopGroup group = new NioEventLoopGroup();
+    private Channel channel;
+    private Bootstrap bootstrap;
+
+
+    @PostConstruct
+    public void init() {
+        if (tcpConfig.isEnable()) {
+            connect();
+        }
+    }
+
+    public void connect() {
+        try {
+            if (bootstrap == null) {
+                bootstrap = new Bootstrap();
+                bootstrap.group(group)
+                        .channel(NioSocketChannel.class)
+                        .option(ChannelOption.CONNECT_TIMEOUT_MILLIS, tcpConfig.getTimeout())
+                        .handler(new ChannelInitializer<>() {
+                            @Override
+                            protected void initChannel(Channel ch) {
+                                ch.pipeline().addLast(new JsonObjectDecoder());
+                                ch.pipeline().addLast(deviceMessageHandler);
+                                ch.pipeline().addLast(new TcpConnectionHandler());
+                            }
+                        });
+            }
+
+            log.info("尝试连接到TCP服务 {}:{}", tcpConfig.getHost(), tcpConfig.getPort());
+            ChannelFuture future = bootstrap.connect(new InetSocketAddress(tcpConfig.getHost(), tcpConfig.getPort()));
+
+            future.addListener((ChannelFutureListener) f -> {
+                if (f.isSuccess()) {
+                    channel = f.channel();
+                    log.info("已链接到TCP服务");
+                } else {
+                    log.error("无法连接到TCP服务. {}ms后重试...", tcpConfig.getReconnect());
+                    f.channel().eventLoop().schedule(this::connect, tcpConfig.getReconnect(), TimeUnit.MILLISECONDS);
+                }
+            });
+
+        } catch (Exception e) {
+            log.error("尝试连接到TCP服务发生意外错误: {}", e.getMessage(), e);
+        }
+    }
+
+    @Scheduled(fixedRateString = "${tcp.reconnect}")
+    public void checkConnection() {
+        if (channel == null || !channel.isActive()) {
+            log.error("TCP服务链接丢失");
+            connect();
+        }
+    }
+
+    public boolean send(String request) {
+        if (channel != null && channel.isActive()) {
+            channel.writeAndFlush(Unpooled.copiedBuffer(request, CharsetUtil.UTF_8));
+            return true;
+        } else {
+            log.error("TCP服务未连接，无法发送请求: {}", request);
+            return false;
+        }
+    }
+
+    public DeviceFeedback sendCommand(String method) {
+        JsonRpcRequest request = new JsonRpcRequest();
+        request.setMethod(method);
+        return this.sendCommand(request);
+    }
+
+    public DeviceFeedback sendCommand(String method, Map<String, Object> params) {
+        JsonRpcRequest request = new JsonRpcRequest();
+        request.setMethod(method);
+        request.setParams(params);
+        return this.sendCommand(request);
+    }
+
+    public DeviceFeedback sendCommand(JsonRpcRequest request) {
+        if (request.getId() == null) {
+            request.setId(UUID.randomUUID().toString());
+        }
+        CompletableFuture<DeviceFeedback> future = new CompletableFuture<>();
+        deviceMessageHandler.responseMap.put(request.getId(), future);
+        try {
+            if (request.getParams() == null) {
+                request.setParams(new HashMap<>());
+            }
+            request.getParams().put("class", "test");
+            String requestJsonStr = JSONUtil.toJsonStr(request);
+            log.info("发送TCP指令（同步） {}", requestJsonStr);
+            if (this.send(requestJsonStr)) {
+                return future.get(tcpConfig.getFeedbackTimeout(), TimeUnit.MILLISECONDS); // 等待 FEEDBACK 响应
+            } else {
+                return null;
+            }
+        } catch (Exception e) {
+            log.error("发送TCP指令错误（同步） {}", JSONUtil.toJsonStr(request), e);
+        } finally {
+            deviceMessageHandler.responseMap.remove(request.getId()); //确保完成后移除
+        }
+        return null;
+    }
+
+    private class TcpConnectionHandler extends ChannelInboundHandlerAdapter {
+
+        @Override
+        public void channelInactive(ChannelHandlerContext ctx) throws Exception {
+            // 连接断开时的处理逻辑
+            log.error("TCP连接丢失，准备重新连接...");
+            if (channel != null) {
+                channel.close();
+            }
+            connect();
+            super.channelInactive(ctx);
+        }
+
+        @Override
+        public void exceptionCaught(ChannelHandlerContext ctx, Throwable cause) {
+            log.error("TCP连接发生异常: {}", cause.getMessage(), cause);
+            ctx.close();
+        }
+    }
+}

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

@@ -0,0 +1,38 @@
+package com.qyft.ms.device.common.constant;
+
+public class DeviceCommands {
+
+    /**
+     * 使指定轴的电机回原点
+     */
+    public static final String MOTOR_MOVE_TO_HOME = "motorMoveToHome";
+    // 设置指定轴的电机的运行电流
+    public static final String SET_MOTOR_RUNNING_CURRENT = "setMotorRunningCurrent";
+    // 移动指定轴的电机到指定位置
+    public static final String MOVE_MOTOR_TO_POSITION = "moveMotorToPosition";
+    // 设置指定轴的电机的运行速度
+    public static final String SET_MOTOR_SPEED = "setMotorSpeed";
+    // 切换三通阀到基质状态
+    public static final String SWITCH_THREE_WAY_VALVE_TO_SUBSTRATE = "switchThreeWayValveToSubstrate";
+    // 切换三通阀到喷涂状态
+    public static final String SWITCH_THREE_WAY_VALVE_TO_SPRAY = "switchThreeWayValveToSpray";
+    // 控制指定阀的开启或关闭
+    public static final String CONTROL_VALVE = "controlValve";
+    // 以指定亮度开启照明灯板
+    public static final String TURN_ON_LIGHT_PANEL = "turnOnLightPanel";
+    // 关闭照明灯板
+    public static final String TURN_OFF_LIGHT_PANEL = "turnOffLightPanel";
+    // 以指定电压值开启高压电
+    public static final String TURN_ON_HIGH_VOLTAGE = "turnOnHighVoltage";
+    // 关闭高压电
+    public static final String TURN_OFF_HIGH_VOLTAGE = "turnOffHighVoltage";
+    // 以指定转速、方向和时间开启注射泵
+    public static final String TURN_ON_SYRINGE_PUMP = "turnOnSyringePump";
+    // 停止注射泵
+    public static final String TURN_OFF_SYRINGE_PUMP = "turnOffSyringePump";
+    // 设置注射泵的容量、时间比例参数
+    public static final String SET_SYRINGE_PUMP_PARAMETERS = "setSyringePumpParameters";
+    // 推送指定容量的液体
+    public static final String PUSH_VOLUME = "pushVolume";
+
+}

src/main/java/com/qyft/ms/device/common/constant/TcpMessageType.java

@@ -0,0 +1,16 @@
+package com.qyft.ms.device.common.constant;
+
+public class TcpMessageType {
+    /**
+     * 设备状态
+     */
+    public static final String STATUS = "status";
+    /**
+     * 设备报警
+     */
+    public static final String ALARM = "alarm";
+    /**
+     * 设备指令反馈
+     */
+    public static final String FEEDBACK = "feedback";
+}

src/main/java/com/qyft/ms/device/common/jsonrpc/JsonRpcRequest.java

@@ -0,0 +1,24 @@
+package com.qyft.ms.device.common.jsonrpc;
+
+import lombok.Data;
+
+import java.util.Map;
+
+/**
+ * TCP JSON RPC请求
+ */
+@Data
+public class JsonRpcRequest {
+    /**
+     * 请求id
+     */
+    private String id;
+    /**
+     * 请求方法
+     */
+    private String method;
+    /**
+     * 请求参数
+     */
+    private Map<String, Object> params;
+}

src/main/java/com/qyft/ms/device/common/jsonrpc/JsonRpcResponse.java

@@ -0,0 +1,16 @@
+package com.qyft.ms.device.common.jsonrpc;
+
+import cn.hutool.json.JSONObject;
+import lombok.Data;
+
+@Data
+public class JsonRpcResponse {
+    /**
+     * 数据类型
+     */
+    private String type;
+    /**
+     * 数据
+     */
+    private JSONObject data;
+}

src/main/java/com/qyft/ms/device/config/TcpConfig.java

@@ -0,0 +1,37 @@
+package com.qyft.ms.device.config;
+
+import lombok.Data;
+import org.springframework.boot.context.properties.ConfigurationProperties;
+import org.springframework.stereotype.Component;
+
+@Data
+@Component
+@ConfigurationProperties(prefix = "tcp")
+public class TcpConfig {
+    /**
+     * 是否启用 TCP 连接
+     */
+    private boolean enable;
+    /**
+     * TCP 链接地址
+     */
+    private String host;
+    /**
+     * TCP 端口
+     */
+    private int port;
+    /**
+     * 断线重连间隔（毫秒）
+     */
+    private int reconnect;
+    /**
+     * 连接超时时间（毫秒）
+     */
+    private int timeout;
+    /**
+     * 指令反馈超时时间
+     */
+    private int feedbackTimeout;
+
+}
+

src/main/java/com/qyft/ms/device/controller/DeviceController.java

@@ -0,0 +1,37 @@
+package com.qyft.ms.device.controller;
+
+import com.qyft.ms.device.model.bo.DeviceOperationalStatus;
+import com.qyft.ms.device.model.bo.DeviceStatus;
+import com.qyft.ms.device.service.DeviceStatusService;
+import com.qyft.ms.system.common.result.Result;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+@Tag(name = "设备控制")
+@RestController
+@RequestMapping("/api/device")
+@RequiredArgsConstructor
+@Slf4j
+public class DeviceController {
+    private final DeviceStatusService deviceStatusService;
+
+    @Operation(summary = "获取设备业务操作状态")
+    @GetMapping("/operational/status")
+    public Result<DeviceOperationalStatus> getDeviceOperationalStatus() {
+        DeviceOperationalStatus deviceOperationalStatus = deviceStatusService.getDeviceOperationalStatus();
+        return Result.success(deviceOperationalStatus);
+    }
+
+
+    @Operation(summary = "获取当前设备状态")
+    @GetMapping("/status")
+    public Result<DeviceStatus> getDeviceStatus() {
+        DeviceStatus deviceStatus = deviceStatusService.getDeviceStatus();
+        return Result.success(deviceStatus);
+    }
+}

src/main/java/com/qyft/ms/device/controller/DeviceCtrlController.java

@@ -0,0 +1,93 @@
+package com.qyft.ms.device.controller;
+
+import com.qyft.ms.device.model.bo.DeviceCtrlFuncCMD;
+import com.qyft.ms.device.model.entity.CtrlFunc;
+import com.qyft.ms.device.model.form.CtrlFuncForm;
+import com.qyft.ms.device.model.vo.DeviceCtrlFuncVO;
+import com.qyft.ms.device.service.ICtrlFuncService;
+import com.qyft.ms.system.common.result.Result;
+import com.qyft.ms.system.common.result.ResultCode;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.Parameter;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.List;
+
+@Tag(name = "设备控制")
+@RestController
+@RequestMapping("/api/device")
+@RequiredArgsConstructor
+@Slf4j
+public class DeviceCtrlController {
+    private final ICtrlFuncService ctrlFuncService;
+
+    @Operation(summary = "获取所有设备控制方法步骤")
+    @GetMapping("/ctrl/step")
+    public Result<List<DeviceCtrlFuncCMD>> getAllCtrlFuncStep() {
+        List<DeviceCtrlFuncCMD> ctrlFuncList = ctrlFuncService.findAllStepCMD();
+        return Result.success(ctrlFuncList);
+    }
+
+    @Operation(summary = "获取所有设备控制方法")
+    @GetMapping("/ctrl")
+    public Result<List<CtrlFunc>> getAllCtrlFunc() {
+        List<CtrlFunc> ctrlFuncList = ctrlFuncService.findAll();
+        return Result.success(ctrlFuncList);
+    }
+
+    @Operation(summary = "根据id获取设备控制方法与步骤")
+    @GetMapping("/ctrl/{id}")
+    public Result<DeviceCtrlFuncVO> getById(@PathVariable Long id) {
+        DeviceCtrlFuncVO ctrlFuncVO = ctrlFuncService.findVOById(id);
+        return Result.success(ctrlFuncVO);
+    }
+
+    @Operation(summary = "添加设备控制方法与步骤")
+    @PostMapping("/ctrl")
+    public Result<String> addCtrlFunc(@RequestBody CtrlFuncForm ctrlFuncForm) {
+        long count = ctrlFuncService.countFuncCmdByFuncCmd(ctrlFuncForm.getFuncCmd());
+        if (count > 0) {
+            return Result.failed(ResultCode.DATA_ALREADY_EXISTS);
+
+        }
+        boolean isSuccess = ctrlFuncService.addCtrlFunc(ctrlFuncForm);
+        if (isSuccess) {
+            return Result.success();
+        }
+        return Result.failed();
+    }
+
+    @Operation(summary = "更新设备控制方法与步骤")
+    @PutMapping("/ctrl/{id}")
+    public Result<String> updateCtrlFunc(@PathVariable Long id, @RequestBody CtrlFuncForm ctrlFuncForm) {
+        CtrlFunc currentCtrlFunc = ctrlFuncService.getById(id);
+        if (currentCtrlFunc != null && !currentCtrlFunc.getFuncCmd().equals(ctrlFuncForm.getFuncCmd())) {
+            //改了指令需要判断指令是否重复
+            long count = ctrlFuncService.countFuncCmdByFuncCmd(ctrlFuncForm.getFuncCmd());
+            if (count > 0) {
+                return Result.failed(ResultCode.DATA_ALREADY_EXISTS);
+            }
+        }
+        boolean isSuccess = ctrlFuncService.updateCtrlFunc(id, ctrlFuncForm);
+        if (isSuccess) {
+            return Result.success();
+        }
+
+        return Result.failed();
+    }
+
+    @Operation(summary = "删除设备控制方法")
+    @DeleteMapping("/ctrl/{ids}")
+    public Result<String> deleteCtrlFunc(@Parameter(description = "设备控制方法ID，多个以英文逗号(,)分割") @PathVariable String ids) {
+        boolean isSuccess = ctrlFuncService.deleteCtrlFunc(ids);
+        if (isSuccess) {
+            return Result.success();
+        }
+        return Result.failed();
+    }
+
+
+}

src/main/java/com/qyft/ms/device/controller/TestController.java

@@ -0,0 +1,43 @@
+package com.qyft.ms.device.controller;
+
+import com.qyft.ms.device.model.bo.DeviceStatus;
+import com.qyft.ms.device.service.DeviceTcpCMDService;
+import com.qyft.ms.device.service.DeviceStatusService;
+import com.qyft.ms.system.common.result.Result;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RequestParam;
+import org.springframework.web.bind.annotation.RestController;
+
+@Tag(name = "测试")
+@RestController
+@RequestMapping("/api/test")
+@RequiredArgsConstructor
+@Slf4j
+public class TestController {
+    private final DeviceTcpCMDService deviceTcpCMDService;
+    private final DeviceStatusService deviceStatusService;
+
+    @Operation(summary = "生成设备状态实体")
+    @GetMapping("/getDeviceStatus")
+    public Result<DeviceStatus> getDeviceStatus() {
+        DeviceStatus deviceStatus = deviceStatusService.getDeviceStatus();
+        return Result.success(deviceStatus);
+    }
+
+    @Operation(summary = "触发测试报警")
+    @GetMapping("/alarmTest")
+    public Result<DeviceStatus> alarmTest(@RequestParam String code, @RequestParam String msg, @RequestParam String module) {
+        boolean success = deviceTcpCMDService.alarmTest(code, msg, module);
+        if (success) {
+            return Result.success();
+        } else {
+            return Result.failed("触发测试报警失败");
+        }
+    }
+
+}

src/main/java/com/qyft/ms/device/handler/DeviceMessageHandler.java

@@ -0,0 +1,68 @@
+package com.qyft.ms.device.handler;
+
+import cn.hutool.json.JSONUtil;
+import com.qyft.ms.common.constant.WebSocketMessageType;
+import com.qyft.ms.device.common.constant.TcpMessageType;
+import com.qyft.ms.device.common.jsonrpc.JsonRpcResponse;
+import com.qyft.ms.device.model.bo.DeviceAlarm;
+import com.qyft.ms.device.model.bo.DeviceFeedback;
+import com.qyft.ms.device.model.bo.DeviceStatus;
+import com.qyft.ms.device.service.DeviceStatusService;
+import com.qyft.ms.service.WebSocketService;
+import io.netty.buffer.ByteBuf;
+import io.netty.channel.ChannelHandler;
+import io.netty.channel.ChannelHandlerContext;
+import io.netty.channel.ChannelInboundHandlerAdapter;
+import io.netty.util.CharsetUtil;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.CompletableFuture;
+import java.util.concurrent.ConcurrentHashMap;
+
+@Slf4j
+@Component
+@ChannelHandler.Sharable
+@RequiredArgsConstructor
+public class DeviceMessageHandler extends ChannelInboundHandlerAdapter {
+
+    public final Map<String, CompletableFuture<DeviceFeedback>> responseMap = new ConcurrentHashMap<>();
+    private final DeviceStatusService deviceStatusService;
+    private final WebSocketService webSocketService;
+
+    @Override
+    public void channelRead(ChannelHandlerContext ctx, Object msg) {
+        ByteBuf buf = (ByteBuf) msg;
+        String serverMsg = buf.toString(CharsetUtil.UTF_8);
+        try {
+            JsonRpcResponse jsonRpcResponse = JSONUtil.toBean(serverMsg, JsonRpcResponse.class);
+            if (TcpMessageType.STATUS.equals(jsonRpcResponse.getType())) {//设备状态
+                DeviceStatus deviceStatus = JSONUtil.toBean(jsonRpcResponse.getData(), DeviceStatus.class);
+                deviceStatusService.updateDeviceStatus(deviceStatus); // 更新设备状态
+            } else if (TcpMessageType.ALARM.equals(jsonRpcResponse.getType())) {//设备报警
+                log.error("设备报警: {}", serverMsg);
+                DeviceAlarm deviceAlarm = JSONUtil.toBean(jsonRpcResponse.getData(), DeviceAlarm.class);
+                webSocketService.pushMsg(WebSocketMessageType.ALARM, deviceAlarm);
+            } else if (TcpMessageType.FEEDBACK.equals(jsonRpcResponse.getType())) {//设备指令反馈
+                DeviceFeedback deviceFeedback = JSONUtil.toBean(jsonRpcResponse.getData(), DeviceFeedback.class);
+                this.handleTcpResponse(deviceFeedback);
+            }
+        } catch (Exception e) {
+            log.error("TCP服务消息处理错误: {}, error: {}", serverMsg, e.getMessage(), e);
+        } finally {
+            buf.release();
+        }
+    }
+
+    private void handleTcpResponse(DeviceFeedback deviceFeedback) {
+        String requestId = deviceFeedback.getId();
+        CompletableFuture<DeviceFeedback> future = responseMap.remove(requestId);
+        if (future != null) {
+            future.complete(deviceFeedback);
+        } else {
+            log.error("未找到 requestId: {} 对应的等待请求", requestId);
+        }
+    }
+}

src/main/java/com/qyft/ms/device/mapper/CtrlFuncMapper.java

@@ -0,0 +1,11 @@
+package com.qyft.ms.device.mapper;
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.qyft.ms.device.model.entity.CtrlFunc;
+import org.apache.ibatis.annotations.Mapper;
+
+@Mapper
+public interface CtrlFuncMapper extends BaseMapper<CtrlFunc> {
+
+}
+

src/main/java/com/qyft/ms/device/mapper/CtrlFuncStepMapper.java

@@ -0,0 +1,11 @@
+package com.qyft.ms.device.mapper;
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.qyft.ms.device.model.entity.CtrlFuncStep;
+import org.apache.ibatis.annotations.Mapper;
+
+@Mapper
+public interface CtrlFuncStepMapper extends BaseMapper<CtrlFuncStep> {
+
+}
+

src/main/java/com/qyft/ms/device/model/bo/DeviceAlarm.java

@@ -0,0 +1,18 @@
+package com.qyft.ms.device.model.bo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+/**
+ * 设备报警信息
+ */
+@Schema(description = "设备报警信息")
+@Data
+public class DeviceAlarm {
+    @Schema(description = "报警代码")
+    private String code;
+    @Schema(description = "报警信息")
+    private String msg;
+    @Schema(description = "报警模块")
+    private String module;
+}

src/main/java/com/qyft/ms/device/model/bo/DeviceCtrlFuncCMD.java

@@ -0,0 +1,27 @@
+package com.qyft.ms.device.model.bo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@EqualsAndHashCode(callSuper = false)
+@Schema(description = "设备控制方法步骤指令")
+@Data
+public class DeviceCtrlFuncCMD {
+
+    public DeviceCtrlFuncCMD(String name, String deviceCmd, String params) {
+        this.name = name;
+        this.deviceCmd = deviceCmd;
+        this.params = params;
+    }
+
+    @Schema(description = "指令名称")
+    private String name;
+
+    @Schema(description = "设备指令")
+    private String deviceCmd;
+
+    @Schema(description = "参数")
+    private String params;
+
+}

src/main/java/com/qyft/ms/device/model/bo/DeviceFeedback.java

@@ -0,0 +1,26 @@
+package com.qyft.ms.device.model.bo;
+
+import lombok.Data;
+
+/**
+ * 设备当前状态
+ */
+@Data
+public class DeviceFeedback {
+    /**
+     * 请求id
+     */
+    private String id;
+    /**
+     * 请求数据
+     */
+    private Object result;
+
+    private DeviceFeedbackError error;
+
+    @Data
+    static class DeviceFeedbackError {
+        private String code;
+        private String message;
+    }
+}

src/main/java/com/qyft/ms/device/model/bo/DeviceOperationalStatus.java

@@ -0,0 +1,38 @@
+package com.qyft.ms.device.model.bo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+@Schema(description = "设备业务操作状态")
+@Data
+public class DeviceOperationalStatus {
+    @Schema(description = "托盘列表")
+    private List<Tray> trayList = new ArrayList<>();
+
+    /**
+     * 托盘
+     */
+    @Data
+    static class Tray {
+        @Schema(description = "所在加热区id")
+        private Long heatId;
+        @Schema(description = "是否在加液区")
+        private boolean isSolutionArea;
+        @Schema(description = "试管列表")
+        private List<Tube> tubeList;
+    }
+
+    /**
+     * 试管
+     */
+    @Data
+    static class Tube {
+        @Schema(description = "试管编号")
+        private Integer tubeNum;
+        @Schema(description = "试管内是否有样品")
+        private boolean isSample;
+    }
+}

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

@@ -0,0 +1,140 @@
+package com.qyft.ms.device.model.bo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+import java.util.List;
+
+/**
+ * 设备当前状态
+ */
+@Schema(description = "设备当前传感器状态")
+@Data
+public class DeviceStatus {
+
+    @Schema(description = "是否是急停状态，true为急停")
+    private Boolean emergencyStop;
+
+    @Schema(description = "门状态，true为开启状态，false为关闭状态")
+    private Boolean doorStatus;
+
+    @Schema(description = "导轨机械臂状态")
+    private RailArm railArm;
+
+    @Schema(description = "加液操作区属性")
+    private LiquidArea liquidArea;
+
+    @Schema(description = "加热操作区属性")
+    private List<HeatArea> heatArea;
+
+    @Schema(description = "碱容器状态")
+    private LiquidBucket alkaliBucket;
+
+
+    /**
+     * 导轨机械臂属性
+     */
+    @Data
+    public static class RailArm {
+        @Schema(description = "当前所在x坐标")
+        private Integer x;
+        @Schema(description = "当前所在y坐标")
+        private Integer y;
+        @Schema(description = "当前所在z坐标")
+        private Integer z;
+        @Schema(description = "当前轴1角度")
+        private Double joint1;
+        @Schema(description = "当前轴2角度")
+        private Double joint2;
+        @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 = "当前夹爪移动距离")
+        private Double clawDistance;
+        @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 Boolean isZeroPos;
+        @Schema(description = "导轨是否在限位点，true为在限位点")
+        private Boolean 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 List<LiquidBucket> solutionBucket;
+    }
+
+    /**
+     * 加热操作区属性
+     */
+    @Data
+    public static class HeatArea {
+        @Schema(description = "加热器设备id")
+        private String hardwareId;
+        @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 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")
+        private Boolean isSealed;
+        @Schema(description = "加热器当前温度")
+        private Double temperature;
+    }
+
+
+    /**
+     * 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 = "当前所在y坐标")
+        private Integer y;
+        @Schema(description = "当前所在z坐标")
+        private Integer z;
+        @Schema(description = "当前轴1角度")
+        private Double joint1;
+        @Schema(description = "当前轴2角度")
+        private Double joint2;
+        @Schema(description = "加液泵状态")
+        private List<Pump> pump;
+    }
+
+    /**
+     * 泵属性
+     */
+    @Data
+    public static class Pump {
+        @Schema(description = "加液泵id")
+        private String pumpId;
+        @Schema(description = "是否正在加液，true正在加液，false未运行")
+        private Integer isPumping;
+    }
+
+
+    @Data
+    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/ms/device/model/entity/CtrlFunc.java

@@ -0,0 +1,23 @@
+package com.qyft.ms.device.model.entity;
+
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.qyft.ms.system.common.base.BaseEntity;
+import io.swagger.v3.oas.annotations.media.Schema;
+import jakarta.validation.constraints.NotBlank;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@EqualsAndHashCode(callSuper = false)
+@Schema(description = "设备控制方法记录表")
+@TableName("ctrl_func")
+@Data
+public class CtrlFunc extends BaseEntity {
+    @NotBlank
+    @Schema(description = "控制方法的名称")
+    private String name;
+
+    @NotBlank
+    @Schema(description = "控制方法的指令")
+    private String funcCmd;
+
+}

src/main/java/com/qyft/ms/device/model/entity/CtrlFuncStep.java

@@ -0,0 +1,27 @@
+package com.qyft.ms.device.model.entity;
+
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.qyft.ms.system.common.base.BaseEntity;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@EqualsAndHashCode(callSuper = false)
+@Schema(description = "设备控制方法步骤表")
+@TableName("ctrl_func_step")
+@Data
+public class CtrlFuncStep extends BaseEntity {
+
+    @Schema(description = "控制方法的指令")
+    private String funcCmd;
+
+    @Schema(description = "设备指令")
+    private String deviceCmd;
+
+    @Schema(description = "备注说明")
+    private String remarks;
+
+    @Schema(description = "设备指令的参数，为null则动态传入")
+    private String params;
+
+}

src/main/java/com/qyft/ms/device/model/form/CtrlFuncForm.java

@@ -0,0 +1,38 @@
+package com.qyft.ms.device.model.form;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+import java.util.List;
+import java.util.Map;
+
+@EqualsAndHashCode(callSuper = false)
+@Schema(description = "设备控制方法表单")
+@Data
+public class CtrlFuncForm {
+
+    @Schema(description = "控制方法的名称")
+    private String name;
+
+    @Schema(description = "控制方法的指令")
+    private String funcCmd;
+
+    @Schema(description = "设备控制方法步骤")
+    private List<CtrlFuncStepForm> ctrlFuncStepList;
+
+    @Data
+    public static class CtrlFuncStepForm {
+
+        @Schema(description = "设备指令")
+        private String deviceCmd;
+
+        @Schema(description = "备注说明")
+        private String remarks;
+
+        @Schema(description = "设备指令的参数，为null则动态传入")
+        private Map<String, Object> params;
+
+    }
+
+}

src/main/java/com/qyft/ms/device/model/vo/CtrlFuncVO.java

@@ -0,0 +1,26 @@
+package com.qyft.ms.device.model.vo;
+
+import com.qyft.ms.device.model.entity.CtrlFuncStep;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+import java.util.List;
+
+@EqualsAndHashCode(callSuper = false)
+@Schema(description = "获取所有设备控制方法返回数据")
+@Data
+public class CtrlFuncVO {
+
+    private Long id;
+
+    @Schema(description = "控制方法的名称")
+    private String name;
+
+    @Schema(description = "控制方法的指令")
+    private String funcCmd;
+
+    @Schema(description = "设备控制方法步骤列表")
+    private List<CtrlFuncStep> ctrlFuncStepList;
+
+}

src/main/java/com/qyft/ms/device/model/vo/DeviceCtrlFuncVO.java

@@ -0,0 +1,26 @@
+package com.qyft.ms.device.model.vo;
+
+import com.qyft.ms.device.model.entity.CtrlFuncStep;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+import java.util.List;
+
+@EqualsAndHashCode(callSuper = false)
+@Schema(description = "获取所有设备控制方法返回数据")
+@Data
+public class DeviceCtrlFuncVO {
+
+    private Long id;
+
+    @Schema(description = "控制方法的名称")
+    private String name;
+
+    @Schema(description = "控制方法的指令")
+    private String funcCmd;
+
+    @Schema(description = "设备控制方法步骤列表")
+    private List<CtrlFuncStep> ctrlFuncStepList;
+
+}

src/main/java/com/qyft/ms/device/service/DeviceAlarmService.java

@@ -0,0 +1,12 @@
+package com.qyft.ms.device.service;
+
+import lombok.RequiredArgsConstructor;
+import org.springframework.stereotype.Service;
+
+/**
+ * 设备报警服务
+ */
+@Service
+@RequiredArgsConstructor
+public class DeviceAlarmService {
+}

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

@@ -0,0 +1,14 @@
+package com.qyft.ms.device.service;
+
+import lombok.RequiredArgsConstructor;
+import org.springframework.stereotype.Service;
+
+/**
+ * 设备操作
+ */
+@Service
+@RequiredArgsConstructor
+public class DeviceService {
+
+
+}

src/main/java/com/qyft/ms/device/service/DeviceStatusService.java

@@ -0,0 +1,47 @@
+package com.qyft.ms.device.service;
+
+import cn.hutool.core.bean.BeanUtil;
+import com.qyft.ms.device.model.bo.DeviceOperationalStatus;
+import com.qyft.ms.device.model.bo.DeviceStatus;
+import lombok.Getter;
+import lombok.RequiredArgsConstructor;
+import org.springframework.stereotype.Service;
+
+/**
+ * 设备传感器状态推送
+ */
+@Service
+@RequiredArgsConstructor
+public class DeviceStatusService {
+    /**
+     * 设备运行状态
+     */
+    private final DeviceStatus deviceStatus = new DeviceStatus();
+    /**
+     * 设备业务状态
+     * -- GETTER --
+     * 更新设备业务操作状态
+     */
+    @Getter
+    private final DeviceOperationalStatus deviceOperationalStatus = new DeviceOperationalStatus();
+
+    /**
+     * 更新设备状态
+     */
+    public void updateDeviceStatus(DeviceStatus newStatus) {
+        synchronized (deviceStatus) {
+            BeanUtil.copyProperties(newStatus, deviceStatus);
+        }
+    }
+
+    /**
+     * 获取设备状态
+     */
+    public DeviceStatus getDeviceStatus() {
+        synchronized (deviceStatus) {
+            return BeanUtil.copyProperties(deviceStatus, DeviceStatus.class);
+        }
+    }
+
+
+}

src/main/java/com/qyft/ms/device/service/DeviceStepService.java

@@ -0,0 +1,166 @@
+package com.qyft.ms.device.service;
+
+import com.qyft.ms.model.bo.TubeSol;
+import com.qyft.ms.service.CMDService;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+import java.util.List;
+
+/**
+ * 设备步骤操作
+ */
+@Slf4j
+@Service
+@RequiredArgsConstructor
+public class DeviceStepService {
+
+    CMDService cmdService;
+
+    /**
+     * 抬起托盘
+     *
+     * @param heatId 加热区id
+     */
+    public boolean upTray(String heatId) {
+//        Map<String, Object> params = Map.of("heatId", heatId);
+//        List<Supplier<Boolean>> cmdList = cmdService.upTray(params);
+//        return cmdList.stream().allMatch(Supplier::get);
+        return true;
+    }
+
+    /**
+     * 降下托盘
+     *
+     * @param heatId 加热区id
+     */
+    public boolean downTray(String heatId) {
+//        Map<String, Object> params = Map.of("heatId", heatId);
+//        List<Supplier<Boolean>> cmdList = cmdService.downTray(params);
+//        return cmdList.stream().allMatch(Supplier::get);
+        return true;
+    }
+
+    /**
+     * 添加溶液
+     *
+     * @param tubeSolList 需要添加溶液的试管与溶液
+     */
+    public boolean addLiquid(List<TubeSol> tubeSolList) {
+//        for (TubeSol tubeSol : tubeSolList) {
+//            Map<String, Object> params = Map.of("tubeNum", tubeSol.getTubeNum(), "solutionId", tubeSol.getSolId(), "volume", tubeSol.getVolume());
+//            List<Supplier<Boolean>> cmdList = cmdService.downTray(params);
+//            boolean result = cmdList.stream().allMatch(Supplier::get);
+//            if (!result) {
+//                return false;
+//            }
+//        }
+        return true;
+    }
+
+    /**
+     * 将指定加热区的托盘移至加液区
+     *
+     * @param heatId 加热区id
+     */
+    public boolean moveToSol(String heatId) {
+//        Map<String, Object> params = Map.of("heatId", heatId);
+//        List<Supplier<Boolean>> cmdList = cmdService.moveToActionArea(params);
+//        return cmdList.stream().allMatch(Supplier::get);
+        return true;
+    }
+
+    /**
+     * 移至加热
+     *
+     * @param heatId 加热区id
+     */
+    public boolean moveToHeat(String heatId) {
+//        Map<String, Object> params = Map.of("heatId", heatId);
+//        List<Supplier<Boolean>> cmdList = cmdService.moveToHeatArea(params);
+//        return cmdList.stream().allMatch(Supplier::get);
+        return true;
+    }
+
+    /**
+     * 摇匀
+     *
+     * @param second 摇匀时间
+     */
+    public boolean shaking(int second) {
+//        Map<String, Object> params = Map.of();
+//        List<Supplier<Boolean>> cmdList = cmdService.startShakeUp(params);
+//        boolean result = cmdList.stream().allMatch(Supplier::get);
+//        if (result) {
+//            this.delay(second);
+//            cmdList = cmdService.stopShakeUp(params);
+//            result = cmdList.stream().allMatch(Supplier::get);
+//            return result;
+//        }
+//        return false;
+        return true;
+    }
+
+    /**
+     * 开始加热
+     *
+     * @param heatId      加热区id
+     * @param temperature 目标温度
+     */
+    public boolean startHeating(String heatId, double temperature) {
+//        Map<String, Object> params = Map.of("heatId", heatId, "temperature", temperature);
+//        List<Supplier<Boolean>> cmdList = cmdService.startHeat(params);
+//        return cmdList.stream().allMatch(Supplier::get);
+        return true;
+    }
+
+    /**
+     * 停止加热
+     *
+     * @param heatId 加热区id
+     */
+    public boolean stopHeating(String heatId) {
+//        Map<String, Object> params = Map.of("heatId", heatId);
+//        List<Supplier<Boolean>> cmdList = cmdService.stopHeat(params);
+//        return cmdList.stream().allMatch(Supplier::get);
+        return true;
+    }
+
+    /**
+     * 停止加热
+     */
+    public boolean takePhoto() {
+//        Map<String, Object> params = Map.of();
+//        List<Supplier<Boolean>> cmdList = cmdService.takePhoto(params);
+//        return cmdList.stream().allMatch(Supplier::get);
+        return true;
+    }
+
+    //移至异常
+    public boolean moveToExc() {
+        return true;
+    }
+
+    //移除异常
+    public boolean moveOutToExc() {
+        return true;
+    }
+
+    /**
+     * 等待
+     *
+     * @param second 秒
+     */
+    public boolean delay(int second) {
+        try {
+            Thread.sleep(second * 1000L);
+            return true;
+        } catch (InterruptedException e) {
+            Thread.currentThread().interrupt();
+        }
+        return false;
+    }
+
+
+}

src/main/java/com/qyft/ms/device/service/DeviceTcpCMDService.java

@@ -0,0 +1,261 @@
+package com.qyft.ms.device.service;
+
+import cn.hutool.json.JSONUtil;
+import com.qyft.ms.device.client.TcpClient;
+import com.qyft.ms.device.common.constant.DeviceCommands;
+import com.qyft.ms.device.common.jsonrpc.JsonRpcRequest;
+import com.qyft.ms.device.model.bo.DeviceFeedback;
+import jakarta.annotation.PostConstruct;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+import java.util.HashMap;
+import java.util.Map;
+import java.util.concurrent.*;
+
+/**
+ * 设备tcp指令发送服务
+ */
+@Slf4j
+@Service
+@RequiredArgsConstructor
+public class DeviceTcpCMDService {
+
+    private final TcpClient tcpClient;
+
+    private final BlockingDeque<Callable<Boolean>> taskQueue = new LinkedBlockingDeque<>();
+
+    private final ExecutorService executorService = Executors.newSingleThreadExecutor();
+
+
+    @PostConstruct
+    private void initExecutorThread() {
+        new Thread(this::executeTasks).start();
+    }
+
+    private boolean putTask(String method) {
+        JsonRpcRequest request = new JsonRpcRequest();
+        request.setMethod(method);
+        return this.putTask(request);
+    }
+
+    private boolean putTask(String method, Map<String, Object> params) {
+        JsonRpcRequest request = new JsonRpcRequest();
+        request.setMethod(method);
+        request.setParams(params);
+        return this.putTask(request);
+    }
+
+    private boolean putTask(JsonRpcRequest request) {
+        Callable<Boolean> task = () -> {
+            DeviceFeedback deviceFeedback = tcpClient.sendCommand(request);
+            if (deviceFeedback == null || deviceFeedback.getError() != null) {
+                log.error("TCP 指令执行错误 request:{} feedback:{}", JSONUtil.toJsonStr(request), JSONUtil.toJsonStr(deviceFeedback));
+                return false;
+            }
+            return true;
+        };
+        try {
+            taskQueue.put(task);
+            return executorService.submit(taskQueue.take()).get();
+        } catch (Exception e) {
+            log.error("TCP 指令执行错误 request:{}", JSONUtil.toJsonStr(request), e);
+        }
+        return false;
+    }
+
+    private void executeTasks() {
+        while (true) {
+            try {
+                Callable<Boolean> task = taskQueue.take();
+                task.call();
+            } catch (Exception e) {
+                Thread.currentThread().interrupt();
+            }
+        }
+    }
+
+
+    /**
+     * 使指定轴的电机回原点
+     * @param axis 轴标识，可选值为 "X", "Y", "Z"
+     * @return 操作是否成功
+     */
+
+    public boolean motorMoveToHome(String axis) {
+        Map<String, Object> params = new HashMap<>();
+        params.put("axis", axis);
+        return this.putTask(DeviceCommands.MOTOR_MOVE_TO_HOME, params);
+    }
+
+
+    /**
+     * 设置指定轴的电机运行时电流
+     * @param axis 轴标识，可选值为 "X", "Y", "Z"
+     * @param current 电流值
+     * @return 操作是否成功
+     */
+
+    public boolean setMotorRunningCurrent(String axis, double current) {
+        Map<String, Object> params = new HashMap<>();
+        params.put("axis", axis);
+        params.put("current", current);
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand(DeviceCommands.SET_MOTOR_RUNNING_CURRENT, params);
+        if (deviceFeedback == null || deviceFeedback.getError() != null) {
+            log.error("TCP setMotorRunningCurrent 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
+            return false;
+        }
+        return true;
+    }
+
+    /**
+     * 移动指定轴的电机到指定位置
+     * @param axis 轴标识，可选值为 "X", "Y", "Z"
+     * @param position 轴位置，单位：mm
+     * @return 操作是否成功
+     */
+    public boolean moveMotorToPosition(String axis, double position) {
+        Map<String, Object> params = new HashMap<>();
+        params.put("axis", axis);
+        params.put("position", position);
+        return this.putTask(DeviceCommands.MOVE_MOTOR_TO_POSITION, params);
+    }
+
+    /**
+     * 设置指定轴的电机的运行速度
+     * @param axis 轴标识，可选值为 "X", "Y", "Z"
+     * @param speed 速度值
+     * @return 操作是否成功
+     */
+    public boolean setMotorSpeed(String axis, double speed) {
+        Map<String, Object> params = new HashMap<>();
+        params.put("axis", axis);
+        params.put("speed", speed);
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand(DeviceCommands.SET_MOTOR_SPEED, params);
+        if (deviceFeedback == null || deviceFeedback.getError() != null) {
+            log.error("TCP setMotorSpeed 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
+            return false;
+        }
+        return true;
+    }
+
+    // 三通阀控制方法
+    /**
+     * 切换三通阀到基质状态
+     * @return 操作是否成功
+     */
+    public boolean switchThreeWayValveToSubstrate() {
+        return this.putTask(DeviceCommands.SWITCH_THREE_WAY_VALVE_TO_SUBSTRATE);
+    }
+
+    /**
+     * 切换三通阀到喷涂状态
+     * @return 操作是否成功
+     */
+    public boolean switchThreeWayValveToSpray() {
+        return this.putTask(DeviceCommands.SWITCH_THREE_WAY_VALVE_TO_SPRAY);
+    }
+
+    // 除湿阀、清洗阀、喷嘴阀控制方法
+    /**
+     * 控制指定阀的开启或关闭
+     * @param valveType 阀类型，可选值为 "Dehumidification", "Cleaning", "Nozzle"
+     * @param isOpen 是否开启，true 为开启，false 为关闭
+     * @return 操作是否成功
+     */
+    public boolean controlValve(String valveType, boolean isOpen) {
+        Map<String, Object> params = new HashMap<>();
+        params.put("valveType", valveType);
+        params.put("isOpen", isOpen);
+        return this.putTask(DeviceCommands.CONTROL_VALVE, params);
+    }
+
+    // 照明灯板控制方法
+    /**
+     * 以指定亮度开启照明灯板
+     * @param brightness 亮度值，范围 0 - 100
+     * @return 操作是否成功
+     */
+    public boolean turnOnLightPanel(int brightness) {
+        Map<String, Object> params = new HashMap<>();
+        params.put("brightness", brightness);
+        return this.putTask(DeviceCommands.TURN_ON_LIGHT_PANEL, params);
+    }
+
+    /**
+     * 关闭照明灯板
+     * @return 操作是否成功
+     */
+    public boolean turnOffLightPanel() {
+        return this.putTask(DeviceCommands.TURN_OFF_LIGHT_PANEL);
+    }
+
+    // 高压电控制方法
+    /**
+     * 以指定电压值开启高压电
+     * @param voltage 电压值
+     * @return 操作是否成功
+     */
+    public boolean turnOnHighVoltage(double voltage) {
+        Map<String, Object> params = new HashMap<>();
+        params.put("voltage", voltage);
+        return this.putTask(DeviceCommands.TURN_ON_HIGH_VOLTAGE, params);
+    }
+
+    /**
+     * 关闭高压电
+     * @return 操作是否成功
+     */
+    public boolean turnOffHighVoltage() {
+        return this.putTask(DeviceCommands.TURN_OFF_HIGH_VOLTAGE);
+    }
+
+    // 注射泵控制方法
+    /**
+     * 以指定转速、方向和时间开启注射泵
+     * @param rotationSpeed 转速
+     * @param direction 方向
+     * @param time 时间
+     * @return 操作是否成功
+     */
+    public boolean turnOnSyringePump(double rotationSpeed, String direction, double time) {
+        Map<String, Object> params = new HashMap<>();
+        params.put("rotationSpeed", rotationSpeed);
+        params.put("direction", direction);
+        params.put("time", time);
+        return this.putTask(DeviceCommands.TURN_ON_SYRINGE_PUMP, params);
+    }
+
+    /**
+     * 停止注射泵
+     * @return 操作是否成功
+     */
+    public boolean turnOffSyringePump() {
+        return this.putTask(DeviceCommands.TURN_OFF_SYRINGE_PUMP);
+    }
+
+    /**
+     * 设置注射泵的容量、时间比例参数
+     * @param capacity 容量
+     * @param timeRatio 时间比例
+     * @return 操作是否成功
+     */
+    public boolean setSyringePumpParameters(double capacity, double timeRatio) {
+        Map<String, Object> params = new HashMap<>();
+        params.put("capacity", capacity);
+        params.put("timeRatio", timeRatio);
+        return this.putTask(DeviceCommands.SET_SYRINGE_PUMP_PARAMETERS, params);
+    }
+
+    /**
+     * 推送指定容量的液体
+     * @param volume 容量，单位：ml
+     * @return 操作是否成功
+     */
+    public boolean pushVolume(double volume) {
+        Map<String, Object> params = new HashMap<>();
+        params.put("volume", volume);
+        return this.putTask(DeviceCommands.PUSH_VOLUME, params);
+    }
+}

src/main/java/com/qyft/ms/device/service/ICtrlFuncService.java

@@ -0,0 +1,28 @@
+package com.qyft.ms.device.service;
+
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.qyft.ms.device.model.bo.DeviceCtrlFuncCMD;
+import com.qyft.ms.device.model.entity.CtrlFunc;
+import com.qyft.ms.device.model.form.CtrlFuncForm;
+import com.qyft.ms.device.model.vo.DeviceCtrlFuncVO;
+
+import java.util.List;
+
+
+public interface ICtrlFuncService extends IService<CtrlFunc> {
+
+    List<DeviceCtrlFuncCMD> findAllStepCMD();
+
+    List<CtrlFunc> findAll();
+
+    DeviceCtrlFuncVO findVOById(Long id);
+
+    long countFuncCmdByFuncCmd(String funcCmd);
+
+    boolean addCtrlFunc(CtrlFuncForm ctrlFuncForm);
+
+    boolean updateCtrlFunc(Long id, CtrlFuncForm ctrlFuncForm);
+
+    boolean deleteCtrlFunc(String idsStr);
+
+}

src/main/java/com/qyft/ms/device/service/ICtrlFuncStepService.java

@@ -0,0 +1,12 @@
+package com.qyft.ms.device.service;
+
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.qyft.ms.device.model.entity.CtrlFuncStep;
+
+import java.util.List;
+
+public interface ICtrlFuncStepService extends IService<CtrlFuncStep> {
+    List<CtrlFuncStep> selectListByFuncCmd(String funcCmd);
+
+
+}

src/main/java/com/qyft/ms/device/service/impl/CtrlFuncServiceImpl.java

@@ -0,0 +1,132 @@
+package com.qyft.ms.device.service.impl;
+
+import cn.hutool.json.JSONUtil;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.qyft.ms.device.mapper.CtrlFuncMapper;
+import com.qyft.ms.device.model.bo.DeviceCtrlFuncCMD;
+import com.qyft.ms.device.model.entity.CtrlFunc;
+import com.qyft.ms.device.model.entity.CtrlFuncStep;
+import com.qyft.ms.device.model.form.CtrlFuncForm;
+import com.qyft.ms.device.model.vo.DeviceCtrlFuncVO;
+import com.qyft.ms.device.service.ICtrlFuncService;
+import com.qyft.ms.device.service.ICtrlFuncStepService;
+import lombok.RequiredArgsConstructor;
+import org.springframework.stereotype.Service;
+
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.List;
+import java.util.stream.Collectors;
+
+@RequiredArgsConstructor
+@Service
+public class CtrlFuncServiceImpl extends ServiceImpl<CtrlFuncMapper, CtrlFunc> implements ICtrlFuncService {
+
+    private final ICtrlFuncStepService ctrlFuncStepService;
+
+    private static final List<DeviceCtrlFuncCMD> ctrlFuncDeviceCMDList = new ArrayList<>();
+
+    static {
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("开门", "openDoor", "{}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("关门", "closeDoor", "{}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("导轨机械臂运动到指定点位", "moveRailArmToPoint", "{\"x\":0,\"y\":0,\"z\":0}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("导轨机械臂相对运动", "moveRailArmRelative", "{\"x\":0,\"y\":0,\"z\":0}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("导轨机械臂移至指定加热区上方", "moveToHeatArea", "{\"heatId\":2}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("导轨机械臂移至加液区上方", "moveToActionArea", "{}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("导轨机械臂移至拍子存放区上方", "moveToCapArea", "{}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("打开导轨机械臂夹爪", "openClaw", "{}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("收合导轨机械臂夹爪", "closeClaw", "{}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("指定加热区密封拍子", "sealLidOn", "{\"heatId\":2}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("指定加热区解除密封拍子", "sealLidOff", "{\"heatId\":2}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("拍子存放区高度向上一个级别", "capHeightUp", "{}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("拍子存放区高度向下移动一个级别", "capHeightDown", "{}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("指定加热区开始加热", "startHeating", "{\"heatId\":2}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("指定加热区停止加热", "stopHeating", "{\"heatId\":2}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("指定加热区抬起托盘", "raiseTray", "{\"heatId\":2}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("指定加热区放下托盘", "lowerTray", "{\"heatId\":2}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("依次添加溶液", "addLiquid", "{\"tubeSolList\":[{\"tubeNum\":1,\"solId\":15,\"volume\":20}]}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("开始摇匀", "startShaking", "{}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("停止摇匀", "stopShaking", "{}"));
+        ctrlFuncDeviceCMDList.add(new DeviceCtrlFuncCMD("拍照", "takePhoto", "{}"));
+    }
+
+    @Override
+    public List<DeviceCtrlFuncCMD> findAllStepCMD() {
+        return ctrlFuncDeviceCMDList;
+    }
+
+    @Override
+    public List<CtrlFunc> findAll() {
+        return this.baseMapper.selectList(null);
+    }
+
+    @Override
+    public DeviceCtrlFuncVO findVOById(Long id) {
+        CtrlFunc ctrlFunc = this.getById(id);
+        List<CtrlFuncStep> ctrlFuncStepList = ctrlFuncStepService.selectListByFuncCmd(ctrlFunc.getFuncCmd());
+        DeviceCtrlFuncVO ctrlFuncVO = new DeviceCtrlFuncVO();
+        ctrlFuncVO.setId(ctrlFunc.getId());
+        ctrlFuncVO.setName(ctrlFunc.getName());
+        ctrlFuncVO.setFuncCmd(ctrlFunc.getFuncCmd());
+        ctrlFuncVO.setFuncCmd(ctrlFunc.getFuncCmd());
+        ctrlFuncVO.setCtrlFuncStepList(ctrlFuncStepList);
+        return ctrlFuncVO;
+    }
+
+    @Override
+    public long countFuncCmdByFuncCmd(String funcCmd) {
+        return this.count(new LambdaQueryWrapper<CtrlFunc>().eq(CtrlFunc::getFuncCmd, funcCmd));
+    }
+
+    @Override
+    public boolean addCtrlFunc(CtrlFuncForm ctrlFuncForm) {
+        CtrlFunc ctrlFunc = new CtrlFunc();
+        ctrlFunc.setFuncCmd(ctrlFuncForm.getFuncCmd());
+        ctrlFunc.setName(ctrlFuncForm.getName());
+        if (this.save(ctrlFunc)) {
+            return reSaveCtrlFunc(ctrlFuncForm, ctrlFunc);
+        }
+        return false;
+    }
+
+    @Override
+    public boolean updateCtrlFunc(Long id, CtrlFuncForm ctrlFuncForm) {
+        CtrlFunc ctrlFunc = this.getById(id);
+        if (ctrlFunc != null) {
+            ctrlFunc.setFuncCmd(ctrlFuncForm.getFuncCmd());
+            ctrlFunc.setName(ctrlFuncForm.getName());
+            if (this.updateById(ctrlFunc)) {
+                return reSaveCtrlFunc(ctrlFuncForm, ctrlFunc);
+            }
+        }
+        return false;
+    }
+
+    @Override
+    public boolean deleteCtrlFunc(String idsStr) {
+        List<Long> ids = Arrays.stream(idsStr.split(","))
+                .map(Long::parseLong)
+                .collect(Collectors.toList());
+        for (Long id : ids) {
+            String funcCmd = this.getById(id).getFuncCmd();
+            ctrlFuncStepService.remove(new LambdaQueryWrapper<CtrlFuncStep>().eq(CtrlFuncStep::getFuncCmd, funcCmd));
+        }
+        return this.removeByIds(ids);
+    }
+
+    private boolean reSaveCtrlFunc(CtrlFuncForm ctrlFuncForm, CtrlFunc ctrlFunc) {
+        ctrlFuncStepService.remove(new LambdaQueryWrapper<CtrlFuncStep>().eq(CtrlFuncStep::getFuncCmd, ctrlFunc.getFuncCmd()));
+        List<CtrlFuncForm.CtrlFuncStepForm> ctrlFuncStepFormList = ctrlFuncForm.getCtrlFuncStepList();
+        List<CtrlFuncStep> ctrlFuncStepList = ctrlFuncStepFormList.stream()
+                .map(ctrlFuncStepForm -> {
+                    CtrlFuncStep ctrlFuncStep = new CtrlFuncStep();
+                    ctrlFuncStep.setFuncCmd(ctrlFunc.getFuncCmd());
+                    ctrlFuncStep.setDeviceCmd(ctrlFuncStepForm.getDeviceCmd());
+                    ctrlFuncStep.setRemarks(ctrlFuncStepForm.getRemarks());
+                    ctrlFuncStep.setParams(JSONUtil.toJsonStr(ctrlFuncStepForm.getParams()));
+                    return ctrlFuncStep;
+                }).toList();
+        return ctrlFuncStepService.saveBatch(ctrlFuncStepList);
+    }
+}

src/main/java/com/qyft/ms/device/service/impl/CtrlFuncStepServiceImpl.java

@@ -0,0 +1,20 @@
+package com.qyft.ms.device.service.impl;
+
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.qyft.ms.device.mapper.CtrlFuncStepMapper;
+import com.qyft.ms.device.model.entity.CtrlFuncStep;
+import com.qyft.ms.device.service.ICtrlFuncStepService;
+import org.springframework.stereotype.Service;
+
+import java.util.List;
+
+@Service
+public class CtrlFuncStepServiceImpl extends ServiceImpl<CtrlFuncStepMapper, CtrlFuncStep> implements ICtrlFuncStepService {
+
+    @Override
+    public List<CtrlFuncStep> selectListByFuncCmd(String funcCmd) {
+        return this.list(new LambdaQueryWrapper<CtrlFuncStep>().eq(CtrlFuncStep::getFuncCmd, funcCmd));
+    }
+
+}

src/main/java/com/qyft/ms/enums/DirectiveTypeEnum.java

@@ -0,0 +1,34 @@
+package com.qyft.ms.enums;
+
+import cn.hutool.core.util.StrUtil;
+
+public enum DirectiveTypeEnum {
+    ADD("add", "抬起托盘");
+
+    private final String typeCode;
+    private final String typeName;
+
+    DirectiveTypeEnum(String typeCode, String typeName) {
+        this.typeCode = typeCode;
+        this.typeName = typeName;
+    }
+
+    public static String getByCode(String code) {
+        if (StrUtil.isNotBlank(code)) {
+            for (DirectiveTypeEnum item : DirectiveTypeEnum.values()) {
+                if (item.typeCode().equals(code.trim())) {
+                    return item.typeCode();
+                }
+            }
+        }
+        return null;
+    }
+
+    public String typeCode() {
+        return typeCode;
+    }
+
+    public String typeName() {
+        return typeName;
+    }
+}

src/main/java/com/qyft/ms/generator/CodeGenerator.java

@@ -0,0 +1,28 @@
+package com.qyft.ms.generator;
+
+import com.baomidou.mybatisplus.generator.FastAutoGenerator;
+import com.baomidou.mybatisplus.generator.config.OutputFile;
+import com.baomidou.mybatisplus.generator.engine.FreemarkerTemplateEngine;
+
+import java.util.Collections;
+
+public class CodeGenerator {
+    public static void main(String[] args) {
+        FastAutoGenerator.create("jdbc:sqlite:" + System.getProperty("user.dir") + "/matrix-spray.db", "", "")
+                .globalConfig(builder -> {
+                    builder.author("qyft") // 设置作者
+                            .enableSwagger() // 开启 swagger 模式
+                            .outputDir("D://new"); // 指定输出目录
+                })
+                .packageConfig(builder -> {
+                    builder.parent("com.qyft.ms") // 设置父包名
+                            .moduleName("device") // 设置父包模块名
+                            .pathInfo(Collections.singletonMap(OutputFile.xml, "D://new/resources/mapper")); // 设置mapperXml生成路径
+                })
+                .strategyConfig(builder -> {
+                    builder.addTablePrefix("t_", "c_"); // 设置过滤表前缀
+                })
+                .templateEngine(new FreemarkerTemplateEngine()) // 使用Freemarker引擎模板，默认的是Velocity引擎模板
+                .execute();
+    }
+}

src/main/java/com/qyft/ms/mapper/LogsMapper.java

@@ -0,0 +1,12 @@
+package com.qyft.ms.mapper;
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.qyft.ms.model.entity.Logs;
+import org.apache.ibatis.annotations.Mapper;
+
+/**
+ * 日志持久层接口
+ */
+@Mapper
+public interface LogsMapper extends BaseMapper<Logs> {
+}

src/main/java/com/qyft/ms/mapper/SysSettingsMapper.java

@@ -0,0 +1,29 @@
+package com.qyft.ms.mapper;
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.qyft.ms.model.dto.SysSettingsDTO;
+import com.qyft.ms.model.entity.SysSettings;
+import com.qyft.ms.model.vo.SysSettingVO;
+import org.apache.ibatis.annotations.Mapper;
+
+import java.util.List;
+
+
+/**
+ * <p>
+ * Mapper 接口
+ * </p>
+ *
+ * @author 郭安鹏
+ * @since 2025-02-17
+ */
+
+@Mapper
+public interface SysSettingsMapper extends BaseMapper<SysSettings> {
+    List<SysSettingVO> getConfig(String type);
+
+    void updateById(SysSettingsDTO dto);
+
+    int getIdByCode(String type);
+}
+

src/main/java/com/qyft/ms/model/bo/CraftsStepMethod.java

@@ -0,0 +1,52 @@
+package com.qyft.ms.model.bo;
+
+import lombok.Data;
+
+/**
+ * 工艺步骤执行方法
+ */
+@Data
+public class CraftsStepMethod {
+    /**
+     * 上升托盘
+     */
+    public static final String UP_TRAY = "upTray";
+    /**
+     * 降下托盘
+     */
+    public static final String DOWN_TRAY = "downTray";
+    /**
+     * 加液
+     */
+    public static final String ADD_LIQUID = "addLiquid";
+    /**
+     * 移动到溶液位置
+     */
+    public static final String MOVE_TO_SOL = "moveToSol";
+    /**
+     * 移动到加热器位置
+     */
+    public static final String MOVE_TO_HEAT = "moveToHeat";
+    /**
+     * 摇晃
+     */
+    public static final String SHAKING = "shaking";
+    /**
+     * 开始加热
+     */
+    public static final String START_HEATING = "startHeating";
+    /**
+     * 停止加热
+     */
+    public static final String STOP_HEATING = "stopHeating";
+    /**
+     * 拍照
+     */
+    public static final String TAKE_PHOTO = "takePhoto";
+    /**
+     * 等待
+     */
+    public static final String DELAY = "delay";
+
+
+}

src/main/java/com/qyft/ms/model/bo/CraftsStepStatus.java

@@ -0,0 +1,35 @@
+package com.qyft.ms.model.bo;
+
+import lombok.Data;
+
+/**
+ * 工艺步骤执行状态
+ */
+@Data
+public class CraftsStepStatus {
+
+    /**
+     * 未执行
+     */
+    public static final int NOT_EXECUTED = 0;
+    /**
+     * 正在执行
+     */
+    public static final int IN_PROGRESS = 1;
+    /**
+     * 暂停执行
+     */
+    public static final int PAUSED = 2;
+    /**
+     * 停止执行
+     */
+    public static final int STOPPED = 3;
+    /**
+     * 执行错误
+     */
+    public static final int ERROR = 4;
+    /**
+     * 执行完成
+     */
+    public static final int FINISH = 6;
+}

src/main/java/com/qyft/ms/model/bo/TubeSol.java

@@ -0,0 +1,23 @@
+package com.qyft.ms.model.bo;
+
+import lombok.Data;
+
+/**
+ * 试管添加溶液
+ */
+@Data
+public class TubeSol {
+    /**
+     * 需要添加溶液的试管编号
+     */
+    private Integer tubeNum;
+    /**
+     * 溶液id
+     */
+    private Long solId;
+    /**
+     * 加液量
+     */
+    private Integer volume;
+
+}

src/main/java/com/qyft/ms/model/dto/BaseDataDTO.java

@@ -0,0 +1,14 @@
+package com.qyft.ms.model.dto;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+@Data
+public class BaseDataDTO {
+    @Schema(description = "加热区id")
+    private Long id;
+    @Schema(description = "温度")
+    private Long temperature;
+    @Schema(description = "工艺id")
+    private Long craftId;
+}

src/main/java/com/qyft/ms/model/dto/CmdInjectFluidDTO.java

@@ -0,0 +1,13 @@
+package com.qyft.ms.model.dto;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+@Data
+public class CmdInjectFluidDTO {
+    @Schema(description = "指令id")
+    private String commandId;
+
+    @Schema(description = "加液数据list")
+    private InjectFluid[] injectFluids;
+}

src/main/java/com/qyft/ms/model/dto/ContainerDTO.java

@@ -0,0 +1,14 @@
+package com.qyft.ms.model.dto;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+@Data
+public class ContainerDTO {
+    @Schema(description = "容器id")
+    private Long id;
+    @Schema(description = "溶液id")
+    private Long solutionId;
+    @Schema(description = "已使用容量")
+    private Integer capacityUsed;
+}

src/main/java/com/qyft/ms/model/dto/InjectFluid.java

@@ -0,0 +1,14 @@
+package com.qyft.ms.model.dto;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+@Data
+public class InjectFluid {
+    @Schema(description = "试管编号")
+    private Integer tubeNum;
+    @Schema(description = "溶液id")
+    private Integer solutionId;
+    @Schema(description = "容量")
+    private Integer volume;
+}

src/main/java/com/qyft/ms/model/dto/LogDTO.java

@@ -0,0 +1,10 @@
+package com.qyft.ms.model.dto;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+@Data
+public class LogDTO {
+    @Schema(description = "日志信息")
+    private String text;
+}

src/main/java/com/qyft/ms/model/dto/PauseCraftsDto.java

@@ -0,0 +1,11 @@
+package com.qyft.ms.model.dto;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+@Schema(description = "暂停执行工艺")
+@Data
+public class PauseCraftsDto {
+    @Schema(description = "加热区id")
+    private String heatId;
+}

src/main/java/com/qyft/ms/model/dto/ResumeCraftsDto.java

@@ -0,0 +1,11 @@
+package com.qyft.ms.model.dto;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+@Schema(description = "恢复执行工艺")
+@Data
+public class ResumeCraftsDto {
+    @Schema(description = "加热区id")
+    private String heatId;
+}

src/main/java/com/qyft/ms/model/dto/StartCraftsDTO.java

@@ -0,0 +1,13 @@
+package com.qyft.ms.model.dto;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+@Schema(description = "开始工艺")
+@Data
+public class StartCraftsDTO {
+    @Schema(description = "工艺id")
+    private Long craftId;
+    @Schema(description = "加热区id")
+    private String heatId;
+}

src/main/java/com/qyft/ms/model/dto/StartHeatDTO.java

@@ -0,0 +1,13 @@
+package com.qyft.ms.model.dto;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+@Data
+public class StartHeatDTO {
+    @Schema(description = "指令id")
+    private String commandId;
+
+    @Schema(description = "加液数据list")
+    private Integer[] heatIds;
+}

src/main/java/com/qyft/ms/model/dto/StopCraftsDto.java

@@ -0,0 +1,11 @@
+package com.qyft.ms.model.dto;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+@Schema(description = "恢复执行工艺")
+@Data
+public class StopCraftsDto {
+    @Schema(description = "加热区id")
+    private String heatId;
+}

src/main/java/com/qyft/ms/model/dto/StopTaskDTO.java

@@ -0,0 +1,10 @@
+package com.qyft.ms.model.dto;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+@Data
+public class StopTaskDTO {
+    @Schema(description = "实验id")
+    private Long taskId;
+}

src/main/java/com/qyft/ms/model/dto/SysSettingsDTO.java

@@ -0,0 +1,16 @@
+package com.qyft.ms.model.dto;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+@Data
+public class SysSettingsDTO {
+    @Schema(description = "主键id")
+    private Long id;
+    @Schema(description = "值")
+    private String value;
+    @Schema(description = "温度")
+    private Long temperature;
+    @Schema(description = "工艺id")
+    private Long craftId;
+}

src/main/java/com/qyft/ms/model/dto/TaskDTO.java

@@ -0,0 +1,10 @@
+package com.qyft.ms.model.dto;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+@Data
+public class TaskDTO {
+    @Schema(description = "实验名称")
+    private String name;
+}

src/main/java/com/qyft/ms/model/dto/WebsocketDTO.java

@@ -0,0 +1,22 @@
+package com.qyft.ms.model.dto;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import jakarta.validation.constraints.NotBlank;
+import lombok.Data;
+
+import java.util.List;
+import java.util.Map;
+
+@Data
+public class WebsocketDTO {
+
+    @Schema(description = "指令id，不指定后台会自动生成uuid")
+    private String commandId;
+
+    @NotBlank()
+    @Schema(description = "指令类型", example = "upTray")
+    private String commandName;
+
+    @Schema(description = "参数")
+    private Map<String, Object> params;
+}

src/main/java/com/qyft/ms/model/entity/Container.java

@@ -0,0 +1,35 @@
+package com.qyft.ms.model.entity;
+
+import com.baomidou.mybatisplus.annotation.TableName;
+import io.swagger.v3.oas.annotations.media.Schema;
+import jakarta.validation.constraints.NotBlank;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@EqualsAndHashCode(callSuper = false)
+@Schema(description = "容器表")
+@TableName("container")
+@Data
+public class Container {
+    @NotBlank
+    @Schema(description = "容器id")
+    private Long id;
+
+    @NotBlank
+    @Schema(description = "类型 0 溶液 1 废液")
+    private Long type;
+
+    @Schema(description = "溶液id")
+    private Long solutionId;
+
+    @Schema(description = "机器id")
+    private String pumpId;
+
+    @NotBlank
+    @Schema(description = "总容量")
+    private Integer capacityTotal;
+
+    @NotBlank
+    @Schema(description = "使用容量")
+    private Integer capacityUsed;
+}

src/main/java/com/qyft/ms/model/entity/Crafts.java

@@ -0,0 +1,25 @@
+package com.qyft.ms.model.entity;
+
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.qyft.ms.system.common.base.BaseEntity;
+import io.swagger.v3.oas.annotations.media.Schema;
+import jakarta.validation.constraints.NotBlank;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@EqualsAndHashCode(callSuper = true)
+@Schema(description = "工艺")
+@TableName("crafts")
+@Data
+public class Crafts extends BaseEntity {
+
+    @NotBlank
+    @Schema(description = "工艺名称")
+    private String name;
+
+    @Schema(description = "工艺步骤")
+    private String steps;
+
+    @Schema(description = "矿石ID")
+    private Long oresId;
+}

src/main/java/com/qyft/ms/model/entity/Logs.java

@@ -0,0 +1,30 @@
+package com.qyft.ms.model.entity;
+
+import com.baomidou.mybatisplus.annotation.TableName;
+import io.swagger.v3.oas.annotations.media.Schema;
+import jakarta.validation.constraints.NotBlank;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@EqualsAndHashCode(callSuper = false)
+@Schema(description = "日志")
+@TableName("logs")
+@Data
+public class Logs {
+
+    @NotBlank
+    @Schema(description = "id")
+    private Long id;
+
+    @NotBlank
+    @Schema(description = "创建人")
+    private Long createUser;
+
+    @NotBlank
+    @Schema(description = "日志内容")
+    private String text;
+
+    @NotBlank
+    @Schema(description = "创建时间")
+    private String createTime;
+}

src/main/java/com/qyft/ms/model/entity/Ores.java

@@ -0,0 +1,20 @@
+package com.qyft.ms.model.entity;
+
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.qyft.ms.system.common.base.BaseEntity;
+import io.swagger.v3.oas.annotations.media.Schema;
+import jakarta.validation.constraints.NotBlank;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@EqualsAndHashCode(callSuper = true)
+@Schema(description = "矿石")
+@TableName("ores")
+@Data
+public class Ores extends BaseEntity {
+
+    @NotBlank()
+    @Schema(description = "矿石名称")
+    private String name;
+
+}

src/main/java/com/qyft/ms/model/entity/Solutions.java

@@ -0,0 +1,20 @@
+package com.qyft.ms.model.entity;
+
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.qyft.ms.system.common.base.BaseEntity;
+import io.swagger.v3.oas.annotations.media.Schema;
+import jakarta.validation.constraints.NotBlank;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@EqualsAndHashCode(callSuper = true)
+@Schema(description = "溶液")
+@TableName("solutions")
+@Data
+public class Solutions extends BaseEntity {
+
+    @NotBlank()
+    @Schema(description = "溶液名称")
+    private String name;
+
+}

src/main/java/com/qyft/ms/model/entity/SysSettings.java

@@ -0,0 +1,43 @@
+package com.qyft.ms.model.entity;
+
+import com.baomidou.mybatisplus.annotation.TableName;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+/**
+ * <p>
+ * 系统配置
+ * </p>
+ *
+ * @author 郭安鹏
+ * @since 2025-02-17
+ */
+@EqualsAndHashCode(callSuper = false)
+@Schema(description = "系统配置")
+@TableName("sys_settings")
+@Data
+public class SysSettings {
+
+    @Schema(description = "主键id")
+    private Long id;
+
+    @Schema(description = "父id")
+    private Long parentId;
+
+    @Schema(description = "名称")
+    private String name;
+
+    @Schema(description = "code")
+    private String code;
+
+    @Schema(description = "配置值")
+    private String value1;
+
+    @Schema(description = "配置值")
+    private String value2;
+
+    @Schema(description = "配置值")
+    private String value3;
+
+}

src/main/java/com/qyft/ms/model/entity/TaskSteps.java

@@ -0,0 +1,30 @@
+package com.qyft.ms.model.entity;
+
+import com.baomidou.mybatisplus.annotation.TableName;
+import io.swagger.v3.oas.annotations.media.Schema;
+import jakarta.validation.constraints.NotBlank;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@EqualsAndHashCode(callSuper = false)
+@Schema(description = "实验步骤")
+@TableName("task_steps")
+@Data
+public class TaskSteps {
+
+    @NotBlank
+    @Schema(description = "id")
+    private Long id;
+
+    @NotBlank
+    @Schema(description = "实验id")
+    private Long taskId;
+
+    @NotBlank
+    @Schema(description = "步骤描述")
+    private String stepDescription;
+
+    @NotBlank
+    @Schema(description = "创建时间")
+    private String createTime;
+}

src/main/java/com/qyft/ms/model/entity/Tasks.java

@@ -0,0 +1,35 @@
+package com.qyft.ms.model.entity;
+
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.qyft.ms.system.common.base.BaseEntity;
+import io.swagger.v3.oas.annotations.media.Schema;
+import jakarta.validation.constraints.NotBlank;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@EqualsAndHashCode(callSuper = true)
+@Schema(description = "实验")
+@TableName("tasks")
+@Data
+public class Tasks extends BaseEntity {
+
+    @NotBlank
+    @Schema(description = "实验名称")
+    private String name;
+
+    @NotBlank
+    @Schema(description = "开始时间")
+    private String startTime;
+
+    @Schema(description = "创建人")
+    private Long createUser;
+
+    @Schema(description = "结束时间")
+    private String endTime;
+
+    @Schema(description = "状态 1 执行中 2 执行完毕")
+    private Integer status;
+
+    @Schema(description = "是否删除 0 未删除 1 已删除")
+    private Integer isDeleted;
+}

src/main/java/com/qyft/ms/model/form/CMDForm.java

@@ -0,0 +1,23 @@
+package com.qyft.ms.model.form;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import jakarta.validation.constraints.NotBlank;
+import lombok.Data;
+
+import java.util.List;
+
+@Schema(description = "指令")
+@Data
+public class CMDForm {
+
+    @Schema(description = "指令id，不指定后台会自动生成uuid")
+    private String commandId;
+
+    @NotBlank()
+    @Schema(description = "指令类型", example = "upTray")
+    private String command;
+
+    @Schema(description = "参数")
+    private List<Object> params;
+
+}

src/main/java/com/qyft/ms/model/vo/BaseDataVO.java

@@ -0,0 +1,27 @@
+package com.qyft.ms.model.vo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+import java.util.List;
+
+@EqualsAndHashCode(callSuper = false)
+@Schema(description = "容器")
+@Data
+public class BaseDataVO {
+    @Schema(description = "加热区")
+    List<SysSettingVO> heat_area;
+
+    @Schema(description = "加液区")
+    List<SysSettingVO> solution_area;
+
+    @Schema(description = "拍子区域")
+    List<SysSettingVO> lid_area;
+
+    @Schema(description = "系统配置")
+    List<SysSettingVO> sys_setting;
+
+    @Schema(description = "容器数据")
+    List<ContainerListVO> containers;
+}

src/main/java/com/qyft/ms/model/vo/ContainerListVO.java

@@ -0,0 +1,13 @@
+package com.qyft.ms.model.vo;
+
+import com.qyft.ms.model.entity.Container;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@EqualsAndHashCode(callSuper = true)
+@Schema(description = "容器")
+@Data
+public class ContainerListVO extends Container {
+
+}

src/main/java/com/qyft/ms/model/vo/CraftsStepResult.java

@@ -0,0 +1,23 @@
+package com.qyft.ms.model.vo;
+
+import lombok.Data;
+
+/**
+ * 工艺步骤执行状态
+ */
+@Data
+public class CraftsStepResult {
+    /**
+     * 加热区id
+     */
+    private String heatId;
+    /**
+     * 0 (未执行)，1 (正在执行)，2 (暂停执行)，3 (停止执行)，4(执行错误)，6(执行完成)
+     */
+    private Integer status;
+    /**
+     * 当前工艺执行的方法数组下标
+     */
+    private Integer methodIndex;
+
+}

src/main/java/com/qyft/ms/model/vo/ExecutionResult.java

@@ -0,0 +1,22 @@
+package com.qyft.ms.model.vo;
+
+import lombok.Data;
+
+@Data
+public class ExecutionResult {
+    /**
+     * 任务id
+     */
+    private String commandId;
+
+    private String commandName;
+    /**
+     * 执行结果
+     */
+    private String status;
+    /**
+     * 结果描述
+     */
+    private String message;
+
+}

src/main/java/com/qyft/ms/model/vo/OresCraftsListVO.java

@@ -0,0 +1,30 @@
+package com.qyft.ms.model.vo;
+
+import com.fasterxml.jackson.annotation.JsonFormat;
+import com.qyft.ms.model.entity.Crafts;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+import java.time.LocalDateTime;
+import java.util.List;
+
+@Schema(description = "矿石工艺视图")
+@Data
+public class OresCraftsListVO {
+
+    @Schema(description = "矿石id")
+    private Long id;
+
+    @Schema(description = "矿石名称")
+    private String oresName;
+
+    @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss")
+    private LocalDateTime createTime;
+
+    @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss")
+    private LocalDateTime updateTime;
+
+    @Schema(description = "该矿石下工艺列表")
+    private List<Crafts> craftsList;
+
+}

src/main/java/com/qyft/ms/model/vo/SysSettingResult.java

@@ -0,0 +1,14 @@
+package com.qyft.ms.model.vo;
+
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+import java.util.List;
+
+@EqualsAndHashCode(callSuper = true)
+@Data
+public class SysSettingResult extends SysSettingVO {
+
+    private List<SysSettingVO> children;
+
+}

src/main/java/com/qyft/ms/model/vo/SysSettingVO.java

@@ -0,0 +1,43 @@
+package com.qyft.ms.model.vo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+import java.util.List;
+
+@EqualsAndHashCode(callSuper = false)
+@Data
+public class SysSettingVO {
+
+    @Schema(description = "主键id")
+    private int id;
+
+    @Schema(description = "父id")
+    private int parentId;
+
+    @Schema(description = "名称")
+    private String name;
+
+    @Schema(description = "code")
+    private String code;
+
+    @Schema(description = "配置值")
+    private String value;
+
+    @Schema(description = "设备id")
+    private String hardwareId;
+
+    @Schema(description = "加热区温度")
+    private String temperature;
+
+    @Schema(description = "工艺id")
+    private int craftId;
+
+    @Schema(description = "试管坐标list")
+    private List<String> tubePositionList;
+
+    @Schema(description = "拍子坐标")
+    private String LidPosition;
+
+}

src/main/java/com/qyft/ms/model/vo/TaskListVO.java

@@ -0,0 +1,35 @@
+package com.qyft.ms.model.vo;
+
+import com.qyft.ms.model.entity.TaskSteps;
+import io.swagger.v3.oas.annotations.media.Schema;
+import jakarta.validation.constraints.NotBlank;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+import java.util.List;
+
+@EqualsAndHashCode(callSuper = false)
+@Data
+public class TaskListVO {
+    @Schema(description = "实验id")
+    private Long id;
+
+    @Schema(description = "实验名称")
+    private String name;
+
+    @NotBlank
+    @Schema(description = "开始时间")
+    private String startTime;
+
+    @Schema(description = "创建人")
+    private Long createUser;
+
+    @Schema(description = "结束时间")
+    private String endTime;
+
+    @Schema(description = "状态 1 执行中 2 执行完毕")
+    private Integer status;
+
+    @Schema(description = "实验步骤")
+    private List<TaskSteps> steps;
+}

src/main/java/com/qyft/ms/model/vo/WebsocketResult.java

@@ -0,0 +1,18 @@
+package com.qyft.ms.model.vo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+@Data
+public class WebsocketResult {
+    /**
+     * 推送类型(指令 cmd,报警 warn ,状态 status)
+     */
+    @Schema(description = "推送类型(指令 cmd,报警 warn ,状态 status)")
+    private String type;
+    /**
+     * 执行结果
+     */
+    @Schema(description = "推送数据")
+    private Object data;
+}

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

@@ -0,0 +1,61 @@
+package com.qyft.ms.service;
+
+import cn.hutool.json.JSONUtil;
+import com.qyft.ms.common.constant.WebSocketMessageType;
+import com.qyft.ms.common.result.CMDResultCode;
+import com.qyft.ms.device.model.bo.DeviceCtrlFuncCMD;
+import com.qyft.ms.device.service.ICtrlFuncService;
+import com.qyft.ms.model.form.CMDForm;
+import com.qyft.ms.model.vo.ExecutionResult;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+import java.util.List;
+import java.util.function.Supplier;
+
+@Slf4j
+@RequiredArgsConstructor
+@Service
+public class CMDService {
+
+    private final WebSocketService webSocketService;
+    private final ICtrlFuncService ctrlFuncService;
+    CMDForm form;
+
+    private void run(List<Supplier<Boolean>> cmdList) {
+        ExecutionResult executionResult = new ExecutionResult();
+        executionResult.setCommandId(form.getCommandId());
+        executionResult.setCommandName(form.getCommand());
+
+        // 执行所有命令
+        for (Supplier<Boolean> command : cmdList) {
+            boolean result = command.get();
+            if (!result) {
+                log.error("指令执行异常: {}", JSONUtil.toJsonStr(form));
+                executionResult.setStatus(CMDResultCode.FAILURE.getCode());
+                executionResult.setMessage(CMDResultCode.FAILURE.getMsg());
+                webSocketService.pushMsg(WebSocketMessageType.CMD, executionResult);
+                return;
+            }
+        }
+        executionResult.setStatus(CMDResultCode.SUCCESS.getCode());
+        executionResult.setMessage(CMDResultCode.SUCCESS.getMsg());
+        webSocketService.pushMsg(WebSocketMessageType.CMD, executionResult);
+    }
+
+    public boolean executeCommand(CMDForm cmdForm) {
+        String commandName = cmdForm.getCommand();
+        List<DeviceCtrlFuncCMD> deviceCtrlFuncCMDList = ctrlFuncService.findAllStepCMD();
+        for (DeviceCtrlFuncCMD deviceCtrlFuncCMD : deviceCtrlFuncCMDList) {
+            if (deviceCtrlFuncCMD.getDeviceCmd().equals(commandName)) {
+                new Thread(() -> run(cmdForm)).start();
+                return true;
+            }
+        }
+        return false;
+    }
+
+
+
+}

src/main/java/com/qyft/ms/service/ILogsService.java

@@ -0,0 +1,11 @@
+package com.qyft.ms.service;
+
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.qyft.ms.model.entity.Logs;
+
+/**
+ * 日志业务接口
+ */
+public interface ILogsService extends IService<Logs> {
+    int insertLog(String log);
+}

src/main/java/com/qyft/ms/service/ISysSettingsService.java

@@ -0,0 +1,24 @@
+package com.qyft.ms.service;
+
+
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.qyft.ms.model.dto.SysSettingsDTO;
+import com.qyft.ms.model.entity.SysSettings;
+import com.qyft.ms.model.vo.SysSettingResult;
+import com.qyft.ms.model.vo.SysSettingVO;
+
+import java.util.List;
+
+/**
+ * 系统配置接口层
+ */
+public interface ISysSettingsService extends IService<SysSettings> {
+
+    List<SysSettingVO> getConfig(String type);
+
+    List<SysSettingResult> getAllConfig();
+
+    Boolean updateConfig(List<SysSettingsDTO> dto);
+
+    boolean setSysDate(String newTime);
+}

src/main/java/com/qyft/ms/service/StatusService.java

@@ -0,0 +1,38 @@
+package com.qyft.ms.service;
+
+import com.qyft.ms.common.constant.WebSocketMessageType;
+import com.qyft.ms.device.model.bo.DeviceStatus;
+import com.qyft.ms.device.service.DeviceStatusService;
+import jakarta.annotation.PostConstruct;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+import java.util.concurrent.Executors;
+import java.util.concurrent.ScheduledExecutorService;
+import java.util.concurrent.TimeUnit;
+
+@Slf4j
+@Service
+@RequiredArgsConstructor
+public class StatusService {
+
+    private final WebSocketService webSocketService;
+    private final DeviceStatusService deviceStatusService;
+
+//    @PostConstruct
+    public void init() {
+        ScheduledExecutorService executorService = Executors.newSingleThreadScheduledExecutor();
+        executorService.scheduleAtFixedRate(() -> {
+            try {
+                DeviceStatus deviceStatus = deviceStatusService.getDeviceStatus();
+                webSocketService.pushMsg(WebSocketMessageType.STATUS, deviceStatus);
+            } catch (Exception e) {
+                if (!executorService.isShutdown()) {
+                    executorService.shutdown(); // 关闭 ScheduledExecutorService
+                }
+                log.error("定时推送设备状态异常", e);
+            }
+        }, 10, 100, TimeUnit.MILLISECONDS);
+    }
+}

src/main/java/com/qyft/ms/service/WebSocketService.java

@@ -0,0 +1,32 @@
+package com.qyft.ms.service;
+
+import cn.hutool.json.JSONUtil;
+import com.qyft.ms.config.WebSocketServer;
+import com.qyft.ms.model.vo.WebsocketResult;
+import jakarta.annotation.PostConstruct;
+import org.springframework.stereotype.Service;
+
+@Service
+public class WebSocketService {
+    public void pushMsg(String type, Object result) {
+
+        WebsocketResult websocketResult = new WebsocketResult();
+        websocketResult.setType(type);
+        websocketResult.setData(result);
+        // 发送消息给客户端
+        WebSocketServer.sendMessageToClients(JSONUtil.toJsonStr(websocketResult));
+    }
+
+    @PostConstruct
+    public void init() {
+        // 设置 WebSocketService 实例到 WebSocketServer
+        WebSocketServer.setWebSocketService(this);
+    }
+
+    // 新增方法：处理接收到的消息
+    public void handleReceivedMessage(String message) {
+        // 这里可以添加处理接收到消息的逻辑
+        System.out.println("Received message: " + message);
+        // 根据需要解析消息并进行处理
+    }
+}

src/main/java/com/qyft/ms/service/impl/ILogsServiceImpl.java

@@ -0,0 +1,29 @@
+package com.qyft.ms.service.impl;
+
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.qyft.ms.mapper.LogsMapper;
+import com.qyft.ms.model.entity.Logs;
+import com.qyft.ms.service.ILogsService;
+import com.qyft.ms.system.model.entity.User;
+import com.qyft.ms.system.service.IUserService;
+import lombok.RequiredArgsConstructor;
+import org.springframework.stereotype.Service;
+
+/**
+ * 实验业务实现类
+ */
+@Service
+@RequiredArgsConstructor
+public class ILogsServiceImpl extends ServiceImpl<LogsMapper, Logs> implements ILogsService {
+    private final LogsMapper logsMapper;
+    private final IUserService userService;
+
+    @Override
+    public int insertLog(String log) {
+        Logs logs = new Logs();
+        logs.setText(log);
+        User user = userService.currentUser();
+        logs.setCreateUser(user.getId());
+        return logsMapper.insert(logs);
+    }
+}

src/main/java/com/qyft/ms/service/impl/ISysSettingsServiceImpl.java

@@ -0,0 +1,75 @@
+package com.qyft.ms.service.impl;
+
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.qyft.ms.mapper.SysSettingsMapper;
+import com.qyft.ms.model.dto.SysSettingsDTO;
+import com.qyft.ms.model.entity.SysSettings;
+import com.qyft.ms.model.vo.SysSettingResult;
+import com.qyft.ms.model.vo.SysSettingVO;
+import com.qyft.ms.service.ISysSettingsService;
+import lombok.RequiredArgsConstructor;
+import org.springframework.stereotype.Service;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 系统配置实现类
+ */
+@Service
+@RequiredArgsConstructor
+public class ISysSettingsServiceImpl extends ServiceImpl<SysSettingsMapper, SysSettings> implements ISysSettingsService {
+    private final SysSettingsMapper sysSettingsMapper;
+
+    @Override
+    public List<SysSettingVO> getConfig(String type) {
+        int parentId = sysSettingsMapper.getIdByCode(type);
+        return sysSettingsMapper.getConfig(String.valueOf(parentId));
+    }
+
+    @Override
+    public List<SysSettingResult> getAllConfig() {
+        List<SysSettingVO> list = sysSettingsMapper.getConfig("-1");
+        List<SysSettingResult> result = new ArrayList<>();
+        for (SysSettingVO sysSettings : list) {
+            List<SysSettingVO> childrenList = sysSettingsMapper.getConfig(String.valueOf(sysSettings.getId()));
+            SysSettingResult map = new SysSettingResult();
+            map.setName(sysSettings.getName());
+            map.setCode(sysSettings.getCode());
+            map.setId(sysSettings.getId());
+            map.setValue(sysSettings.getValue());
+            map.setHardwareId(sysSettings.getHardwareId());
+            map.setChildren(childrenList);
+            result.add(map);
+        }
+        return result;
+    }
+
+    @Override
+    public Boolean updateConfig(List<SysSettingsDTO> dto) {
+        for (SysSettingsDTO sysSettingsDTO : dto) {
+            sysSettingsMapper.updateById(sysSettingsDTO);
+        }
+        return true;
+    }
+
+    /**
+     * 修改服务器系统时间
+     *
+     * @param newTime 时间字符串 YYYY-MM-DD HH:mm:ss
+     * @return 是否修改成功
+     */
+    @Override
+    public boolean setSysDate(String newTime) {
+        try {
+            String command = "date -s \"" + newTime + "\"";
+            Process process = Runtime.getRuntime().exec(command);
+            int exitCode = process.waitFor();
+            return exitCode == 0;
+        } catch (Exception e) {
+            log.error("修改系统时间失败", e);
+            return false;
+        }
+    }
+
+}

src/main/java/com/qyft/ms/system/common/base/BaseEntity.java

@@ -0,0 +1,44 @@
+package com.qyft.ms.system.common.base;
+
+import com.baomidou.mybatisplus.annotation.FieldFill;
+import com.baomidou.mybatisplus.annotation.IdType;
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableId;
+import com.fasterxml.jackson.annotation.JsonFormat;
+import lombok.Data;
+
+import java.io.Serial;
+import java.io.Serializable;
+import java.time.LocalDateTime;
+
+/**
+ * 基础实体类
+ * 实体类的基类，包含了实体类的公共属性，如创建时间、更新时间、逻辑删除标识等</p>
+ */
+@Data
+public class BaseEntity implements Serializable {
+
+    @Serial
+    private static final long serialVersionUID = 1L;
+
+    /**
+     * 主键ID
+     */
+    @TableId(type = IdType.AUTO)
+    private Long id;
+
+    /**
+     * 创建时间
+     */
+    @TableField(fill = FieldFill.INSERT)
+    @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss")
+    private LocalDateTime createTime;
+
+    /**
+     * 更新时间
+     */
+    @TableField(fill = FieldFill.INSERT_UPDATE)
+    @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss")
+    private LocalDateTime updateTime;
+
+}

src/main/java/com/qyft/ms/system/common/base/BasePageQuery.java

@@ -0,0 +1,26 @@
+package com.qyft.ms.system.common.base;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+import java.io.Serial;
+import java.io.Serializable;
+
+/**
+ * 基础分页请求对象
+ */
+@Data
+@Schema
+public class BasePageQuery implements Serializable {
+
+    @Serial
+    private static final long serialVersionUID = 1L;
+
+    @Schema(description = "页码", requiredMode = Schema.RequiredMode.REQUIRED, example = "1")
+    private int pageNum = 1;
+
+    @Schema(description = "每页记录数", requiredMode = Schema.RequiredMode.REQUIRED, example = "10")
+    private int pageSize = 10;
+
+
+}

src/main/java/com/qyft/ms/system/common/base/IBaseEnum.java

@@ -0,0 +1,84 @@
+package com.qyft.ms.system.common.base;
+
+
+import cn.hutool.core.util.ObjectUtil;
+
+import java.util.EnumSet;
+import java.util.Objects;
+
+/**
+ * 枚举通用接口
+ */
+public interface IBaseEnum<T> {
+
+    /**
+     * 根据值获取枚举
+     *
+     * @param value
+     * @param clazz
+     * @param <E>   枚举
+     * @return
+     */
+    static <E extends Enum<E> & IBaseEnum> E getEnumByValue(Object value, Class<E> clazz) {
+        Objects.requireNonNull(value);
+        EnumSet<E> allEnums = EnumSet.allOf(clazz); // 获取类型下的所有枚举
+        E matchEnum = allEnums.stream()
+                .filter(e -> ObjectUtil.equal(e.getValue(), value))
+                .findFirst()
+                .orElse(null);
+        return matchEnum;
+    }
+
+    /**
+     * 根据文本标签获取值
+     *
+     * @param value
+     * @param clazz
+     * @param <E>
+     * @return
+     */
+    static <E extends Enum<E> & IBaseEnum> String getLabelByValue(Object value, Class<E> clazz) {
+        Objects.requireNonNull(value);
+        EnumSet<E> allEnums = EnumSet.allOf(clazz); // 获取类型下的所有枚举
+        E matchEnum = allEnums.stream()
+                .filter(e -> ObjectUtil.equal(e.getValue(), value))
+                .findFirst()
+                .orElse(null);
+
+        String label = null;
+        if (matchEnum != null) {
+            label = matchEnum.getLabel();
+        }
+        return label;
+    }
+
+    /**
+     * 根据文本标签获取值
+     *
+     * @param label
+     * @param clazz
+     * @param <E>
+     * @return
+     */
+    static <E extends Enum<E> & IBaseEnum> Object getValueByLabel(String label, Class<E> clazz) {
+        Objects.requireNonNull(label);
+        EnumSet<E> allEnums = EnumSet.allOf(clazz); // 获取类型下的所有枚举
+        String finalLabel = label;
+        E matchEnum = allEnums.stream()
+                .filter(e -> ObjectUtil.equal(e.getLabel(), finalLabel))
+                .findFirst()
+                .orElse(null);
+
+        Object value = null;
+        if (matchEnum != null) {
+            value = matchEnum.getValue();
+        }
+        return value;
+    }
+
+    T getValue();
+
+    String getLabel();
+
+
+}