first commit

.gitattributes

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

.gitignore

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+HELP.md
+.gradle
+build/
+!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 +1,61 @@
+plugins {
+    id 'java'
+    id 'org.springframework.boot' version '3.5.3'
+    id 'io.spring.dependency-management' version '1.1.7'
+}
+
+group = 'com.iflytop'
+version = '0.0.1-SNAPSHOT'
+
+java {
+    toolchain {
+        languageVersion = JavaLanguageVersion.of(21)
+    }
+}
+
+repositories {
+    maven { url 'https://maven.aliyun.com/repository/public' }
+    maven { url 'https://maven.aliyun.com/repository/central' }
+    maven { url 'https://maven.aliyun.com/repository/spring' }
+}
+
+dependencies {
+    implementation 'org.springframework.boot:spring-boot-starter'// Spring Boot 核心依赖，包含自动配置、日志、Spring Context 等基础功能
+    implementation 'org.springframework.boot:spring-boot-starter-web'// 用于构建 REST API 的 Web 功能，包含 Spring MVC、Tomcat 等
+    implementation 'org.springframework.boot:spring-boot-starter-websocket:3.5.3' // WebSocket 支持
+    implementation 'org.springframework.statemachine:spring-statemachine-core:4.0.1'// Spring 状态机（有限状态机）核心包，用于处理状态转换逻辑
+    implementation 'org.springframework.boot:spring-boot-starter-validation:3.5.3' // Bean 校验支持（如 @Valid、@NotNull 等注解）
+    implementation 'org.springframework.boot:spring-boot-starter-aop'// AOP（面向切面编程）支持，用于实现日志、权限校验等横切逻辑
+    implementation 'org.springdoc:springdoc-openapi-starter-webmvc-ui:2.8.9'// OpenAPI 文档生成器，用于生成 Swagger UI 接口文档
+    implementation 'org.freemarker:freemarker:2.3.34'// 模板引擎 FreeMarker，可用于生成动态内容（如生成文件或 Web 页面）
+    implementation 'org.xerial:sqlite-jdbc:3.50.3.0'// SQLite JDBC 驱动，提供对 SQLite 数据库的连接支持
+    implementation 'org.mybatis.spring.boot:mybatis-spring-boot-starter:3.0.5' // MyBatis Spring Boot 启动器，简化 MyBatis 配置
+    implementation 'com.baomidou:mybatis-plus-boot-starter:3.5.12'// MyBatis Plus 启动器，对 MyBatis 的增强支持（简化 CRUD、分页等）
+    implementation 'com.baomidou:mybatis-plus-generator:3.5.12'// MyBatis Plus 代码生成器，用于自动生成实体类、Mapper、Service 等
+    implementation 'com.baomidou:mybatis-plus-jsqlparser:3.5.12'// MyBatis Plus SQL 解析器，MyBatis Plus 的内部依赖（用于条件构造器）
+    implementation 'ch.qos.logback:logback-core:1.5.16' // Logback 核心库，用于日志输出
+    implementation 'cn.hutool:hutool-all:5.8.39'// Hutool 工具包，提供各种常用工具类，如日期处理、IO、字符串等
+    implementation 'com.github.xiaoymin:knife4j-openapi3-jakarta-spring-boot-starter:4.5.0'// Knife4j Swagger 增强工具，提供更友好的 API 文档界面
+    implementation 'jakarta.annotation:jakarta.annotation-api:3.0.0' // Jakarta 标准注解包（如 @PostConstruct、@Resource 等）
+    implementation 'com.fazecast:jSerialComm:2.11.2'// 串口通信库 jSerialComm，用于与硬件设备通过串口通信
+    implementation 'com.opencsv:opencsv:5.11.2'// CSV 解析器 OpenCSV，用于读写 CSV 文件
+    implementation 'org.java-websocket:Java-WebSocket:1.6.0'
+    implementation fileTree(dir: 'lib', include: '*.jar')// 引入本地 lib 目录下的所有 jar 包
+
+    compileOnly 'org.projectlombok:lombok' // Lombok 提供简化 Java 开发的注解（如 @Getter @Setter 等），编译期依赖
+    annotationProcessor 'org.projectlombok:lombok'
+
+
+    testImplementation 'org.springframework.boot:spring-boot-starter-test'// 单元测试支持，包含 JUnit、Mockito 等常用测试库
+    testRuntimeOnly 'org.junit.platform:junit-platform-launcher'// JUnit 平台运行时，用于在测试时启动 JUnit Platform（例如在 IDE 或构建工具中运行测试）
+}
+
+bootJar {
+    launchScript {
+        properties 'spring.profiles.active': 'prod'
+    }
+}
+
+tasks.named('test') {
+    useJUnitPlatform()
+}

gradle/wrapper/gradle-wrapper.properties

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+distributionBase=GRADLE_USER_HOME
+distributionPath=wrapper/dists
+distributionUrl=https\://mirrors.aliyun.com/gradle/distributions/v8.14.3/gradle-8.14.3-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=wrapper/dists

gradlew

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+#!/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 "${APP_HOME:-./}" > /dev/null && printf '%s\n' "$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 "$( uname )" in                #(
+  CYGWIN* )         cygwin=true  ;; #(
+  Darwin* )         darwin=true  ;; #(
+  MSYS* | MINGW* )  msys=true    ;; #(
+  NONSTOP* )        nonstop=true ;;
+esac
+
+CLASSPATH="\\\"\\\""
+
+
+# Determine the Java command to use to start the JVM.
+if [ -n "$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, 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" \
+        -jar "$APP_HOME/gradle/wrapper/gradle-wrapper.jar" \
+        "$@"
+
+# 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=
+
+
+@rem Execute Gradle
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" -jar "%APP_HOME%\gradle\wrapper\gradle-wrapper.jar" %*
+
+: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 = 'hand-acid'

src/main/java/com/iflytop/handacid/HandAcidApplication.java

@@ -0,0 +1,21 @@
+package com.iflytop.handacid;
+
+import org.springframework.boot.SpringApplication;
+import org.springframework.boot.autoconfigure.SpringBootApplication;
+import org.springframework.context.ConfigurableApplicationContext;
+import org.springframework.core.env.ConfigurableEnvironment;
+
+@SpringBootApplication
+public class HandAcidApplication {
+
+    public static void main(String[] args) {
+        SpringApplication app = new SpringApplication(HandAcidApplication.class);
+        ConfigurableApplicationContext ctx = app.run(args);
+        ConfigurableEnvironment env = ctx.getEnvironment();
+        String port = env.getProperty("local.server.port", env.getProperty("server.port", "8080"));
+        System.out.println("应用已启动");
+        System.out.println("访问地址 → http://localhost:" + port + "/");
+        System.out.println("文档地址 → http://localhost:" + port + "/doc.html");
+    }
+
+}

src/main/java/com/iflytop/handacid/app/command/control/StopAllMotorCommand.java

@@ -0,0 +1,28 @@
+package com.iflytop.handacid.app.command.control;
+
+import com.iflytop.handacid.app.common.annotation.CommandMapping;
+import com.iflytop.handacid.app.core.command.BaseCommandHandler;
+import com.iflytop.handacid.app.model.dto.CommandDTO;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 停止所有电机
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+@CommandMapping("stop_all_motor")
+public class StopAllMotorCommand extends BaseCommandHandler {
+
+    @Override
+    public CompletableFuture<Void> handle(CommandDTO commandDTO) {
+
+        return runAsync(() -> {
+        });
+    }
+}
+

src/main/java/com/iflytop/handacid/app/common/annotation/CheckedRunnable.java

@@ -0,0 +1,6 @@
+package com.iflytop.handacid.app.common.annotation;
+
+@FunctionalInterface
+public interface CheckedRunnable {
+    void run() throws Exception;
+}

src/main/java/com/iflytop/handacid/app/common/annotation/CommandDebugMapping.java

@@ -0,0 +1,12 @@
+package com.iflytop.handacid.app.common.annotation;
+
+import java.lang.annotation.ElementType;
+import java.lang.annotation.Retention;
+import java.lang.annotation.RetentionPolicy;
+import java.lang.annotation.Target;
+
+@Retention(RetentionPolicy.RUNTIME)
+@Target(ElementType.TYPE)
+public @interface CommandDebugMapping {
+    String value();
+}

src/main/java/com/iflytop/handacid/app/common/annotation/CommandMapping.java

@@ -0,0 +1,12 @@
+package com.iflytop.handacid.app.common.annotation;
+
+import java.lang.annotation.ElementType;
+import java.lang.annotation.Retention;
+import java.lang.annotation.RetentionPolicy;
+import java.lang.annotation.Target;
+
+@Retention(RetentionPolicy.RUNTIME)
+@Target(ElementType.TYPE)
+public @interface CommandMapping {
+    String value();
+}

src/main/java/com/iflytop/handacid/app/common/constant/CommandStatus.java

@@ -0,0 +1,47 @@
+package com.iflytop.handacid.app.common.constant;
+
+public class CommandStatus {
+    /**
+     * 普通消息反馈
+     */
+    public static final String SEND = "send";
+
+    /**
+     * 收到指令
+     */
+    public static final String RECEIVE = "receive";
+    /**
+     * 开始执行指令
+     */
+    public static final String START = "start";
+    /**
+     * 等待执行指令
+     */
+    public static final String WAIT = "wait";
+    /**
+     * 执行成功
+     */
+    public static final String SUCCESS = "success";
+    /**
+     * 执行失败
+     */
+    public static final String FAIL = "fail";
+    /**
+     * 指令处理完毕反馈
+     */
+    public static final String FINISH = "finish";
+
+
+    /**
+     * 设备指令 发送设备指令
+     */
+    public static final String DEVICE_SEND = "device_send";
+    /**
+     * 设备指令 收到设备指令反馈
+     */
+    public static final String DEVICE_RESULT = "device_result";
+    /**
+     * 设备指令 收到设备指令反馈 错误
+     */
+    public static final String DEVICE_ERROR = "device_error";
+}

src/main/java/com/iflytop/handacid/app/common/enums/ModuleStateCode.java

@@ -0,0 +1,12 @@
+
+package com.iflytop.handacid.app.common.enums;
+
+/**
+ * 多模块枚举类型
+ */
+public enum ModuleStateCode {
+    ADD,
+    PRE,
+    DRAIN,
+    IDLE,
+}

src/main/java/com/iflytop/handacid/app/common/enums/MultipleModuleCode.java

@@ -0,0 +1,11 @@
+package com.iflytop.handacid.app.common.enums;
+
+/**
+ * 多模块枚举类型
+ */
+public enum MultipleModuleCode {
+    MODULE_1,
+    MODULE_2,
+    MODULE_3,
+    MODULE_4,
+}

src/main/java/com/iflytop/handacid/app/common/enums/UserRole.java

@@ -0,0 +1,7 @@
+package com.iflytop.handacid.app.common.enums;
+
+public enum UserRole {
+    ADMIN,
+    DEVELOPER,
+    USER;
+}

src/main/java/com/iflytop/handacid/app/common/handler/GlobalExceptionHandler.java

@@ -0,0 +1,82 @@
+package com.iflytop.handacid.app.common.handler;
+
+import com.iflytop.handacid.common.exception.AppException;
+import com.iflytop.handacid.common.result.Result;
+import com.iflytop.handacid.common.result.ResultCode;
+import jakarta.servlet.http.HttpServletRequest;
+import jakarta.validation.ConstraintViolationException;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.validation.BindException;
+import org.springframework.web.HttpRequestMethodNotSupportedException;
+import org.springframework.web.bind.MethodArgumentNotValidException;
+import org.springframework.web.bind.annotation.ExceptionHandler;
+import org.springframework.web.bind.annotation.RestControllerAdvice;
+
+import java.util.stream.Collectors;
+
+@Slf4j
+@RestControllerAdvice
+public class GlobalExceptionHandler {
+
+    @ExceptionHandler(HttpRequestMethodNotSupportedException.class)
+    public Result<?> handleMethodNotSupported(HttpRequestMethodNotSupportedException ex, HttpServletRequest request) {
+        String method = request.getMethod();
+        String url = request.getRequestURL().toString();
+        String allowed = ex.getSupportedHttpMethods() != null
+                ? ex.getSupportedHttpMethods().toString()
+                : "[]";
+        String msg = String.format(
+                "请求方法 '%s' 不支持 (URL: %s)。支持的方法有：%s",
+                method, url, allowed);
+        log.error(msg, ex);
+        return Result.failed(ResultCode.METHOD_NOT_ALLOWED.getCode(), msg);
+    }
+
+    // 1) JSON Body 校验失败
+    @ExceptionHandler(MethodArgumentNotValidException.class)
+    public Result<?> handleBodyValid(MethodArgumentNotValidException ex) {
+        String msg = ex.getBindingResult().getFieldErrors().stream()
+                .map(f -> f.getField() + ": " + f.getDefaultMessage())
+                .collect(Collectors.joining("; "));
+        return Result.failed(ResultCode.INVALID_PARAMETER.getCode(), msg);
+    }
+
+    // 2) 方法级参数校验失败（PathVariable/RequestParam）
+    @ExceptionHandler(ConstraintViolationException.class)
+    public Result<?> handleParamValid(ConstraintViolationException ex) {
+        String msg = ex.getConstraintViolations().stream()
+                .map(v -> {
+                    String path = v.getPropertyPath().toString();
+                    String field = path.substring(path.lastIndexOf('.') + 1);
+                    return field + ": " + v.getMessage();
+                })
+                .collect(Collectors.joining("; "));
+        return Result.failed(ResultCode.INVALID_PARAMETER.getCode(), msg);
+    }
+
+    // 3) 表单绑定失败
+    @ExceptionHandler(BindException.class)
+    public Result<?> handleBind(BindException ex) {
+        String msg = ex.getFieldErrors().stream()
+                .map(f -> f.getField() + ": " + f.getDefaultMessage())
+                .collect(Collectors.joining("; "));
+        return Result.failed(ResultCode.INVALID_PARAMETER.getCode(), msg);
+    }
+
+    @ExceptionHandler(Exception.class)
+    public Result<?> handleException(Exception ex, HttpServletRequest request) {
+        // 获取请求方法和请求路径
+        String method = request.getMethod();
+        String url = request.getRequestURL().toString();
+
+        if (ex instanceof AppException ae) {
+            log.warn("AppException at {} {}:", method, url, ae);
+            return Result.failed(ae.getResultCode());
+        }
+
+        // 在日志中打印出请求地址
+        log.error("Unhandled exception at {} {}:", method, url, ex);
+        return Result.failed(ResultCode.SYSTEM_ERROR.getCode(), ex.getMessage());
+    }
+
+}

src/main/java/com/iflytop/handacid/app/common/handler/MyMetaObjectHandler.java

@@ -0,0 +1,36 @@
+package com.iflytop.handacid.app.common.handler;
+
+import com.baomidou.mybatisplus.core.handlers.MetaObjectHandler;
+import org.apache.ibatis.reflection.MetaObject;
+import org.springframework.stereotype.Component;
+
+import java.time.LocalDateTime;
+
+/**
+ * mybatis-plus 字段自动填充
+ */
+@Component
+public class MyMetaObjectHandler implements MetaObjectHandler {
+
+    /**
+     * 新增填充创建时间
+     *
+     * @param metaObject 元数据
+     */
+    @Override
+    public void insertFill(MetaObject metaObject) {
+        this.strictInsertFill(metaObject, "createTime", LocalDateTime::now, LocalDateTime.class);
+        this.strictUpdateFill(metaObject, "updateTime", LocalDateTime::now, LocalDateTime.class);
+    }
+
+    /**
+     * 更新填充更新时间
+     *
+     * @param metaObject 元数据
+     */
+    @Override
+    public void updateFill(MetaObject metaObject) {
+        this.strictUpdateFill(metaObject, "updateTime", LocalDateTime::now, LocalDateTime.class);
+    }
+
+}

src/main/java/com/iflytop/handacid/app/common/utils/CommandUtil.java

@@ -0,0 +1,23 @@
+package com.iflytop.handacid.app.common.utils;
+
+
+import com.iflytop.handacid.app.core.command.CommandFuture;
+
+import java.util.Arrays;
+import java.util.concurrent.CompletableFuture;
+import java.util.concurrent.TimeUnit;
+
+public class CommandUtil {
+
+    public static void wait(CommandFuture... futures) throws Exception {
+        wait(120L, futures);
+    }
+
+    public static void wait(Long timeout, CommandFuture... futures) throws Exception {
+        CompletableFuture<?>[] responseFutures = Arrays.stream(futures)
+                .map(CommandFuture::getResponseFuture)
+                .toArray(CompletableFuture[]::new);
+        CompletableFuture.allOf(responseFutures)
+                .get(timeout, TimeUnit.SECONDS);
+    }
+}

src/main/java/com/iflytop/handacid/app/common/utils/LambdaUtil.java

@@ -0,0 +1,16 @@
+package com.iflytop.handacid.app.common.utils;
+
+
+import com.iflytop.handacid.app.common.annotation.CheckedRunnable;
+
+public class LambdaUtil {
+    public static Runnable unchecked(CheckedRunnable runnable) {
+        return () -> {
+            try {
+                runnable.run();
+            } catch (Exception e) {
+                throw new RuntimeException(e);
+            }
+        };
+    }
+}

src/main/java/com/iflytop/handacid/app/config/AsyncConfig.java

@@ -0,0 +1,21 @@
+package com.iflytop.handacid.app.config;
+
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+import org.springframework.scheduling.concurrent.ThreadPoolTaskExecutor;
+
+@Configuration
+public class AsyncConfig {
+    @Bean("commandTaskExecutor")
+    public ThreadPoolTaskExecutor taskExecutor() {
+        ThreadPoolTaskExecutor exec = new ThreadPoolTaskExecutor();
+        exec.setCorePoolSize(10);
+        exec.setMaxPoolSize(20);
+        exec.setQueueCapacity(50);
+        exec.setThreadNamePrefix("cmd-exec-");
+        exec.setWaitForTasksToCompleteOnShutdown(true);
+        exec.setAwaitTerminationSeconds(30);
+        exec.initialize();
+        return exec;
+    }
+}

src/main/java/com/iflytop/handacid/app/controller/AuthController.java

@@ -0,0 +1,56 @@
+package com.iflytop.handacid.app.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.iflytop.handacid.app.core.state.DeviceState;
+import com.iflytop.handacid.app.model.dto.LoginDTO;
+import com.iflytop.handacid.common.enums.EnableStatus;
+import com.iflytop.handacid.common.model.entity.User;
+import com.iflytop.handacid.common.result.Result;
+import com.iflytop.handacid.common.result.ResultCode;
+import com.iflytop.handacid.common.service.UserService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import jakarta.validation.Valid;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.Objects;
+
+/**
+ * 认证控制
+ */
+@Tag(name = "\uD83D\uDD11认证")
+@RestController
+@RequestMapping("/api/auth")
+@RequiredArgsConstructor
+@Slf4j
+public class AuthController {
+    private final UserService userService;
+    private final DeviceState deviceState;
+
+    @Operation(summary = "账号密码登录")
+    @PostMapping("/login")
+    public Result<User> login(@Valid @RequestBody LoginDTO loginDTO) {
+        User user = userService.getOne(new LambdaQueryWrapper<>(User.class).eq(User::getUsername, loginDTO.getUsername()));
+        if (user != null && !Objects.equals(user.getDeleted(), EnableStatus.ENABLE) && user.getPassword().equals(loginDTO.getPassword())) {
+            deviceState.setCurrentUser(user);
+            user.setPassword(null);
+            return Result.success(user);
+        }
+        return Result.failed(ResultCode.INVALID_CREDENTIALS);
+    }
+
+    @Operation(summary = "用户登出")
+    @PostMapping("/logout")
+    public Result<String> logout() {
+        deviceState.setCurrentUser(null);
+        return Result.success();
+    }
+
+    @Operation(summary = "获取当前登录用户")
+    @GetMapping("/current")
+    public Result<User> current() {
+        return Result.success(deviceState.getCurrentUser());
+    }
+}

src/main/java/com/iflytop/handacid/app/controller/CmdController.java

@@ -0,0 +1,67 @@
+package com.iflytop.handacid.app.controller;
+
+import cn.hutool.json.JSONUtil;
+import com.iflytop.handacid.app.common.constant.CommandStatus;
+import com.iflytop.handacid.app.core.command.CommandHandler;
+import com.iflytop.handacid.app.core.command.CommandHandlerRegistry;
+import com.iflytop.handacid.app.model.dto.CommandDTO;
+import com.iflytop.handacid.app.websocket.server.DebugGenerator;
+import com.iflytop.handacid.app.websocket.server.WebSocketSender;
+import com.iflytop.handacid.common.result.Result;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import jakarta.validation.Valid;
+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.concurrent.CompletableFuture;
+
+@Tag(name = "前端业务指令")
+@RestController
+@RequestMapping("/api/cmd")
+@RequiredArgsConstructor
+@Slf4j
+public class CmdController {
+    private final CommandHandlerRegistry registry;
+    private final WebSocketSender webSocketService;
+
+    @Operation(summary = "前端统一调用一个接口")
+    @PostMapping
+    public Result<?> controlMethod(@Valid @RequestBody CommandDTO commandDTO){
+        String commandId = commandDTO.getCommandId();
+        String command = commandDTO.getCommand();
+        try {
+            webSocketService.pushDebug(DebugGenerator.generateJson(commandId, command, CommandStatus.RECEIVE, "已收到业务指令请求，开始处理"));
+            CommandHandler commandHandler = registry.getCommandHandler(command);
+            if (commandHandler == null) {
+                webSocketService.pushDebug(DebugGenerator.generateJson(commandId, command, CommandStatus.DEVICE_ERROR, "未找到对应的业务指令"));
+                log.error("未找到对应的业务指令");
+                return Result.failed();
+            }
+            webSocketService.pushCMDResponse(DebugGenerator.generateJson(commandId, command, CommandStatus.START, "业务指令开始执行"));
+            log.info("业务指令开始执行");
+            CompletableFuture<Void> future = commandHandler.handle(commandDTO);
+            future.whenComplete((v, ex) -> {
+                if (ex != null) {
+                    webSocketService.pushCMDResponse(DebugGenerator.generateJson(commandId, command, CommandStatus.FAIL, "执行业务指令发生异常", ex.getMessage()));
+                    log.error("执行业务指令发生异常: {}", JSONUtil.toJsonStr(commandDTO), ex);
+                } else {
+                    webSocketService.pushCMDResponse(DebugGenerator.generateJson(commandId, command, CommandStatus.SUCCESS, "业务指令执行成功"));
+                    log.info("业务指令执行成功");
+                }
+                webSocketService.pushCMDResponse(DebugGenerator.generateJson(commandId, command, CommandStatus.FINISH, "业务指令执行结束"));
+                log.info("业务指令执行结束");
+            });
+        } catch (Exception e) {
+            log.error("执行业务指令发生异常: {}", JSONUtil.toJsonStr(commandDTO), e);
+            return Result.failed(e.getMessage());
+        }
+        return Result.success();
+    }
+
+
+}

src/main/java/com/iflytop/handacid/app/controller/CmdDebugController.java

@@ -0,0 +1,67 @@
+package com.iflytop.handacid.app.controller;
+
+import cn.hutool.json.JSONUtil;
+import com.iflytop.handacid.app.common.constant.CommandStatus;
+import com.iflytop.handacid.app.core.command.CommandDebugHandlerRegistry;
+import com.iflytop.handacid.app.core.command.CommandHandler;
+import com.iflytop.handacid.app.model.dto.CommandDTO;
+import com.iflytop.handacid.app.websocket.server.DebugGenerator;
+import com.iflytop.handacid.app.websocket.server.WebSocketSender;
+import com.iflytop.handacid.common.result.Result;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import jakarta.validation.Valid;
+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.concurrent.CompletableFuture;
+
+@Tag(name = "前端调试指令")
+@RestController
+@RequestMapping("/api/debug/cmd")
+@RequiredArgsConstructor
+@Slf4j
+public class CmdDebugController {
+    private final CommandDebugHandlerRegistry registry;
+    private final WebSocketSender webSocketService;
+
+    @Operation(summary = "前端调试指令")
+    @PostMapping
+    public Result<?> controlMethod(@Valid @RequestBody CommandDTO commandDTO) {
+        String commandId = commandDTO.getCommandId();
+        String command = commandDTO.getCommand();
+        try {
+            webSocketService.pushDebug(DebugGenerator.generateJson(commandId, command, CommandStatus.RECEIVE, "已收到调试指令请求，开始处理"));
+            CommandHandler commandHandler = registry.getCommandHandler(command);
+            if (commandHandler == null) {
+                webSocketService.pushDebug(DebugGenerator.generateJson(commandId, command, CommandStatus.DEVICE_ERROR, "未找到对应的调试指令"));
+                log.error("未找到对应的调试指令");
+                return Result.failed();
+            }
+            webSocketService.pushCMDResponse(DebugGenerator.generateJson(commandId, command, CommandStatus.START, "调试指令开始执行"));
+            log.info("调试指令开始执行");
+            CompletableFuture<Void> future = commandHandler.handle(commandDTO);
+            future.whenComplete((v, ex) -> {
+                if (ex != null) {
+                    webSocketService.pushCMDResponse(DebugGenerator.generateJson(commandId, command, CommandStatus.FAIL, "执行调试指令发生异常", ex.getMessage()));
+                    log.error("执行调试指令发生异常: {}", JSONUtil.toJsonStr(commandDTO), ex);
+                } else {
+                    webSocketService.pushCMDResponse(DebugGenerator.generateJson(commandId, command, CommandStatus.SUCCESS, "调试指令执行成功"));
+                    log.info("调试指令执行成功");
+                }
+                webSocketService.pushCMDResponse(DebugGenerator.generateJson(commandId, command, CommandStatus.FINISH, "调试指令执行结束"));
+                log.info("调试指令执行结束");
+            });
+        } catch (Exception e) {
+            log.error("执行调试指令发生异常: {}", JSONUtil.toJsonStr(commandDTO), e);
+            return Result.failed(e.getMessage());
+        }
+        return Result.success();
+    }
+
+
+}

src/main/java/com/iflytop/handacid/app/controller/SolutionsController.java

@@ -0,0 +1,53 @@
+package com.iflytop.handacid.app.controller;
+
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.iflytop.handacid.common.base.BasePageQuery;
+import com.iflytop.handacid.common.model.entity.Solutions;
+import com.iflytop.handacid.common.result.PageResult;
+import com.iflytop.handacid.common.result.Result;
+import com.iflytop.handacid.common.service.SolutionsService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import jakarta.validation.Valid;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.Arrays;
+
+@Tag(name = "\uD83D\uDCA7溶液接口")
+@RestController
+@RequestMapping("/api/solutions")
+@RequiredArgsConstructor
+@Slf4j
+public class SolutionsController {
+
+    private final SolutionsService solutionsService;
+
+    @Operation(summary = "分页查询溶液")
+    @PostMapping("/list")
+    public PageResult<Solutions> list(@RequestBody BasePageQuery query) {
+        return PageResult.success(solutionsService.page(new Page<>(query.getPageNum(), query.getPageSize())));
+    }
+
+    @Operation(summary = "添加溶液")
+    @PostMapping("")
+    public Result<String> add(@Valid @RequestBody Solutions solutions) {
+        return solutionsService.save(solutions) ? Result.success() : Result.failed();
+    }
+
+    @Operation(summary = "修改溶液")
+    @PutMapping("")
+    public Result<String> update(@Valid @RequestBody Solutions solutions) {
+        return solutionsService.updateById(solutions) ? Result.success() : Result.failed();
+    }
+
+    @Operation(summary = "删除溶液")
+    @DeleteMapping("/{ids}")
+    public Result<String> delete(@PathVariable String ids) {
+        boolean success = solutionsService.removeBatchByIds(
+                Arrays.stream(ids.split(",")).map(Long::valueOf).toList()
+        );
+        return success ? Result.success() : Result.failed();
+    }
+}

src/main/java/com/iflytop/handacid/app/controller/SystemConfigController.java

@@ -0,0 +1,53 @@
+package com.iflytop.handacid.app.controller;
+
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.iflytop.handacid.common.base.BasePageQuery;
+import com.iflytop.handacid.common.model.entity.SystemConfig;
+import com.iflytop.handacid.common.result.PageResult;
+import com.iflytop.handacid.common.result.Result;
+import com.iflytop.handacid.common.service.SystemConfigService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import jakarta.validation.Valid;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.Arrays;
+
+@Tag(name = "\uD83D\uDEE0\uFE0F系统配置接口")
+@RestController
+@RequestMapping("/api/system-config")
+@RequiredArgsConstructor
+@Slf4j
+public class SystemConfigController {
+
+    private final SystemConfigService systemConfigService;
+
+    @Operation(summary = "分页查询系统配置")
+    @PostMapping("/list")
+    public PageResult<SystemConfig> list(@RequestBody BasePageQuery query) {
+        return PageResult.success(systemConfigService.page(new Page<>(query.getPageNum(), query.getPageSize())));
+    }
+
+    @Operation(summary = "添加配置项")
+    @PostMapping("")
+    public Result<String> add(@Valid @RequestBody SystemConfig config) {
+        return systemConfigService.save(config) ? Result.success() : Result.failed();
+    }
+
+    @Operation(summary = "更新配置项")
+    @PutMapping("")
+    public Result<String> update(@Valid @RequestBody SystemConfig config) {
+        return systemConfigService.updateById(config) ? Result.success() : Result.failed();
+    }
+
+    @Operation(summary = "删除配置项")
+    @DeleteMapping("/{ids}")
+    public Result<String> delete(@PathVariable String ids) {
+        boolean success = systemConfigService.removeBatchByIds(
+                Arrays.stream(ids.split(",")).map(Long::valueOf).toList()
+        );
+        return success ? Result.success() : Result.failed();
+    }
+}

src/main/java/com/iflytop/handacid/app/controller/SystemController.java

@@ -0,0 +1,45 @@
+package com.iflytop.handacid.app.controller;
+
+import com.iflytop.handacid.app.core.state.DeviceState;
+import com.iflytop.handacid.app.model.dto.TimeSetDTO;
+import com.iflytop.handacid.app.model.vo.TimeResponseVO;
+import com.iflytop.handacid.app.service.SystemService;
+import com.iflytop.handacid.common.result.Result;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import jakarta.validation.Valid;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.web.bind.annotation.*;
+
+import java.time.Instant;
+
+@Tag(name = "⚙\uFE0F系统")
+@RestController
+@RequestMapping("/api/sys")
+@RequiredArgsConstructor
+@Slf4j
+public class SystemController {
+    private final SystemService systemService;
+    private final DeviceState deviceState;
+
+    @Operation(summary = "获取当前设备状态")
+    @GetMapping("/device-status")
+    public Result<?> getDeviceStatus() {
+        return Result.success(deviceState.toJSON());
+    }
+
+    @Operation(summary = "设置系统时间")
+    @PostMapping("/set-datetime")
+    public Result<?> setDatetime(@Valid @RequestBody TimeSetDTO timeSetDTO) {
+        systemService.setSystemTime(timeSetDTO.getEpochMilli());
+        return Result.success();
+    }
+
+    @Operation(summary = "获取当前系统时间")
+    @GetMapping("/get-datetime")
+    public Result<TimeResponseVO> getDatetime() {
+        return Result.success(new TimeResponseVO(Instant.now().toEpochMilli()));
+    }
+
+}

src/main/java/com/iflytop/handacid/app/controller/SystemLogController.java

@@ -0,0 +1,53 @@
+package com.iflytop.handacid.app.controller;
+
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.iflytop.handacid.common.base.BasePageQuery;
+import com.iflytop.handacid.common.model.entity.SystemLog;
+import com.iflytop.handacid.common.result.PageResult;
+import com.iflytop.handacid.common.result.Result;
+import com.iflytop.handacid.common.service.SystemLogService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import jakarta.validation.Valid;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.Arrays;
+
+@Tag(name = "\uD83D\uDCDD系统日志接口")
+@RestController
+@RequestMapping("/api/system-log")
+@RequiredArgsConstructor
+@Slf4j
+public class SystemLogController {
+
+    private final SystemLogService systemLogService;
+
+    @Operation(summary = "分页查询系统日志")
+    @PostMapping("/list")
+    public PageResult<SystemLog> list(@RequestBody BasePageQuery query) {
+        return PageResult.success(systemLogService.page(new Page<>(query.getPageNum(), query.getPageSize())));
+    }
+
+    @Operation(summary = "添加日志")
+    @PostMapping("")
+    public Result<String> add(@Valid @RequestBody SystemLog logEntry) {
+        return systemLogService.save(logEntry) ? Result.success() : Result.failed();
+    }
+
+    @Operation(summary = "更新日志")
+    @PutMapping("")
+    public Result<String> update(@Valid @RequestBody SystemLog logEntry) {
+        return systemLogService.updateById(logEntry) ? Result.success() : Result.failed();
+    }
+
+    @Operation(summary = "删除日志")
+    @DeleteMapping("/{ids}")
+    public Result<String> delete(@PathVariable String ids) {
+        boolean success = systemLogService.removeBatchByIds(
+                Arrays.stream(ids.split(",")).map(Long::valueOf).toList()
+        );
+        return success ? Result.success() : Result.failed();
+    }
+}

src/main/java/com/iflytop/handacid/app/controller/TestController.java

@@ -0,0 +1,45 @@
+package com.iflytop.handacid.app.controller;
+
+import com.iflytop.handacid.app.common.enums.MultipleModuleCode;
+import com.iflytop.handacid.app.core.state.DeviceState;
+import com.iflytop.handacid.app.service.TestService;
+import com.iflytop.handacid.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.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+/**
+ * 测试用
+ */
+@Tag(name = "⭐测试用")
+@RestController
+@RequestMapping("/api/test")
+@RequiredArgsConstructor
+@Slf4j
+public class TestController {
+    private final DeviceState deviceState;
+
+    @Operation(summary = "启动虚拟模式")
+    @PostMapping("/virtual")
+    public Result<?> changeVirtualMode() {
+        deviceState.setVirtual(true);
+        return Result.success();
+    }
+
+    @Operation(summary = "启动虚拟模式并且自检完毕")
+    @PostMapping("/virtual-finish")
+    public Result<?> selfTestFinish() {
+        deviceState.setVirtual(true);
+        return Result.success();
+    }
+
+    @Operation(summary = "设置模拟环境湿度")
+    @PostMapping("/set-humidity")
+    public Result<?> setHumidity(MultipleModuleCode heatModule, double humidity) {
+        return Result.success();
+    }
+}

src/main/java/com/iflytop/handacid/app/controller/UserController.java

@@ -0,0 +1,55 @@
+package com.iflytop.handacid.app.controller;
+
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.iflytop.handacid.common.base.BasePageQuery;
+import com.iflytop.handacid.common.model.entity.User;
+import com.iflytop.handacid.common.result.PageResult;
+import com.iflytop.handacid.common.result.Result;
+import com.iflytop.handacid.common.service.UserService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.Parameter;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import jakarta.validation.Valid;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.Arrays;
+
+@Tag(name = "\uD83D\uDC64用户接口")
+@RestController
+@RequestMapping("/api/user")
+@RequiredArgsConstructor
+@Slf4j
+public class UserController {
+
+    private final UserService userService;
+
+    @Operation(summary = "分页查询用户列表")
+    @PostMapping("/list")
+    public PageResult<User> list(@RequestBody BasePageQuery query) {
+        Page<User> page = new Page<>(query.getPageNum(), query.getPageSize());
+        return PageResult.success(userService.page(page));
+    }
+
+    @Operation(summary = "添加用户")
+    @PostMapping("")
+    public Result<String> add(@Valid @RequestBody User user) {
+        return userService.save(user) ? Result.success() : Result.failed();
+    }
+
+    @Operation(summary = "修改用户")
+    @PutMapping("")
+    public Result<String> update(@Valid @RequestBody User user) {
+        return userService.updateById(user) ? Result.success() : Result.failed();
+    }
+
+    @Operation(summary = "删除用户")
+    @DeleteMapping("/{ids}")
+    public Result<String> delete(@Parameter(description = "用户ID，多个用逗号分隔") @PathVariable String ids) {
+        boolean success = userService.removeBatchByIds(
+                Arrays.stream(ids.split(",")).map(Long::valueOf).toList()
+        );
+        return success ? Result.success() : Result.failed();
+    }
+}

src/main/java/com/iflytop/handacid/app/core/aspect/DeviceStateChangeAspect.java

@@ -0,0 +1,45 @@
+package com.iflytop.handacid.app.core.aspect;
+
+import com.iflytop.handacid.app.core.state.DeviceState;
+import com.iflytop.handacid.app.websocket.server.WebSocketMessageType;
+import com.iflytop.handacid.app.websocket.server.WebSocketSender;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.aspectj.lang.JoinPoint;
+import org.aspectj.lang.annotation.After;
+import org.aspectj.lang.annotation.Aspect;
+import org.aspectj.lang.annotation.Before;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.locks.Lock;
+import java.util.concurrent.locks.ReentrantLock;
+
+@Slf4j
+@Aspect
+@Component
+@RequiredArgsConstructor
+public class DeviceStateChangeAspect {
+    private final WebSocketSender webSocketService;
+    private final DeviceState deviceState;
+
+    private final Lock lock = new ReentrantLock();
+
+    @Before("execution(* com.iflytop.handacid.app.core.state.*.set*(..))")
+    public void beforeSetMethod(JoinPoint joinPoint) {
+        lock.lock();
+    }
+
+    @After("execution(* com.iflytop.handacid.app.core.state.*.set*(..))")
+    public void afterSetMethod(JoinPoint joinPoint) {
+        try {
+            Object[] methodArgs = joinPoint.getArgs();
+            if (methodArgs != null && methodArgs.length > 0) {
+                webSocketService.push(WebSocketMessageType.STATUS, deviceState.toJSON());
+            }
+        } catch (Exception e) {
+            log.error("处理状态变更后的值失败", e);
+        } finally {
+            lock.unlock();
+        }
+    }
+}

src/main/java/com/iflytop/handacid/app/core/command/BaseCommandHandler.java

@@ -0,0 +1,22 @@
+package com.iflytop.handacid.app.core.command;
+
+
+import com.iflytop.handacid.app.common.annotation.CheckedRunnable;
+import com.iflytop.handacid.app.common.utils.LambdaUtil;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Qualifier;
+
+import java.util.concurrent.CompletableFuture;
+import java.util.concurrent.Executor;
+
+public abstract class BaseCommandHandler implements CommandHandler {
+
+    @Autowired
+    @Qualifier("commandTaskExecutor")
+    private Executor commandExecutor;
+
+    protected CompletableFuture<Void> runAsync(CheckedRunnable task) {
+        return CompletableFuture.runAsync(LambdaUtil.unchecked(task), commandExecutor);
+    }
+
+}

src/main/java/com/iflytop/handacid/app/core/command/CommandDebugHandlerRegistry.java

@@ -0,0 +1,55 @@
+package com.iflytop.handacid.app.core.command;
+
+import com.iflytop.handacid.app.common.annotation.CommandDebugMapping;
+import com.iflytop.handacid.common.exception.AppException;
+import com.iflytop.handacid.common.result.ResultCode;
+import io.micrometer.common.lang.NonNull;
+import jakarta.annotation.PostConstruct;
+import jakarta.validation.constraints.NotNull;
+import org.springframework.aop.support.AopUtils;
+import org.springframework.beans.BeansException;
+import org.springframework.context.ApplicationContext;
+import org.springframework.context.ApplicationContextAware;
+import org.springframework.stereotype.Component;
+
+import java.util.HashMap;
+import java.util.Map;
+
+@Component
+public class CommandDebugHandlerRegistry implements ApplicationContextAware {
+
+    private final Map<String, CommandHandler> handlerMap = new HashMap<>();
+    private ApplicationContext applicationContext;
+
+    @Override
+    public void setApplicationContext(@NonNull ApplicationContext applicationContext) throws BeansException {
+        this.applicationContext = applicationContext;
+    }
+
+    @PostConstruct
+    public void init() {
+        Map<String, Object> beans = applicationContext.getBeansWithAnnotation(CommandDebugMapping.class);
+        for (Object bean : beans.values()) {
+            // 获取实际目标类，而不是代理类
+            Class<?> targetClass = AopUtils.getTargetClass(bean);
+            CommandDebugMapping mapping = targetClass.getAnnotation(CommandDebugMapping.class);
+            if (mapping != null && bean instanceof CommandHandler) {
+                String mappingKey = mapping.value();
+                handlerMap.put(mappingKey, (CommandHandler) bean);
+            }
+        }
+    }
+
+    /**
+     * 通过模块名称和命令名称获取命令处理器
+     *
+     * @param commandName 命令名称
+     * @return 命令处理器
+     */
+    public CommandHandler getCommandHandler(@NotNull String commandName) {
+        if (!handlerMap.containsKey(commandName)) {
+            throw new AppException(ResultCode.COMMAND_NOT_FOUND);
+        }
+        return handlerMap.get(commandName);
+    }
+}

src/main/java/com/iflytop/handacid/app/core/command/CommandFuture.java

@@ -0,0 +1,59 @@
+package com.iflytop.handacid.app.core.command;
+
+import cn.hutool.json.JSONObject;
+import lombok.Getter;
+import lombok.Setter;
+
+import java.util.concurrent.CompletableFuture;
+import java.util.concurrent.ExecutionException;
+
+@Setter
+@Getter
+public class CommandFuture {
+    /**
+     * 用于保存response反馈
+     */
+    private CompletableFuture<JSONObject> responseFuture = new CompletableFuture<>();
+    /**
+     * 原始指令
+     */
+    private DeviceCommand deviceCommand;
+    /**
+     * 指令发送时间
+     */
+    private long startSendTime;
+    /**
+     * 指令反馈时间
+     */
+    private long endSendTime;
+    /**
+     * 业务指令id
+     */
+    private String cmdId;
+    /**
+     * 业务指令code
+     */
+    private String cmdCode;
+
+    /**
+     * 完成response
+     */
+    public void completeResponse(JSONObject result) {
+        responseFuture.complete(result);
+    }
+
+    /**
+     * 异常完成response
+     */
+    public void completeResponseExceptionally(Throwable ex) {
+        responseFuture.completeExceptionally(ex);
+    }
+
+    /**
+     * 获取response的json
+     */
+    public JSONObject getResponseResult() throws ExecutionException, InterruptedException {
+        return responseFuture.get();
+    }
+
+}

src/main/java/com/iflytop/handacid/app/core/command/CommandHandler.java

@@ -0,0 +1,10 @@
+package com.iflytop.handacid.app.core.command;
+
+
+import com.iflytop.handacid.app.model.dto.CommandDTO;
+
+import java.util.concurrent.CompletableFuture;
+
+public interface CommandHandler {
+    CompletableFuture<Void> handle(CommandDTO commandDTO) throws Exception;
+}

src/main/java/com/iflytop/handacid/app/core/command/CommandHandlerRegistry.java

@@ -0,0 +1,55 @@
+package com.iflytop.handacid.app.core.command;
+
+import com.iflytop.handacid.app.common.annotation.CommandMapping;
+import com.iflytop.handacid.common.exception.AppException;
+import com.iflytop.handacid.common.result.ResultCode;
+import io.micrometer.common.lang.NonNull;
+import jakarta.annotation.PostConstruct;
+import jakarta.validation.constraints.NotNull;
+import org.springframework.aop.support.AopUtils;
+import org.springframework.beans.BeansException;
+import org.springframework.context.ApplicationContext;
+import org.springframework.context.ApplicationContextAware;
+import org.springframework.stereotype.Component;
+
+import java.util.HashMap;
+import java.util.Map;
+
+@Component
+public class CommandHandlerRegistry implements ApplicationContextAware {
+
+    private final Map<String, CommandHandler> handlerMap = new HashMap<>();
+    private ApplicationContext applicationContext;
+
+    @Override
+    public void setApplicationContext(@NonNull ApplicationContext applicationContext) throws BeansException {
+        this.applicationContext = applicationContext;
+    }
+
+    @PostConstruct
+    public void init() {
+        Map<String, Object> beans = applicationContext.getBeansWithAnnotation(CommandMapping.class);
+        for (Object bean : beans.values()) {
+            // 获取实际目标类，而不是代理类
+            Class<?> targetClass = AopUtils.getTargetClass(bean);
+            CommandMapping mapping = targetClass.getAnnotation(CommandMapping.class);
+            if (mapping != null && bean instanceof CommandHandler) {
+                String mappingKey = mapping.value();
+                handlerMap.put(mappingKey, (CommandHandler) bean);
+            }
+        }
+    }
+
+    /**
+     * 通过模块名称和命令名称获取命令处理器
+     *
+     * @param commandName 命令名称
+     * @return 命令处理器
+     */
+    public CommandHandler getCommandHandler(@NotNull String commandName){
+        if (!handlerMap.containsKey(commandName)) {
+            throw new AppException(ResultCode.COMMAND_NOT_FOUND);
+        }
+        return handlerMap.get(commandName);
+    }
+}

src/main/java/com/iflytop/handacid/app/core/command/CommandPoolManager.java

@@ -0,0 +1,50 @@
+package com.iflytop.handacid.app.core.command;
+
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Qualifier;
+import org.springframework.scheduling.concurrent.ThreadPoolTaskExecutor;
+import org.springframework.stereotype.Component;
+
+import java.lang.reflect.Field;
+import java.util.concurrent.ThreadPoolExecutor;
+
+@Slf4j
+@Component
+public class CommandPoolManager {
+    private final ThreadPoolTaskExecutor executor;
+
+    public CommandPoolManager(@Qualifier("commandTaskExecutor") ThreadPoolTaskExecutor executor) {
+        this.executor = executor;
+    }
+
+    /**
+     * 强制中断所有正在执行的任务
+     */
+    public void forceShutdownAll() {
+        try {
+            ThreadPoolExecutor nativeExecutor = executor.getThreadPoolExecutor();
+            nativeExecutor.shutdownNow();
+        } catch (Exception e) {
+            log.error("强制关闭所有cmd线程失败");
+        }
+    }
+
+    /**
+     * 重启命令线程池
+     */
+    public void restartExecutor() {
+        try {
+            Field field = ThreadPoolTaskExecutor.class.getDeclaredField("threadPoolExecutor");
+            field.setAccessible(true);
+            field.set(executor, null);
+            executor.initialize();
+            log.info("命令线程池已重建并启动：corePoolSize={}, maxPoolSize={}, queueCapacity={}",
+                    executor.getCorePoolSize(),
+                    executor.getMaxPoolSize(),
+                    executor.getQueueCapacity());
+        } catch (NoSuchFieldException | IllegalAccessException e) {
+            log.error("通过反射重置 threadPoolExecutor 字段失败，无法重启命令线程池", e);
+        }
+    }
+
+}

src/main/java/com/iflytop/handacid/app/core/command/CyclicNumberGenerator.java

@@ -0,0 +1,39 @@
+package com.iflytop.handacid.app.core.command;
+
+public class CyclicNumberGenerator {
+    // 饿汉式单例，在类加载时就创建实例
+    private static final CyclicNumberGenerator INSTANCE = new CyclicNumberGenerator();
+    // 当前生成的数字，初始值为 1
+    private int currentNumber = 1;
+
+    // 私有构造函数，防止外部实例化
+    private CyclicNumberGenerator() {
+    }
+
+    // 提供全局访问点获取单例实例
+    public static CyclicNumberGenerator getInstance() {
+        return INSTANCE;
+    }
+
+    public static void main(String[] args) {
+        CyclicNumberGenerator generator = CyclicNumberGenerator.getInstance();
+        for (int i = 0; i < 4096; i++) {
+            System.out.println(generator.generateNumber());
+        }
+    }
+
+    /**
+     * 生成 1 到 255 之间的循环整数
+     *
+     * @return 生成的整数
+     */
+    public synchronized int generateNumber() {
+        int result = currentNumber;
+        // 每次生成后将当前数字加 1
+        currentNumber++;
+        if (currentNumber > 4096) {
+            currentNumber = 1;
+        }
+        return result;
+    }
+}

src/main/java/com/iflytop/handacid/app/core/command/DeviceCommand.java

@@ -0,0 +1,35 @@
+package com.iflytop.handacid.app.core.command;
+
+import com.iflytop.handacid.common.command.DeviceCommandParams;
+import com.iflytop.handacid.common.enums.Action;
+import com.iflytop.handacid.common.enums.Device;
+import lombok.Data;
+
+@Data
+public class DeviceCommand {
+    /**
+     * 指令ID
+     */
+    private Integer cmdId;
+
+    /**
+     * 指令代码 例如 "device_status_get"
+     */
+    private String cmdCode;
+
+    /**
+     * 目标设备
+     */
+    private Device device;
+
+    /**
+     * 执行动作
+     */
+    private Action action;
+
+    /**
+     * 指令参数
+     */
+    private DeviceCommandParams param;
+}
+

src/main/java/com/iflytop/handacid/app/core/event/CommandFeedbackEvent.java

@@ -0,0 +1,16 @@
+package com.iflytop.handacid.app.core.event;
+
+import cn.hutool.json.JSONObject;
+import lombok.Getter;
+import org.springframework.context.ApplicationEvent;
+
+@Getter
+public class CommandFeedbackEvent extends ApplicationEvent {
+    private final JSONObject jsonResponse;
+
+    public CommandFeedbackEvent(Object source, JSONObject jsonResponse) {
+        super(source);
+        this.jsonResponse = jsonResponse;
+    }
+
+}

src/main/java/com/iflytop/handacid/app/core/event/StateChangeEvent.java

@@ -0,0 +1,14 @@
+package com.iflytop.handacid.app.core.event;
+import lombok.AllArgsConstructor;
+import lombok.Data;
+
+/**
+ * 状态变更事件
+ */
+@Data
+@AllArgsConstructor
+public class StateChangeEvent {
+    private String fieldPath;
+    private Object oldValue;
+    private Object newValue;
+}

src/main/java/com/iflytop/handacid/app/core/event/VirtualDeviceCmdResponseEvent.java

@@ -0,0 +1,16 @@
+package com.iflytop.handacid.app.core.event;
+
+import com.iflytop.handacid.app.core.command.DeviceCommand;
+import lombok.Getter;
+import org.springframework.context.ApplicationEvent;
+
+@Getter
+public class VirtualDeviceCmdResponseEvent extends ApplicationEvent {
+    private final DeviceCommand cmdToDevice;
+
+    public VirtualDeviceCmdResponseEvent(Object source, DeviceCommand cmdToDevice) {
+        super(source);
+        this.cmdToDevice = cmdToDevice;
+    }
+
+}

src/main/java/com/iflytop/handacid/app/core/listener/VirtualDeviceCmdResponseEventListener.java

@@ -0,0 +1,20 @@
+package com.iflytop.handacid.app.core.listener;
+
+import com.iflytop.handacid.app.core.event.VirtualDeviceCmdResponseEvent;
+import com.iflytop.handacid.app.service.VirtualDeviceService;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+
+@Slf4j
+@Component
+@RequiredArgsConstructor
+public class VirtualDeviceCmdResponseEventListener {
+    private final VirtualDeviceService virtualDeviceService;
+
+    @EventListener
+    public void handleDeviceTcpMessageEvent(VirtualDeviceCmdResponseEvent event) {
+        virtualDeviceService.completeCommandResponse(event.getCmdToDevice());
+    }
+}

src/main/java/com/iflytop/handacid/app/core/state/DeviceState.java

@@ -0,0 +1,53 @@
+package com.iflytop.handacid.app.core.state;
+
+import cn.hutool.json.JSONObject;
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.iflytop.handacid.app.common.enums.ModuleStateCode;
+import com.iflytop.handacid.app.common.enums.MultipleModuleCode;
+import com.iflytop.handacid.common.model.entity.User;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+import org.springframework.stereotype.Component;
+
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.Map;
+
+@Schema(description = "设备当前状态")
+@Data
+@Component
+@JsonIgnoreProperties(value = {"advisors", "frozen", "preFiltered", "proxyTargetClass", "targetSource", "exposeProxy", "advisorCount", "proxiedInterfaces", "targetClass"})
+public class DeviceState {
+    @Schema(description = "当前设备是否暂停")
+    private volatile boolean craftsPaused = false;
+
+    @Schema(description = "通道1状态")
+    private volatile ModuleStateCode MODULE_1 = ModuleStateCode.IDLE;
+
+    @Schema(description = "通道2状态")
+    private volatile ModuleStateCode MODULE_2 = ModuleStateCode.IDLE;
+
+    @Schema(description = "通道3状态")
+    private volatile ModuleStateCode MODULE_3 = ModuleStateCode.IDLE;
+
+    @Schema(description = "通道4状态")
+    private volatile ModuleStateCode MODULE_4 = ModuleStateCode.IDLE;
+
+    @Schema(description = "虚拟模式，true为虚拟")
+    private volatile boolean virtual = false;
+
+    @Schema(description = "是否是急停状态，true为急停")
+    private volatile boolean emergencyStop = false;
+
+    @Schema(description = "当前登录用户")
+    private User currentUser;
+
+    public JSONObject toJSON() {
+        JSONObject json = new JSONObject();
+        json.putOnce("craftsPaused", craftsPaused);
+        json.putOnce("virtual", virtual);
+        json.putOnce("emergencyStop", emergencyStop);
+        json.putOnce("currentUser", currentUser);
+        return json;
+    }
+}

src/main/java/com/iflytop/handacid/app/model/dto/CommandDTO.java

@@ -0,0 +1,73 @@
+package com.iflytop.handacid.app.model.dto;
+
+import cn.hutool.json.JSONArray;
+import cn.hutool.json.JSONObject;
+import cn.hutool.json.JSONUtil;
+import io.swagger.v3.oas.annotations.media.Schema;
+import jakarta.validation.constraints.NotNull;
+import lombok.Data;
+
+import java.util.Map;
+
+@Schema(description = "指令")
+@Data
+public class CommandDTO {
+
+    @NotNull
+    @Schema(description = "指令id，前端生成唯一ID")
+    private String commandId;
+
+    @NotNull
+    @Schema(description = "命令名称")
+    private String command;
+
+    @Schema(description = "参数")
+    private Map<String, Object> params;
+
+    // 获取 Double 类型的参数，null 或空字符串时返回 null
+    public Double getDoubleParam(String key) {
+        String value = getStringParam(key);
+        return (value != null && !value.isEmpty()) ? Double.parseDouble(value) : null;
+    }
+
+    // 获取 String 类型的参数，null 或空字符串时返回 null
+    public String getStringParam(String key) {
+        Object value = params.get(key);
+        // 确保值不是 null 或空字符串，转换成 String 后返回
+        return (value != null && !value.toString().isEmpty()) ? value.toString() : null;
+    }
+
+    // 获取 Integer 类型的参数，null 或空字符串时返回 null
+    public Integer getIntegerParam(String key) {
+        String value = getStringParam(key);
+        return (value != null && !value.isEmpty()) ? Integer.parseInt(value) : null;
+    }
+
+    // 获取 Long 类型的参数，null 或空字符串时返回 null
+    public Long getLongParam(String key) {
+        String value = getStringParam(key);
+        return (value != null && !value.isEmpty()) ? Long.parseLong(value) : null;
+    }
+
+    // 获取 Boolean 类型的参数，null 或空字符串时返回 null
+    public Boolean getBooleanParam(String key) {
+        String value = getStringParam(key);
+        return (value != null && !value.isEmpty()) ? Boolean.parseBoolean(value) : null;
+    }
+
+    public JSONObject  getJsonObjectParam(String key) {
+        Object value = params.get(key);
+        return new JSONObject(value);
+
+    }
+
+    public JSONArray getJSONArrayParam(String key) {
+        Object value = params.get(key);
+        return new JSONArray(value);
+    }
+
+    @Override
+    public String toString() {
+        return JSONUtil.toJsonStr(this);
+    }
+}

src/main/java/com/iflytop/handacid/app/model/dto/LoginDTO.java

@@ -0,0 +1,22 @@
+package com.iflytop.handacid.app.model.dto;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import jakarta.validation.constraints.NotNull;
+import lombok.Data;
+
+/**
+ * 用户登录表单
+ */
+@Schema(description = "用户登录")
+@Data
+public class LoginDTO {
+
+    @NotNull
+    @Schema(description = "用户名", example = "admin")
+    private String username;
+
+    @NotNull
+    @Schema(description = "用户密码", example = "12345")
+    private String password;
+
+}

src/main/java/com/iflytop/handacid/app/model/dto/TimeSetDTO.java

@@ -0,0 +1,16 @@
+package com.iflytop.handacid.app.model.dto;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import jakarta.validation.constraints.NotNull;
+import lombok.Data;
+
+@Data
+public class TimeSetDTO {
+    /**
+     * 要设置的时间戳（毫秒），UTC 纪元毫秒数
+     */
+    @NotNull
+    @Schema(description = "要设置的时间戳（毫秒），UTC 纪元毫秒数")
+    private Long epochMilli;
+
+}

src/main/java/com/iflytop/handacid/app/model/dto/TrayTubeSetExistDTO.java

@@ -0,0 +1,19 @@
+package com.iflytop.handacid.app.model.dto;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import jakarta.validation.constraints.NotNull;
+import lombok.Data;
+
+@Schema(description = "是否存在试管")
+@Data
+public class TrayTubeSetExistDTO {
+
+    @NotNull
+    @Schema(description = "试管编号")
+    private Integer tubeNum;
+
+    @NotNull
+    @Schema(description = "是否存在试管 true存在 false不存在")
+    private Boolean tubeExist;
+
+}

src/main/java/com/iflytop/handacid/app/model/vo/TimeResponseVO.java

@@ -0,0 +1,16 @@
+package com.iflytop.handacid.app.model.vo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+@Data
+public class TimeResponseVO {
+
+    @Schema(description = "当前系统时间的 UTC 毫秒时间戳")
+    private long epochMilli;
+
+
+    public TimeResponseVO(long epochMilli) {
+        this.epochMilli = epochMilli;
+    }
+}

src/main/java/com/iflytop/handacid/app/service/DeviceCommandService.java

@@ -0,0 +1,172 @@
+package com.iflytop.handacid.app.service;
+
+
+import cn.hutool.json.JSONObject;
+import cn.hutool.json.JSONUtil;
+import com.iflytop.handacid.app.common.constant.CommandStatus;
+import com.iflytop.handacid.app.core.command.CommandFuture;
+import com.iflytop.handacid.app.core.command.CyclicNumberGenerator;
+import com.iflytop.handacid.app.core.command.DeviceCommand;
+import com.iflytop.handacid.app.core.event.VirtualDeviceCmdResponseEvent;
+import com.iflytop.handacid.app.core.state.DeviceState;
+import com.iflytop.handacid.app.websocket.server.DebugGenerator;
+import com.iflytop.handacid.app.websocket.server.WebSocketSender;
+import com.iflytop.handacid.hardware.HardwareService;
+import jakarta.annotation.PostConstruct;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.context.ApplicationEventPublisher;
+import org.springframework.stereotype.Service;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.concurrent.BlockingQueue;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.ConcurrentMap;
+import java.util.concurrent.LinkedBlockingQueue;
+
+@Slf4j
+@Service
+@RequiredArgsConstructor
+public class DeviceCommandService {
+    private final HardwareService hardwareService;
+    private final WebSocketSender webSocketService;
+    private final DeviceState deviceState;
+    private final ApplicationEventPublisher publisher;
+
+    /**
+     * 需要等待加液区空闲的龙门架机械臂指令
+     */
+    private final ConcurrentMap<Integer, CommandFuture> sendCommandFutureMap = new ConcurrentHashMap<>();
+    private final BlockingQueue<CommandFuture[]> gantryCommandQueue = new LinkedBlockingQueue<>();
+
+    @PostConstruct
+    private void initExecutorThread() {
+        new Thread(this::executeCommands).start();
+    }
+
+    private void executeCommands() {
+        while (true) {
+            try {
+                CommandFuture[] commandFutureArray = gantryCommandQueue.take();
+                for (CommandFuture commandFuture : commandFutureArray) {
+                    executeCommand(commandFuture);
+                }
+            } catch (Exception e) {
+                Thread.currentThread().interrupt();
+            }
+        }
+    }
+
+    public synchronized CommandFuture[] sendCommandGantryQueue(DeviceCommand... deviceCommandBundles) {
+        return sendCommandGantryQueue(null, null, deviceCommandBundles);
+    }
+
+    public synchronized CommandFuture[] sendCommandGantryQueue(String cmdId, String cmdCode, DeviceCommand... deviceCommands) {
+        List<CommandFuture> commandFutureList = new ArrayList<>();
+        for (DeviceCommand deviceCommand : deviceCommands) {
+            commandFutureList.add(createDeviceCommandFuture(cmdId, cmdCode, deviceCommand));
+        }
+        CommandFuture[] commandFutureArray = commandFutureList.toArray(new CommandFuture[0]);
+        try {
+            gantryCommandQueue.put(commandFutureArray);
+        } catch (Exception e) {
+            log.error("设备指令入队列失败", e);
+            throw new RuntimeException(e);
+        }
+        return commandFutureArray;
+    }
+
+    /**
+     * 根据 DeviceCommand 创建 CommandFuture
+     */
+    private CommandFuture createDeviceCommandFuture(String cmdId, String cmdCode, DeviceCommand deviceCommand) {
+        CommandFuture commandFuture = createDeviceCommandFuture(deviceCommand);
+        commandFuture.setCmdId(cmdId);
+        commandFuture.setCmdCode(cmdCode);
+        return commandFuture;
+    }
+
+    /**
+     * 根据 DeviceCommand 创建 CommandFuture
+     */
+    private CommandFuture createDeviceCommandFuture(DeviceCommand deviceCommand) {
+        CommandFuture commandFuture = new CommandFuture();
+        commandFuture.setDeviceCommand(deviceCommand);
+        commandFuture.getResponseFuture().whenComplete((result, ex) -> {
+            sendCommandFutureMap.remove(deviceCommand.getCmdId());
+        });
+        return commandFuture;
+    }
+
+    public void executeCommand(CommandFuture commandFuture) {
+        int cmdId = CyclicNumberGenerator.getInstance().generateNumber();
+        commandFuture.getDeviceCommand().setCmdId(cmdId);
+        sendCommandFutureMap.put(cmdId, commandFuture);
+        commandFuture.setStartSendTime(System.currentTimeMillis());
+        if (!deviceState.isVirtual()) {
+            if (!hardwareService.sendCommand(commandFuture.getDeviceCommand())) {
+                sendCommandFutureMap.remove(commandFuture.getDeviceCommand().getCmdId());
+                throw new RuntimeException("向设备发送指令失败");
+            }
+            if (commandFuture.getCmdId() != null) {
+                webSocketService.pushDebug(DebugGenerator.generateJson(commandFuture.getCmdId(), commandFuture.getCmdCode(), CommandStatus.DEVICE_SEND, commandFuture.getDeviceCommand().getDevice() + "_" + commandFuture.getDeviceCommand().getAction() + "指令，已发给设备", commandFuture.getDeviceCommand()));
+            }
+        } else {
+            //虚拟模式
+            log.info("模拟向设备发送TCP指令：{}", JSONUtil.toJsonStr(commandFuture.getDeviceCommand()));
+            //模拟反馈
+            publisher.publishEvent(new VirtualDeviceCmdResponseEvent(this, commandFuture.getDeviceCommand()));
+        }
+
+    }
+
+    public CommandFuture sendCommand(DeviceCommand deviceCommand) {
+        CommandFuture commandFuture = createDeviceCommandFuture(deviceCommand);
+        executeCommand(commandFuture);
+        return commandFuture;
+    }
+
+    public CommandFuture sendCommand(String cmdId, String cmdCode, DeviceCommand deviceCommand) {
+        CommandFuture commandFuture = createDeviceCommandFuture(cmdId, cmdCode, deviceCommand);
+        executeCommand(commandFuture);
+        return commandFuture;
+    }
+
+    public void completeCommandResponse(JSONObject deviceResult) {
+        Integer cmdId = deviceResult.getInt("cmdId");
+        if (cmdId != null) {
+            CommandFuture commandFuture = sendCommandFutureMap.get(cmdId);
+            if (commandFuture != null) {
+                commandFuture.setEndSendTime(System.currentTimeMillis());
+                Boolean success = deviceResult.getBool("success"); //数据验证
+                if (success == null || !success) { //response失败
+                    if (commandFuture.getCmdId() != null) {
+                        webSocketService.pushDebug(DebugGenerator.generateJson(commandFuture.getCmdId(), commandFuture.getCmdCode(), CommandStatus.DEVICE_ERROR,
+                                commandFuture.getDeviceCommand().getDevice() + "_" + commandFuture.getDeviceCommand().getAction() + "指令，设备response错误，耗时:" + (commandFuture.getEndSendTime() - commandFuture.getStartSendTime()), deviceResult));
+                    }
+                    commandFuture.completeResponseExceptionally(new RuntimeException("response失败:" + deviceResult));
+                } else {
+                    if (commandFuture.getCmdId() != null) {
+                        webSocketService.pushDebug(DebugGenerator.generateJson(commandFuture.getCmdId(), commandFuture.getCmdCode(), CommandStatus.DEVICE_RESULT,
+                                commandFuture.getDeviceCommand().getDevice() + "_" + commandFuture.getDeviceCommand().getAction() + "指令，设备response正常，耗时:" + (commandFuture.getEndSendTime() - commandFuture.getStartSendTime()), deviceResult));
+                    }
+                    commandFuture.completeResponse(deviceResult);
+                }
+            }
+        }
+    }
+
+    /**
+     * 取消等待中的future并从map中移除
+     */
+    public synchronized void releaseAllCommandFutures() {
+        for (Integer key : sendCommandFutureMap.keySet()) {
+            CommandFuture future = sendCommandFutureMap.remove(key);
+            if (future != null) {
+                future.getResponseFuture().cancel(true);
+            }
+        }
+    }
+
+}

src/main/java/com/iflytop/handacid/app/service/DeviceInitService.java

@@ -0,0 +1,47 @@
+package com.iflytop.handacid.app.service;
+
+import com.iflytop.handacid.app.core.state.DeviceState;
+import com.iflytop.handacid.hardware.service.AppEventBusService;
+import com.iflytop.handacid.hardware.type.appevent.A8kCanBusOnConnectEvent;
+import com.iflytop.handacid.hardware.type.appevent.AppEvent;
+import jakarta.annotation.PostConstruct;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+@Slf4j
+@Service
+@RequiredArgsConstructor
+public class DeviceInitService {
+    private final AppEventBusService eventBus;
+    private boolean isLink = false;
+    private final DeviceState deviceState;
+
+    @PostConstruct
+    public void init() {
+        eventBus.regListener(this::onAppEvent);
+        new Thread(() -> {
+            try {
+                log.info("初始化开始");
+
+                initDeviceState();
+                //缓存点位数据
+                log.info("初始化完毕");
+            } catch (Exception e) {
+            }
+        }).start();
+
+    }
+
+    private void onAppEvent(AppEvent event) {
+        if (event instanceof A8kCanBusOnConnectEvent) {
+            isLink = true;
+        }
+    }
+
+    public void initDeviceState() {
+        log.info("初始化 initDeviceState");
+        log.info("初始化 initDeviceState完毕");
+    }
+
+}

src/main/java/com/iflytop/handacid/app/service/DeviceParamConfigService.java

@@ -0,0 +1,119 @@
+package com.iflytop.handacid.app.service;
+
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.iflytop.handacid.common.mapper.DeviceParamConfigMapper;
+import com.iflytop.handacid.common.model.entity.DeviceParamConfig;
+import com.iflytop.handacid.common.model.vo.DeviceParamGroupVO;
+import com.iflytop.handacid.common.model.vo.ModuleIdVO;
+import com.iflytop.handacid.common.model.vo.RegIndexVO;
+import com.iflytop.handacid.hardware.type.MId;
+import com.iflytop.handacid.hardware.type.RegIndex;
+import lombok.RequiredArgsConstructor;
+import org.springframework.stereotype.Service;
+
+import java.util.Arrays;
+import java.util.List;
+import java.util.Map;
+import java.util.stream.Collectors;
+
+/**
+ * 设备参数配置服务
+ */
+@Service
+@RequiredArgsConstructor
+public class DeviceParamConfigService extends ServiceImpl<DeviceParamConfigMapper, DeviceParamConfig> {
+    private final DeviceParamConfigMapper deviceParamConfigMapper;
+
+    /**
+     * 按 ModuleId 分组，列出每个模块下的 regIndex + regVal
+     */
+    public List<DeviceParamGroupVO> listGroupedByModule() {
+        // 拉取所有配置记录
+        List<DeviceParamConfig> all = this.list();
+
+        // 按 mid 分组
+        Map<String, List<DeviceParamConfig>> grouped = all.stream()
+                .collect(Collectors.groupingBy(DeviceParamConfig::getMid));
+
+        // 构造 VO 列表
+        return grouped.entrySet().stream()
+                .map(entry -> {
+                    String moduleId = entry.getKey();
+                    List<DeviceParamGroupVO.ParamItem> items = entry.getValue().stream()
+                            .map(cfg -> new DeviceParamGroupVO.ParamItem(
+                                    cfg.getRegIndex(),
+                                    cfg.getRegVal()
+                            ))
+                            .collect(Collectors.toList());
+                    return new DeviceParamGroupVO(moduleId, items);
+                })
+                .collect(Collectors.toList());
+    }
+
+    /**
+     * 根据模块标识和寄存器索引查询设备参数配置
+     *
+     * @param moduleId 模块枚举
+     * @param regIndex 寄存器索引
+     * @return 唯一匹配的 DeviceParamConfig，找不到返回 null
+     */
+    public DeviceParamConfig getByModuleAndReg(MId moduleId, RegIndex regIndex) {
+        return deviceParamConfigMapper.selectOne(
+                new LambdaQueryWrapper<DeviceParamConfig>()
+                        .eq(DeviceParamConfig::getMid, moduleId.name())
+                        .eq(DeviceParamConfig::getRegIndex, regIndex.name())
+        );
+    }
+
+    /**
+     * 根据模块标识和寄存器索引设置设备参数配置
+     *
+     * @param moduleId 模块枚举
+     * @param regIndex 寄存器索引
+     * @param regVal   寄存器值
+     * @return 唯一匹配的 DeviceParamConfig，找不到返回 null
+     */
+    public int setModuleAndReg(String moduleId, String regIndex, Integer regVal) {
+        return deviceParamConfigMapper.update(new LambdaUpdateWrapper<DeviceParamConfig>()
+                .eq(DeviceParamConfig::getMid, moduleId)
+                .eq(DeviceParamConfig::getRegIndex, regIndex)
+                .set(DeviceParamConfig::getRegVal, regVal));
+
+    }
+
+    /**
+     * 列出所有 ModuleId，返回 VO 列表
+     *
+     * @return List<ModuleIdVO>
+     */
+    public List<ModuleIdVO> listAllModuleIds() {
+        return Arrays.stream(MId.values())
+                .map(e -> new ModuleIdVO(
+                        e.name(),       // 枚举常量名
+                        e.description         // 描述字段
+                ))
+                .collect(Collectors.toList());
+    }
+
+    /**
+     * 列出所有寄存器索引枚举，返回 VO 列表
+     *
+     * @return List<RegIndexVO>
+     */
+    public List<RegIndexVO> listAllRegIndices() {
+        return Arrays.stream(RegIndex.values())
+                .map(e -> new RegIndexVO(
+                        e.name()      // 枚举常量名
+                ))
+                .collect(Collectors.toList());
+    }
+
+    public boolean deleteDeviceParam(String idsStr) {
+        List<Long> ids = Arrays.stream(idsStr.split(","))
+                .map(Long::parseLong)
+                .collect(Collectors.toList());
+        return this.removeByIds(ids);
+    }
+}

src/main/java/com/iflytop/handacid/app/service/SystemService.java

@@ -0,0 +1,27 @@
+package com.iflytop.handacid.app.service;
+
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.iflytop.handacid.common.mapper.SystemConfigMapper;
+import com.iflytop.handacid.common.model.entity.SystemConfig;
+import com.iflytop.handacid.common.utils.CommandUtil;
+import lombok.RequiredArgsConstructor;
+import org.springframework.stereotype.Service;
+
+/**
+ * 系统配置接口服务
+ */
+@Service
+@RequiredArgsConstructor
+public class SystemService extends ServiceImpl<SystemConfigMapper, SystemConfig> {
+    /**
+     * 将系统时区（可选）和系统时间（必选）一起设定
+     *
+     * @param epochMilli UTC 毫秒时间戳
+     */
+    public void setSystemTime(long epochMilli) {
+        long epochSecond = epochMilli / 1_000;
+        CommandUtil.runCommand("timedatectl", "set-ntp", "false");
+        CommandUtil.runCommand("date", "-s", "@" + epochSecond);
+        CommandUtil.runCommand("hwclock", "--systohc");
+    }
+}

src/main/java/com/iflytop/handacid/app/service/TestService.java

@@ -0,0 +1,15 @@
+package com.iflytop.handacid.app.service;
+
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+/**
+ * 测试用
+ */
+@Slf4j
+@Service
+@RequiredArgsConstructor
+public class TestService {
+
+}

src/main/java/com/iflytop/handacid/app/service/VirtualDeviceService.java

@@ -0,0 +1,45 @@
+package com.iflytop.handacid.app.service;
+
+import cn.hutool.json.JSONObject;
+import com.iflytop.handacid.app.core.command.DeviceCommand;
+import com.iflytop.handacid.common.enums.Action;
+import com.iflytop.handacid.common.enums.Device;
+import lombok.RequiredArgsConstructor;
+import org.springframework.stereotype.Service;
+
+/**
+ * 虚拟设备服务
+ */
+@Service
+@RequiredArgsConstructor
+public class VirtualDeviceService {
+    private final DeviceCommandService deviceCommandService;
+
+    public void completeCommandResponse(DeviceCommand cmdToDevice) {
+        new Thread(() -> {
+            try {
+                JSONObject jsonObject = new JSONObject();
+                jsonObject.putOnce("cmdId", cmdToDevice.getCmdId());
+                jsonObject.putOnce("success", true);
+
+                String code = cmdToDevice.getCmdCode();
+                Action action = cmdToDevice.getAction();
+                Device device = cmdToDevice.getDevice();
+                if (code.contains("controlMotorCmd")) {
+                    if (Action.ORIGIN.equals(action)) {
+                        Thread.sleep(3000);
+                    } else if (!Action.SET.equals(action)) {//非设置电机参数，也就是电机移动
+                        Thread.sleep(500);
+                    }
+                } else if (code.contains("getInfoCmd")) {
+
+                }
+                deviceCommandService.completeCommandResponse(jsonObject);
+            } catch (InterruptedException e) {
+                // 处理中断异常
+                Thread.currentThread().interrupt();
+            }
+        }).start();
+    }
+
+}

src/main/java/com/iflytop/handacid/app/websocket/server/DebugGenerator.java

@@ -0,0 +1,22 @@
+package com.iflytop.handacid.app.websocket.server;
+
+import cn.hutool.json.JSONObject;
+
+public class DebugGenerator {
+
+    public static JSONObject generateJson(String commandId, String command, String status, String title, Object content) {
+        JSONObject jsonObject = new JSONObject();
+        jsonObject.set("commandId", commandId);
+        jsonObject.set("command", command);
+        jsonObject.set("status", status);
+        jsonObject.set("title", title);
+        jsonObject.set("content", content);
+        return jsonObject;
+    }
+
+    public static JSONObject generateJson(String commandId, String command, String status, String title) {
+        return generateJson(commandId, command, status, title, null);
+    }
+
+
+}

src/main/java/com/iflytop/handacid/app/websocket/server/WebSocketMessageType.java

@@ -0,0 +1,59 @@
+package com.iflytop.handacid.app.websocket.server;
+
+public class WebSocketMessageType {
+    /**
+     * 设备状态
+     */
+    public static final String STATUS = "status";
+    /**
+     * 设备报警
+     */
+    public static final String ALARM = "alarm";
+    /**
+     * 滴定日志
+     */
+    public static final String LOG = "log";
+    /**
+     * 自检移动电机测试
+     */
+    public static final String SELF_MOVE_TEST = "self_move_test";
+    /**
+     * 指令反馈
+     */
+    public static final String CMD_RESPONSE = "cmd_response";
+
+    /**
+     * 工艺执行步骤反馈
+     */
+    public static final String CRAFTS_STEP = "crafts_step";
+
+    /**
+     * 工艺执行状态反馈
+     */
+    public static final String CRAFTS_STATE = "crafts_state";
+
+    /**
+     * 工艺DEBUG
+     */
+    public static final String CRAFTS_DEBUG = "crafts_debug";
+
+    /**
+     * 容器剩余状态
+     */
+    public static final String CONTAINER = "container";
+
+    /**
+     * DEBUG消息推送
+     */
+    public static final String CMD_DEBUG = "cmd_debug";
+
+    /**
+     * 加热倒计时
+     */
+    public static final String HEAT_COUNTDOWN = "heat_countdown";
+    /**
+     * 照片
+     */
+    public static final String PHOTO = "photo";
+
+}

src/main/java/com/iflytop/handacid/app/websocket/server/WebSocketSender.java

@@ -0,0 +1,59 @@
+package com.iflytop.handacid.app.websocket.server;
+
+import cn.hutool.json.JSONUtil;
+import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.StringUtils;
+import org.springframework.stereotype.Component;
+
+import java.time.Instant;
+import java.time.LocalDateTime;
+import java.time.format.DateTimeFormatter;
+
+@Slf4j
+@Component
+public class WebSocketSender {
+
+    public void push(String type, Object data) {
+        WebsocketResult websocketResult = new WebsocketResult();
+        websocketResult.setType(type);
+        websocketResult.setData(data);
+        websocketResult.setTimestamp(Instant.now().toEpochMilli());
+        WebSocketServer.sendMessageToClients(JSONUtil.toJsonStr(websocketResult));
+//        log.info("WS::{}", JSONUtil.toJsonStr(websocketResult));
+    }
+
+    public void pushCraftsDebug(Object data) {
+        push(WebSocketMessageType.CRAFTS_DEBUG, data);
+    }
+
+    public void pushDebug(Object data) {
+        push(WebSocketMessageType.CMD_DEBUG, data);
+    }
+
+    public void pushLog(String code, String type, String content) {
+        DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss");
+        String formattedDate = LocalDateTime.now().format(formatter);
+        WebsocketResult websocketResult = new WebsocketResult();
+        websocketResult.setType(WebSocketMessageType.LOG);
+        websocketResult.setData(formattedDate + "模块" + StringUtils.substring(code, code.length() - 1) + type + content);
+        websocketResult.setTimestamp(Instant.now().toEpochMilli());
+        WebSocketServer.sendMessageToClients(JSONUtil.toJsonStr(websocketResult));
+    }
+
+    public void pushCMDResponse(Object data) {
+        push(WebSocketMessageType.CMD_RESPONSE, data);
+    }
+
+    public void pushSelfMoveTest(Object data) {
+        push(WebSocketMessageType.SELF_MOVE_TEST, data);
+    }
+
+    public void pushHeatCountdown(Object data) {
+        push(WebSocketMessageType.HEAT_COUNTDOWN, data);
+    }
+
+   /* public void pushNotification(Notification notification) {
+        push("notification", notification);
+    }*/
+
+}

src/main/java/com/iflytop/handacid/app/websocket/server/WebSocketServer.java

@@ -0,0 +1,51 @@
+package com.iflytop.handacid.app.websocket.server;
+
+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) {
+                    log.error("WS发送给客户端失败 sessionId={}", session.getId(), e);
+                }
+            }
+        }
+    }
+
+    @OnOpen
+    public void onOpen(Session session) {
+        sessions.add(session);
+        log.info("新连接加入，sessionId={}", session.getId());
+    }
+
+    @OnMessage
+    public void onMessage(String message, Session session) {
+        log.info("收到消息 sessionId={}，内容：{}", session.getId(), message);
+    }
+
+    @OnClose
+    public void onClose(Session session) {
+        sessions.remove(session);
+        log.info("连接已关闭，sessionId={}", session.getId());
+    }
+
+    @OnError
+    public void onError(Session session, Throwable error) {
+        log.error("发生错误，sessionId={}", session.getId(), error);
+    }
+}

src/main/java/com/iflytop/handacid/app/websocket/server/WebSocketServerConfig.java

@@ -0,0 +1,14 @@
+package com.iflytop.handacid.app.websocket.server;
+
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+import org.springframework.web.socket.server.standard.ServerEndpointExporter;
+
+@Configuration
+public class WebSocketServerConfig {
+
+    @Bean
+    public ServerEndpointExporter serverEndpointExporter() {
+        return new ServerEndpointExporter();
+    }
+}

src/main/java/com/iflytop/handacid/app/websocket/server/WebsocketResult.java

@@ -0,0 +1,21 @@
+package com.iflytop.handacid.app.websocket.server;
+
+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;
+
+    @Schema(description = "推送时间戳")
+    private Long timestamp;
+}

src/main/java/com/iflytop/handacid/common/base/BaseEntity.java

@@ -0,0 +1,44 @@
+package com.iflytop.handacid.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/iflytop/handacid/common/base/BasePageQuery.java

@@ -0,0 +1,26 @@
+package com.iflytop.handacid.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/iflytop/handacid/common/base/IBaseEnum.java

@@ -0,0 +1,97 @@
+package com.iflytop.handacid.common.base;
+
+
+import cn.hutool.core.util.ObjectUtil;
+
+import java.util.Arrays;
+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;
+    }
+    /**
+     * 根据name值比对是否包含
+     *
+     * @param enumClass
+     * @param name
+     * @return
+     */
+    static  <T extends Enum<T>> boolean contains(Class<T> enumClass, String name) {
+        return Arrays.stream(enumClass.getEnumConstants())
+                .map(Enum::name)
+                .anyMatch(name::equals);
+    }
+
+    T getValue();
+
+    String getLabel();
+
+
+}

src/main/java/com/iflytop/handacid/common/command/DeviceCommandParams.java

@@ -0,0 +1,24 @@
+package com.iflytop.handacid.common.command;
+
+
+import com.iflytop.handacid.common.enums.BeepMode;
+import com.iflytop.handacid.common.enums.MotorDirection;
+import com.iflytop.handacid.common.enums.TricolorLightColor;
+import lombok.Data;
+
+@Data
+public class DeviceCommandParams {
+    private String device;
+    private MotorDirection direction;
+    private Double position;
+    private Double speed;
+    private Double angle;
+    private Double volume;
+    private Double distance;
+    private Double temperature;
+    private TricolorLightColor color;
+    private BeepMode mode;
+    private Double x;
+    private Double y;
+    private Double z;
+}

src/main/java/com/iflytop/handacid/common/config/A8kCanBusConnectionConfig.java

@@ -0,0 +1,32 @@
+package com.iflytop.handacid.common.config;
+
+import com.iflytop.handacid.hardware.comm.can.A8kCanBusConnection;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+
+@Configuration
+public class A8kCanBusConnectionConfig {
+    //协议参考 https://iflytop1.feishu.cn/wiki/QFwVwGnI8iYp0fk20W9cnpYAnkg
+    @Value("${iflytophald.ip}")
+    String ip;
+
+    @Value("${iflytophald.cmdch.port}")
+    Integer cmdchPort;
+
+    @Value("${iflytophald.datach.port}")
+    Integer datachPort;
+
+    public String getDatachUrl(String datachannel) {
+        return String.format("ws://%s:%d/%s", ip, datachPort, datachannel);
+    }
+
+    public String getCmdChBaseUrl(String cmdchannel) {
+        return String.format("http://%s:%d/%s", ip, cmdchPort, cmdchannel);
+    }
+
+    @Bean
+    A8kCanBusConnection a8kCanBusBaseService() {
+        return new A8kCanBusConnection(getCmdChBaseUrl("zexcan"), getDatachUrl("zexcan"));
+    }
+}

src/main/java/com/iflytop/handacid/common/config/MybatisPlusConfig.java

@@ -0,0 +1,61 @@
+package com.iflytop.handacid.common.config;
+
+import com.baomidou.mybatisplus.annotation.DbType;
+import com.baomidou.mybatisplus.core.config.GlobalConfig;
+import com.baomidou.mybatisplus.extension.plugins.MybatisPlusInterceptor;
+import com.baomidou.mybatisplus.extension.plugins.inner.OptimisticLockerInnerInterceptor;
+import com.baomidou.mybatisplus.extension.plugins.inner.PaginationInnerInterceptor;
+import com.iflytop.handacid.app.common.handler.MyMetaObjectHandler;
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+import org.springframework.transaction.annotation.EnableTransactionManagement;
+
+/**
+ *
+ */
+@EnableTransactionManagement
+@Configuration
+public class MybatisPlusConfig {
+
+    @Bean
+    public MybatisPlusInterceptor mybatisPlusInterceptor() {
+        MybatisPlusInterceptor interceptor = new MybatisPlusInterceptor();
+        // 乐观锁插件
+        interceptor.addInnerInterceptor(optimisticLockerInnerInterceptor());
+        // 分页插件
+        interceptor.addInnerInterceptor(paginationInnerInterceptor());
+
+        return interceptor;
+    }
+
+    /**
+     * 分页插件，自动识别数据库类型
+     * <a href="https://baomidou.com/guide/interceptor-pagination.html">...</a>
+     */
+    public PaginationInnerInterceptor paginationInnerInterceptor() {
+        PaginationInnerInterceptor paginationInnerInterceptor = new PaginationInnerInterceptor();
+        // 设置数据库类型
+        paginationInnerInterceptor.setDbType(DbType.SQLITE);
+        // 设置最大单页限制数量，默认 500 条，-1 不受限制
+        paginationInnerInterceptor.setMaxLimit(-1L);
+        return paginationInnerInterceptor;
+    }
+
+    /**
+     * 乐观锁插件
+     * <a href="https://baomidou.com/guide/interceptor-optimistic-locker.html">...</a>
+     */
+    public OptimisticLockerInnerInterceptor optimisticLockerInnerInterceptor() {
+        return new OptimisticLockerInnerInterceptor();
+    }
+
+    /**
+     * 自动填充数据库创建人、创建时间、更新人、更新时间
+     */
+    @Bean
+    public GlobalConfig globalConfig() {
+        GlobalConfig globalConfig = new GlobalConfig();
+        globalConfig.setMetaObjectHandler(new MyMetaObjectHandler());
+        return globalConfig;
+    }
+}

src/main/java/com/iflytop/handacid/common/config/SwaggerConfig.java

@@ -0,0 +1,68 @@
+package com.iflytop.handacid.common.config;
+
+import cn.hutool.core.util.ArrayUtil;
+import io.swagger.v3.oas.models.Components;
+import io.swagger.v3.oas.models.OpenAPI;
+import io.swagger.v3.oas.models.info.Info;
+import io.swagger.v3.oas.models.security.SecurityScheme;
+import org.springdoc.core.customizers.GlobalOpenApiCustomizer;
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+import org.springframework.http.HttpHeaders;
+import org.springframework.util.AntPathMatcher;
+
+import java.util.stream.Stream;
+
+/***
+ * 创建Swagger配置
+ */
+@Configuration
+public class SwaggerConfig {
+
+    @Bean
+    public GlobalOpenApiCustomizer orderGlobalOpenApiCustomizer() {
+        return openApi -> {
+            // 全局添加Authorization
+            if (openApi.getPaths() != null) {
+                openApi.getPaths().forEach((path, pathItem) -> {
+
+                    // 忽略认证的请求无需携带 Authorization
+                    String[] ignoreUrls = {"/api/auth/login"};
+                    if (ArrayUtil.isNotEmpty(ignoreUrls)) {
+                        // Ant 匹配忽略的路径，不添加Authorization
+                        AntPathMatcher antPathMatcher = new AntPathMatcher();
+                        if (Stream.of(ignoreUrls).anyMatch(ignoreUrl -> antPathMatcher.match(ignoreUrl, path))) {
+                            return;
+                        }
+                    }
+
+                    // 其他接口统一添加Authorization
+//                    pathItem.readOperations()
+//                            .forEach(operation ->
+//                                    operation.addSecurityItem(new SecurityRequirement().addList(HttpHeaders.AUTHORIZATION))
+//                            );
+                });
+            }
+        };
+    }
+
+    @Bean
+    public OpenAPI customOpenAPI() {
+        return new OpenAPI()
+                .info(new Info()
+                        .title("系统API")
+                        .version("1.0"))  // 配置全局鉴权参数-Authorize
+                .components(new Components()
+                        .addSecuritySchemes(HttpHeaders.AUTHORIZATION,
+                                new SecurityScheme()
+                                        .name(HttpHeaders.AUTHORIZATION)
+                                        .type(SecurityScheme.Type.APIKEY)
+                                        .in(SecurityScheme.In.HEADER)
+                                        .scheme("Bearer")
+                                        .bearerFormat("JWT")
+                        )
+                );
+    }
+
+
+}

src/main/java/com/iflytop/handacid/common/config/WebConfig.java

@@ -0,0 +1,16 @@
+package com.iflytop.handacid.common.config;
+
+import org.springframework.context.annotation.Configuration;
+import org.springframework.web.servlet.config.annotation.CorsRegistry;
+import org.springframework.web.servlet.config.annotation.WebMvcConfigurer;
+
+@Configuration
+public class WebConfig implements WebMvcConfigurer {
+    @Override
+    public void addCorsMappings(CorsRegistry registry) {
+        registry.addMapping("/api/**")
+                .allowedOrigins("*")
+                .allowedMethods("GET", "POST", "PUT", "DELETE")
+                .allowedHeaders("*");
+    }
+}

src/main/java/com/iflytop/handacid/common/enums/Action.java

@@ -0,0 +1,39 @@
+package com.iflytop.handacid.common.enums;
+
+import lombok.Getter;
+
+/**
+ * 通用设备动作枚举
+ */
+public enum Action {
+    MOVE("绝对移动"),
+    MOVE_BY("相对移动"),
+    ORIGIN("回原点"),
+    ROTATE("旋转"),
+    STOP("停止"),
+    OPEN("打开"),
+    CLOSE("关闭"),
+    SET("设置"),
+    GET("获取"),
+    OPEN_CLAMP("打开抱闸"),
+    CLOSE_CLAMP("关闭抱闸"),
+    ENABLE("使能"),
+    DISABLE("失能"),
+    MOVE_END("移动到末端点"),
+    ;
+
+    /**
+     * 动作的中文描述
+     */
+    @Getter
+    private final String description;
+
+    Action(String description) {
+        this.description = description;
+    }
+
+    @Override
+    public String toString() {
+        return name();
+    }
+}

src/main/java/com/iflytop/handacid/common/enums/BeepMode.java

@@ -0,0 +1,19 @@
+package com.iflytop.handacid.common.enums;
+
+
+import com.iflytop.handacid.common.base.IBaseEnum;
+
+public enum BeepMode implements IBaseEnum {
+    alarm, // 报警音
+    info; //提示音
+
+    @Override
+    public Object getValue() {
+        return null;
+    }
+
+    @Override
+    public String getLabel() {
+        return "";
+    }
+}

src/main/java/com/iflytop/handacid/common/enums/Device.java

@@ -0,0 +1,66 @@
+package com.iflytop.handacid.common.enums;
+
+import lombok.Getter;
+
+public enum Device {
+    Z_MOTOR(HardwareType.STEPPER_MOTOR, "Z 轴升降电机"),
+    CERAMIC_PUMP_1(HardwareType.STEPPER_MOTOR, "陶瓷泵 1"),
+    CERAMIC_PUMP_2(HardwareType.STEPPER_MOTOR, "陶瓷泵 2"),
+    BRUSHLESS_PUMP_1(HardwareType.STEPPER_MOTOR, "无刷泵 1"),
+    BRUSHLESS_PUMP_2(HardwareType.STEPPER_MOTOR, "无刷泵 2"),
+    BRUSHLESS_PUMP_3(HardwareType.STEPPER_MOTOR, "无刷泵 3"),
+    BRUSHLESS_PUMP_4(HardwareType.STEPPER_MOTOR, "无刷泵 4"),
+    BRUSHLESS_PUMP_5(HardwareType.STEPPER_MOTOR, "无刷泵 5"),
+    BRUSHLESS_PUMP_6(HardwareType.STEPPER_MOTOR, "无刷泵 6"),
+    BRUSHLESS_PUMP_7(HardwareType.STEPPER_MOTOR, "无刷泵 7"),
+    BRUSHLESS_PUMP_8(HardwareType.STEPPER_MOTOR, "无刷泵 8"),
+    BRUSHLESS_PUMP_9(HardwareType.STEPPER_MOTOR, "无刷泵 9"),
+    BRUSHLESS_PUMP_10(HardwareType.STEPPER_MOTOR, "无刷泵 10"),
+    STEP_PUMP_1(HardwareType.STEPPER_MOTOR, "步进泵 1"),
+    STEP_PUMP_2(HardwareType.STEPPER_MOTOR, "步进泵 2"),
+    STEP_PUMP_3(HardwareType.STEPPER_MOTOR, "步进泵 3"),
+    STIR_MOTOR_1(HardwareType.STEPPER_MOTOR, "搅拌电机 1"),
+    STIR_MOTOR_2(HardwareType.STEPPER_MOTOR, "搅拌电机 2"),
+    TITRATION_MOTOR_1(HardwareType.STEPPER_MOTOR, "滴定移动电机 1"),
+    TITRATION_MOTOR_2(HardwareType.STEPPER_MOTOR, "滴定移动电机 2"),
+    CLAW(HardwareType.SERVO_MOTOR, "夹爪"),
+    ROBOTIC_ARM_BIG(HardwareType.STEPPER_MOTOR, "双轴机械臂大臂"),
+    ROBOTIC_ARM_SMALL(HardwareType.STEPPER_MOTOR, "双轴机械臂小臂"),
+    HEAT_ROD_1(HardwareType.IO_DEVICE, "加热棒 1"),
+    HEAT_ROD_2(HardwareType.IO_DEVICE, "加热棒 2"),
+    TRICOLOR_LIGHT(HardwareType.IO_DEVICE, "三色灯"),
+    BEEP(HardwareType.IO_DEVICE, "蜂鸣器"),
+    MAGNET(HardwareType.IO_DEVICE, "电磁开关"),
+    CONTAINER_LOW_LEVEL_1(HardwareType.IO_DEVICE, "容器低液位检测 1"),
+    CONTAINER_LOW_LEVEL_2(HardwareType.IO_DEVICE, "容器低液位检测 2"),
+    CONTAINER_LOW_LEVEL_3(HardwareType.IO_DEVICE, "容器低液位检测 3"),
+    CONTAINER_LOW_LEVEL_4(HardwareType.IO_DEVICE, "容器低液位检测 4"),
+    CONTAINER_LOW_LEVEL_5(HardwareType.IO_DEVICE, "容器低液位检测 5"),
+    CONTAINER_LOW_LEVEL_6(HardwareType.IO_DEVICE, "容器低液位检测 6"),
+    CONTAINER_LOW_LEVEL_7(HardwareType.IO_DEVICE, "容器低液位检测 7"),
+    CONTAINER_LOW_LEVEL_8(HardwareType.IO_DEVICE, "容器低液位检测 8"),
+    HEATER_TUBE_EXIST_1(HardwareType.IO_DEVICE, "加热位是否存在试管 1"),
+    HEATER_TUBE_EXIST_2(HardwareType.IO_DEVICE, "加热位是否存在试管 2"),
+    ;
+
+    /**
+     * 设备所属硬件类型
+     */
+    @Getter
+    private final HardwareType type;
+    /**
+     * 设备中文描述或显示名
+     */
+    @Getter
+    private final String description;
+
+    Device(HardwareType type, String description) {
+        this.type = type;
+        this.description = description;
+    }
+
+    @Override
+    public String toString() {
+        return this.name();
+    }
+}

src/main/java/com/iflytop/handacid/common/enums/EnableStatus.java

@@ -0,0 +1,5 @@
+package com.iflytop.handacid.common.enums;
+
+public enum EnableStatus {
+    ENABLE, DISABLE
+}

src/main/java/com/iflytop/handacid/common/enums/HardwareType.java

@@ -0,0 +1,25 @@
+package com.iflytop.handacid.common.enums;
+
+public enum HardwareType {
+    /**
+     * 步进电机
+     */
+    STEPPER_MOTOR,
+    /**
+     * 伺服电机
+     */
+    SERVO_MOTOR,
+    /**
+     * 通用传感器（温度、湿度等）
+     */
+    SENSOR,
+    /**
+     * IO 控制（阀门、风扇、加热器等）
+     */
+    IO_DEVICE,
+    /**
+     * 相机
+     */
+    CAMERA;
+
+}

src/main/java/com/iflytop/handacid/common/enums/MotorDirection.java

@@ -0,0 +1,5 @@
+package com.iflytop.handacid.common.enums;
+
+public enum MotorDirection {
+    FORWARD, BACKWARD
+}

src/main/java/com/iflytop/handacid/common/enums/TricolorLightColor.java

@@ -0,0 +1,17 @@
+package com.iflytop.handacid.common.enums;
+
+import com.iflytop.handacid.common.base.IBaseEnum;
+
+public enum TricolorLightColor implements IBaseEnum {
+    RED, GREEN, BLUE;
+
+    @Override
+    public Object getValue() {
+        return null;
+    }
+
+    @Override
+    public String getLabel() {
+        return "";
+    }
+}

src/main/java/com/iflytop/handacid/common/exception/AppException.java

@@ -0,0 +1,21 @@
+package com.iflytop.handacid.common.exception;
+
+import com.iflytop.handacid.common.result.IResultCode;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@Data
+@EqualsAndHashCode(callSuper = true)
+public class AppException extends RuntimeException {
+    private final IResultCode resultCode;
+
+    public AppException(IResultCode resultCode) {
+        super(resultCode.getMsg());
+        this.resultCode = resultCode;
+    }
+
+    @Override
+    public String toString() {
+        return "AppException{" + "code='" + resultCode.getCode() + ", msg=" + resultCode.getMsg() + '}';
+    }
+}

src/main/java/com/iflytop/handacid/common/mapper/DeviceParamConfigMapper.java

@@ -0,0 +1,12 @@
+package com.iflytop.handacid.common.mapper;
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.iflytop.handacid.common.model.entity.DeviceParamConfig;
+import org.apache.ibatis.annotations.Mapper;
+
+/**
+ * 设备参数配置持久层接口
+ */
+@Mapper
+public interface DeviceParamConfigMapper extends BaseMapper<DeviceParamConfig> {
+}

src/main/java/com/iflytop/handacid/common/mapper/SolutionsMapper.java

@@ -0,0 +1,13 @@
+package com.iflytop.handacid.common.mapper;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.iflytop.handacid.common.model.entity.Solutions;
+import org.apache.ibatis.annotations.Mapper;
+
+/**
+ * 溶液持久层接口
+ */
+@Mapper
+public interface SolutionsMapper extends BaseMapper<Solutions> {
+}

src/main/java/com/iflytop/handacid/common/mapper/SystemConfigMapper.java

@@ -0,0 +1,12 @@
+package com.iflytop.handacid.common.mapper;
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.iflytop.handacid.common.model.entity.SystemConfig;
+import org.apache.ibatis.annotations.Mapper;
+
+/**
+ * 系统配置持久层接口
+ */
+@Mapper
+public interface SystemConfigMapper extends BaseMapper<SystemConfig> {
+}

src/main/java/com/iflytop/handacid/common/mapper/SystemLogMapper.java

@@ -0,0 +1,12 @@
+package com.iflytop.handacid.common.mapper;
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.iflytop.handacid.common.model.entity.SystemLog;
+import org.apache.ibatis.annotations.Mapper;
+
+/**
+ * 系统日志持久层接口
+ */
+@Mapper
+public interface SystemLogMapper extends BaseMapper<SystemLog> {
+}

src/main/java/com/iflytop/handacid/common/mapper/UserMapper.java

@@ -0,0 +1,12 @@
+package com.iflytop.handacid.common.mapper;
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.iflytop.handacid.common.model.entity.User;
+import org.apache.ibatis.annotations.Mapper;
+
+/**
+ * 用户持久层接口
+ */
+@Mapper
+public interface UserMapper extends BaseMapper<User> {
+}

src/main/java/com/iflytop/handacid/common/model/bo/Point2D.java

@@ -0,0 +1,20 @@
+package com.iflytop.handacid.common.model.bo;
+
+
+import lombok.Data;
+
+@Data
+public class Point2D {
+    public Double x;
+    public Double y;
+
+    public Point2D() {
+    }
+
+    public Point2D(Double x, Double y) {
+        this.x = x;
+        this.y = y;
+    }
+
+
+}

src/main/java/com/iflytop/handacid/common/model/bo/Point3D.java

@@ -0,0 +1,22 @@
+package com.iflytop.handacid.common.model.bo;
+
+
+import lombok.Data;
+
+@Data
+public class Point3D {
+    public Double x;
+    public Double y;
+    public Double z;
+
+    public Point3D() {
+    }
+
+    public Point3D(Double x, Double y, Double z) {
+        this.x = x;
+        this.y = y;
+        this.z = z;
+    }
+
+
+}

src/main/java/com/iflytop/handacid/common/model/entity/DeviceParamConfig.java

@@ -0,0 +1,30 @@
+package com.iflytop.handacid.common.model.entity;
+
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.iflytop.handacid.common.base.BaseEntity;
+import io.swagger.v3.oas.annotations.media.Schema;
+import jakarta.validation.constraints.NotBlank;
+import jakarta.validation.constraints.NotNull;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@EqualsAndHashCode(callSuper = true)
+@Schema(description = "设备参数配置")
+@TableName("device_param_config")
+@Data
+public class DeviceParamConfig extends BaseEntity {
+
+    @NotNull
+    @NotBlank
+    @Schema(description = "模块标识")
+    private String mid;
+
+    @NotNull
+    @NotBlank
+    @Schema(description = "寄存器索引")
+    private String regIndex;
+
+    @Schema(description = "寄存器值")
+    private Integer regVal;
+
+}

src/main/java/com/iflytop/handacid/common/model/entity/Solutions.java

@@ -0,0 +1,17 @@
+package com.iflytop.handacid.common.model.entity;
+
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.iflytop.handacid.common.base.BaseEntity;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@Data
+@TableName("solutions")
+@EqualsAndHashCode(callSuper = true)
+@Schema(description = "溶液")
+public class Solutions extends BaseEntity {
+
+    @Schema(description = "溶液名称")
+    private String name;
+}

src/main/java/com/iflytop/handacid/common/model/entity/SystemConfig.java

@@ -0,0 +1,21 @@
+package com.iflytop.handacid.common.model.entity;
+
+
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.iflytop.handacid.common.base.BaseEntity;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@Data
+@TableName("system_config")
+@EqualsAndHashCode(callSuper = true)
+@Schema(description = "系统配置")
+public class SystemConfig extends BaseEntity {
+
+    @Schema(description = "配置键")
+    private String key;
+
+    @Schema(description = "配置值")
+    private String value;
+}

src/main/java/com/iflytop/handacid/common/model/entity/SystemLog.java

@@ -0,0 +1,20 @@
+package com.iflytop.handacid.common.model.entity;
+
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.iflytop.handacid.common.base.BaseEntity;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@Data
+@TableName("system_log")
+@EqualsAndHashCode(callSuper = true)
+@Schema(description = "系统日志")
+public class SystemLog extends BaseEntity {
+
+    @Schema(description = "日志标题")
+    private String title;
+
+    @Schema(description = "日志内容")
+    private String content;
+}

src/main/java/com/iflytop/handacid/common/model/entity/User.java

@@ -0,0 +1,44 @@
+package com.iflytop.handacid.common.model.entity;
+
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.iflytop.handacid.common.base.BaseEntity;
+import com.iflytop.handacid.common.enums.EnableStatus;
+import com.iflytop.handacid.app.common.enums.UserRole;
+import io.swagger.v3.oas.annotations.media.Schema;
+import jakarta.validation.constraints.NotNull;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+/**
+ * 用户实体
+ */
+@EqualsAndHashCode(callSuper = true)
+@Schema(description = "用户")
+@TableName("user")
+@Data
+public class User extends BaseEntity {
+
+    @NotNull
+    @Schema(description = "用户名")
+    private String username;
+
+    @NotNull
+    @Schema(description = "昵称")
+    private String nickname;
+
+    @NotNull
+    @Schema(description = "密码")
+    private String password;
+
+    @NotNull
+    @Schema(description = "人员角色")
+    private UserRole role;
+
+    @NotNull
+    @Schema(description = "是否删除")
+    private EnableStatus deleted;
+
+    @Schema(description = "是否是系统固定用户")
+    private EnableStatus fixedUser;
+
+}

src/main/java/com/iflytop/handacid/common/model/vo/DeviceParamGroupVO.java

@@ -0,0 +1,36 @@
+package com.iflytop.handacid.common.model.vo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.AllArgsConstructor;
+import lombok.Data;
+
+import java.util.List;
+
+/**
+ * 按模块分组的设备参数视图
+ */
+@Data
+@Schema(description = "按模块分组的设备参数")
+public class DeviceParamGroupVO {
+
+    @Schema(description = "模块标识（ModuleId.name），如 DoorM")
+    private String mid;
+
+    @Schema(description = "该模块下的所有配置项")
+    private List<ParamItem> reg;
+
+    public DeviceParamGroupVO(String mid, List<ParamItem> reg) {
+        this.mid = mid;
+        this.reg = reg;
+    }
+
+    @AllArgsConstructor
+    @Data
+    @Schema(description = "配置项")
+    public static class ParamItem {
+        @Schema(description = "配置项名称，如 kreg_step_motor_pos")
+        private String name;
+        @Schema(description = "值")
+        private Integer value;
+    }
+}

src/main/java/com/iflytop/handacid/common/model/vo/ModuleIdVO.java

@@ -0,0 +1,19 @@
+package com.iflytop.handacid.common.model.vo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.AllArgsConstructor;
+import lombok.Data;
+
+/**
+ * ModuleId 的展示视图
+ */
+@Data
+@AllArgsConstructor
+@Schema(description = "ModuleId 的展示视图")
+public class ModuleIdVO {
+    @Schema(description = "模块名称，如 DoorM")
+    private String name;
+
+    @Schema(description = "模块描述")
+    private String description;
+}

src/main/java/com/iflytop/handacid/common/model/vo/RegIndexVO.java

@@ -0,0 +1,16 @@
+package com.iflytop.handacid.common.model.vo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.AllArgsConstructor;
+import lombok.Data;
+
+/**
+ * RegIndex 的展示视图
+ */
+@Data
+@AllArgsConstructor
+@Schema(description = "RegIndex 的展示视图")
+public class RegIndexVO {
+    @Schema(description = "配置项名称，如 kreg_step_motor_pos")
+    private String name;
+}

src/main/java/com/iflytop/handacid/common/result/IResultCode.java

@@ -0,0 +1,12 @@
+package com.iflytop.handacid.common.result;
+
+/**
+ * 响应码接口
+ **/
+public interface IResultCode {
+
+    String getCode();
+
+    String getMsg();
+
+}

src/main/java/com/iflytop/handacid/common/result/PageResult.java

@@ -0,0 +1,43 @@
+package com.iflytop.handacid.common.result;
+
+import com.baomidou.mybatisplus.core.metadata.IPage;
+import lombok.Data;
+
+import java.io.Serializable;
+import java.util.List;
+
+/**
+ * 分页响应结构体
+ */
+@Data
+public class PageResult<T> implements Serializable {
+
+    private String code;
+
+    private Data<T> data;
+
+    private String msg;
+
+    public static <T> PageResult<T> success(IPage<T> page) {
+        PageResult<T> result = new PageResult<>();
+        result.setCode(ResultCode.SUCCESS.getCode());
+
+        Data<T> data = new Data<>();
+        data.setList(page.getRecords());
+        data.setTotal(page.getTotal());
+
+        result.setData(data);
+        result.setMsg(ResultCode.SUCCESS.getMsg());
+        return result;
+    }
+
+    @lombok.Data
+    public static class Data<T> {
+
+        private List<T> list;
+
+        private long total;
+
+    }
+
+}

src/main/java/com/iflytop/handacid/common/result/Result.java

@@ -0,0 +1,75 @@
+package com.iflytop.handacid.common.result;
+
+import cn.hutool.core.util.StrUtil;
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * 统一响应结构体
+ **/
+@Data
+public class Result<T> implements Serializable {
+
+    private String code;
+
+    private T data;
+
+    private String msg;
+
+    public static <T> Result<T> success() {
+        return success(null);
+    }
+
+    public static <T> Result<T> success(T data) {
+        Result<T> result = new Result<>();
+        result.setCode(ResultCode.SUCCESS.getCode());
+        result.setMsg(ResultCode.SUCCESS.getMsg());
+        result.setData(data);
+        return result;
+    }
+
+    public static <T> Result<T> failed() {
+        return result(ResultCode.SYSTEM_ERROR.getCode(), ResultCode.SYSTEM_ERROR.getMsg(), null);
+    }
+
+    public static <T> Result<T> failed(String msg) {
+        return result(ResultCode.SYSTEM_ERROR.getCode(), msg, null);
+    }
+
+    public static <T> Result<T> judge(boolean status) {
+        if (status) {
+            return success();
+        } else {
+            return failed();
+        }
+    }
+
+    public static <T> Result<T> failed(IResultCode resultCode) {
+        return result(resultCode.getCode(), resultCode.getMsg(), null);
+    }
+
+    public static <T> Result<T> failed(IResultCode resultCode, String msg) {
+        return result(resultCode.getCode(), StrUtil.isNotBlank(msg) ? msg : resultCode.getMsg(), null);
+    }
+
+    public static <T> Result<T> failed(String code, String msg) {
+        return result(code, msg, null);
+    }
+
+    private static <T> Result<T> result(IResultCode resultCode, T data) {
+        return result(resultCode.getCode(), resultCode.getMsg(), data);
+    }
+
+    private static <T> Result<T> result(String code, String msg, T data) {
+        Result<T> result = new Result<>();
+        result.setCode(code);
+        result.setData(data);
+        result.setMsg(msg);
+        return result;
+    }
+
+    public static boolean isSuccess(Result<?> result) {
+        return result != null && ResultCode.SUCCESS.getCode().equals(result.getCode());
+    }
+}

src/main/java/com/iflytop/handacid/common/result/ResultCode.java

@@ -0,0 +1,96 @@
+package com.iflytop.handacid.common.result;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+import java.io.Serializable;
+
+/**
+ * 统一前端响应码定义
+ */
+@Getter
+@AllArgsConstructor
+public enum ResultCode implements IResultCode, Serializable {
+    //================================ 通用 =================================
+    SUCCESS("0", "成功"),
+    FAILED("-1", "未知错误"),
+
+    //============================ 1xxx：请求 & 参数 ============================
+    INVALID_PARAMETER("1000", "参数无效或缺失"),
+    PARAMETER_TYPE_MISMATCH("1001", "参数类型不匹配"),
+    PARAMETER_OUT_OF_RANGE("1002", "参数超出允许范围"),
+
+    //============================ 2xxx：认证 & 授权 ============================
+    UNAUTHORIZED("2000", "未认证或登录失效"),
+    FORBIDDEN("2001", "无访问权限"),
+    TOKEN_EXPIRED("2002", "Token 已过期"),
+    TOKEN_INVALID("2003", "Token 无效"),
+
+    //============================ 3xxx：资源访问 ============================
+    NOT_FOUND("3000", "资源不存在"),
+    METHOD_NOT_ALLOWED("3001", "不支持的请求方法"),
+
+    //============================ 4xxx：业务错误 ============================
+    USER_NOT_FOUND("4000", "用户不存在"),
+    USER_ALREADY_EXISTS("4001", "用户已存在"),
+    INVALID_CREDENTIALS("4002", "用户名或密码错误"),
+    OPERATION_NOT_ALLOWED("4003", "业务操作不允许"),
+    DATA_ALREADY_EXISTS("4004", "数据已存在"),
+    DATA_ALREADY_NOT_EXISTS("4005", "数据不存在"),
+
+    CRAFT_RUNNING("4101", "工艺正在执行"),
+    CRAFT_CONTEXT_NULL("4102", "请先配置该加热区工艺"),
+    CRAFT_NO_TRAY("4005", "工艺未找到托盘"),
+
+    CONTAINER_NOT_FOUND("4201", "未找到对应溶液容器"),
+    //============================ 5xxx：系统 & 第三方 ============================
+    SYSTEM_ERROR("5000", "系统内部错误"),
+    SERVICE_UNAVAILABLE("5001", "服务暂不可用"),
+    EXTERNAL_API_ERROR("5002", "第三方服务调用失败"),
+    COMMAND_EXEC_TIMEOUT("5003", "命令执行超时"),
+    HARDWARE_ERROR("5004", "硬件错误"),
+    EMERGENCY_STOP("5555", "设备急停中"),
+    //============================ 6xxx：设备、指令相关 ============================
+    COMMAND_NOT_FOUND("6000", "指令未找到"),
+    COMMAND_ALREADY_EXECUTING("6001", "指令正在执行，无法重复执行"),
+    SENSOR_STATUS_FAILED("6010", "获取传感器状态失败"),
+    TARGET_MODULE_OCCUPIED("6021", "目标模块被占用"),
+    TARGET_MODULE_NO_TUBE("6022", "目标模块无试管"),
+    CMD_BUSY("6025", "设备忙，请稍后"),
+    ;
+    /**
+     * 状态码
+     */
+    private final String code;
+    /**
+     * 提示信息
+     */
+    private final String msg;
+
+    @Override
+    public String getCode() {
+        return code;
+    }
+
+    @Override
+    public String getMsg() {
+        return msg;
+    }
+
+    /**
+     * 根据 code 获取枚举
+     */
+    public static ResultCode parse(String code) {
+        for (ResultCode item : values()) {
+            if (item.code.equals(code)) {
+                return item;
+            }
+        }
+        return FAILED;
+    }
+
+    @Override
+    public String toString() {
+        return "{\"code\":\"" + code + "\", \"msg\":\"" + msg + "\"}";
+    }
+}