现场代码同步

src/main/java/com/iflytop/gd/app/cmd/FanStartCommand.java

@@ -4,6 +4,7 @@ import cn.hutool.json.JSONArray;
 import com.iflytop.gd.app.core.BaseCommandHandler;
 import com.iflytop.gd.app.model.dto.CmdDTO;
 import com.iflytop.gd.app.service.DeviceCommandUtilService;
+import com.iflytop.gd.app.service.DeviceStateService;
 import com.iflytop.gd.common.annotation.CommandMapping;
 import com.iflytop.gd.common.enums.HeatModuleCode;
 import lombok.RequiredArgsConstructor;
@@ -21,6 +22,7 @@ import java.util.concurrent.CompletableFuture;
 @CommandMapping("fan_start")
 public class FanStartCommand extends BaseCommandHandler {
     private final DeviceCommandUtilService deviceCommandUtilService;
+    private final DeviceStateService deviceStateService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
@@ -30,6 +32,7 @@ public class FanStartCommand extends BaseCommandHandler {
                 String heatId = heatIdJsonArray.getStr(i);
                 HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
                 deviceCommandUtilService.fanStart(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId);
+                deviceStateService.setHeatModuleStateFanOpen(heatModuleId, true);
             }
         });
     }

src/main/java/com/iflytop/gd/app/cmd/FanStopCommand.java

@@ -4,6 +4,7 @@ import cn.hutool.json.JSONArray;
 import com.iflytop.gd.app.core.BaseCommandHandler;
 import com.iflytop.gd.app.model.dto.CmdDTO;
 import com.iflytop.gd.app.service.DeviceCommandUtilService;
+import com.iflytop.gd.app.service.DeviceStateService;
 import com.iflytop.gd.common.annotation.CommandMapping;
 import com.iflytop.gd.common.enums.HeatModuleCode;
 import lombok.RequiredArgsConstructor;
@@ -21,6 +22,7 @@ import java.util.concurrent.CompletableFuture;
 @CommandMapping("fan_stop")
 public class FanStopCommand extends BaseCommandHandler {
     private final DeviceCommandUtilService deviceCommandUtilService;
+    private final DeviceStateService deviceStateService;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
@@ -30,6 +32,7 @@ public class FanStopCommand extends BaseCommandHandler {
                 String heatId = heatIdJsonArray.getStr(i);
                 HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
                 deviceCommandUtilService.fanClose(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatModuleId);
+                deviceStateService.setHeatModuleStateFanOpen(heatModuleId, false);
             }
         });
     }

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

@@ -3,6 +3,7 @@ package com.iflytop.gd.app.controller;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.iflytop.gd.app.model.dto.LoginDTO;
 import com.iflytop.gd.app.model.entity.User;
+import com.iflytop.gd.app.service.DeviceStateService;
 import com.iflytop.gd.app.service.UserService;
 import com.iflytop.gd.common.enums.data.Deleted;
 import com.iflytop.gd.common.result.Result;
@@ -27,13 +28,14 @@ import java.util.Objects;
 public class AuthController {
 
     private final UserService userService;
+    private final DeviceStateService deviceStateService;
 
     @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(), Deleted.ENABLE) && user.getPassword().equals(loginDTO.getPassword())) {
-            userService.setCurrentUser(user);
+            deviceStateService.setCurrentUser(user);
             user.setPassword(null);
             return Result.success(user);
         }
@@ -43,13 +45,13 @@ public class AuthController {
     @Operation(summary = "用户登出")
     @PostMapping("/logout")
     public Result<String> logout() {
-        userService.clearCurrentUser();
+        deviceStateService.setCurrentUser(null);
         return Result.success();
     }
 
     @Operation(summary = "获取当前登录用户")
     @GetMapping("/current")
     public Result<User> current() {
-        return Result.success(userService.getCurrentUser());
+        return Result.success(deviceStateService.getDeviceState().getCurrentUser());
     }
 }

src/main/java/com/iflytop/gd/app/controller/DeviceParamController.java

@@ -12,8 +12,13 @@ import io.swagger.v3.oas.annotations.tags.Tag;
 import jakarta.validation.Valid;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
+import org.springframework.http.MediaType;
 import org.springframework.web.bind.annotation.*;
+import org.springframework.web.multipart.MultipartFile;
 
+import java.io.*;
+import java.nio.charset.StandardCharsets;
+import java.util.ArrayList;
 import java.util.List;
 
 /**
@@ -74,4 +79,41 @@ public class DeviceParamController {
         return Result.failed();
     }
 
+    @Operation(summary = "上传csv文件覆盖数据库配置")
+    @PostMapping(value = "/uploadFile", consumes = MediaType.MULTIPART_FORM_DATA_VALUE)
+    public Result<String> uploadFile(@RequestPart("file") MultipartFile file) {
+        //文件后缀检查
+        if (!file.getOriginalFilename().endsWith(".csv")) {
+            return Result.failed("<UNK>.csv<UNK>");
+        }
+        try (BufferedReader reader = new BufferedReader(
+                new InputStreamReader(file.getInputStream(), StandardCharsets.UTF_8))) {
+            String line;
+            //是否含有表头
+            boolean isHeader = true;
+            List<DeviceParamConfig> deviceParamConfigList = new ArrayList<>();
+            while ((line = reader.readLine()) != null) {
+                if (isHeader) {
+                    isHeader = false;
+                    continue; // 跳过CSV文件的标题行
+                }
+                String[] data = line.split(",");
+                if (data.length >= 4) { // 假设CSV文件至少包含4列
+                    DeviceParamConfig deviceParamConfig = new DeviceParamConfig();
+                    deviceParamConfig.setId(Long.valueOf(data[0]));
+                    deviceParamConfig.setMid(String.valueOf(data[1]));
+                    deviceParamConfig.setRegIndex(String.valueOf(data[2]));
+                    deviceParamConfig.setRegVal(Integer.valueOf(data[3]));
+                    deviceParamConfigService.save(deviceParamConfig);
+                    deviceParamConfigList.add(deviceParamConfig);
+                }
+            }
+            deviceParamConfigService.saveOrUpdateBatch(deviceParamConfigList);
+        } catch (IOException e) {
+            log.error("csv文件导入数据库失败:{}", e.getMessage());
+            throw new RuntimeException(e);
+        }
+        return Result.success();
+    }
+
 }

src/main/java/com/iflytop/gd/app/controller/TasksController.java

@@ -1,12 +1,13 @@
 package com.iflytop.gd.app.controller;
 
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.metadata.IPage;
-import com.iflytop.gd.app.model.dto.StopTaskDTO;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.iflytop.gd.app.model.dto.GetAllTasksDTO;
 import com.iflytop.gd.app.model.dto.TaskDTO;
 import com.iflytop.gd.app.model.entity.Tasks;
-import com.iflytop.gd.app.model.vo.TaskListVO;
+import com.iflytop.gd.app.model.vo.TaskStepsVO;
 import com.iflytop.gd.app.service.TasksService;
-import com.iflytop.gd.common.base.BasePageQuery;
 import com.iflytop.gd.common.result.PageResult;
 import com.iflytop.gd.common.result.Result;
 import io.swagger.v3.oas.annotations.Operation;
@@ -26,51 +27,48 @@ public class TasksController {
 
     @Operation(summary = "实验列表")
     @GetMapping("/list")
-    public PageResult<TaskListVO> getAllTasks(BasePageQuery pageQuery) {
-        IPage<TaskListVO> result = tasksService.getPage(pageQuery);
+    public PageResult<Tasks> list(GetAllTasksDTO getAllTasksDTO) {
+        IPage<Tasks> result = tasksService.page(new Page<>(getAllTasksDTO.getPageNum(), getAllTasksDTO.getPageSize()), new LambdaQueryWrapper<Tasks>().like(Tasks::getName, "%" + getAllTasksDTO.getName() + "%"));
         return PageResult.success(result);
     }
 
     @Operation(summary = "实验详情")
     @GetMapping("/{id}")
-    public Result<TaskListVO> detail(@PathVariable Long id) {
-        return Result.success(tasksService.selectById(id));
+    public Result<TaskStepsVO> detail(@PathVariable Long id) {
+        return Result.success(tasksService.detail(id));
     }
 
     @Operation(summary = "获取正在进行的实验")
-    @GetMapping("/getIngTask")
-    public Result<Tasks> getIngTask() {
-        return Result.success(tasksService.getIngTask());
+    @GetMapping("/current")
+    public Result<Tasks> getCurrent() {
+        return Result.success(tasksService.getCurrent());
     }
 
-    @Operation(summary = "添加新实验")
+    @Operation(summary = "开始新实验")
     @PostMapping("/")
-    public Result<Tasks> addTask(@RequestBody TaskDTO dto) {
-        if (tasksService.getIngTask() != null) {
+    public Result<Tasks> start(@RequestBody TaskDTO dto) {
+        if (tasksService.getCurrent() != null) {
             return Result.failed("存在正在运行的实验，请先停止");
         }
-        return Result.success(tasksService.addTask(dto.getName()));
+        return Result.success(tasksService.start(dto.getName()));
     }
 
     @Operation(summary = "更新实验")
     @PutMapping("/")
-    public Result<Boolean> updateTask(@RequestBody Tasks task) {
-
+    public Result<?> updateTask(@RequestBody Tasks task) {
         return Result.success(tasksService.updateById(task));
     }
 
     @Operation(summary = "删除实验")
     @DeleteMapping("/{ids}")
-    public Result<Integer> deleteTask(@Parameter(description = "实验ID，多个以英文逗号(,)分割") @PathVariable String ids) {
-        return Result.success(tasksService.removeByIds(ids));
+    public Result<?> deleteTask(@Parameter(description = "ID，多个以英文逗号(,)分割") @PathVariable String ids) {
+        return Result.success(tasksService.deleteTasks(ids));
     }
 
-    @Operation(summary = "停止实验")
+    @Operation(summary = "停止当前实验")
     @PostMapping("/stop")
-    public Result<Integer> stopTask(@RequestBody StopTaskDTO dto) {
-        if (dto.getTaskId() != null) {
-            return Result.success(tasksService.stopTask(dto.getTaskId()));
-        }
-        return Result.failed("停止实验失败");
+    public Result<Integer> stop() {
+        tasksService.stop();
+        return Result.success();
     }
 }

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

@@ -3,7 +3,6 @@ package com.iflytop.gd.app.controller;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
-import com.iflytop.gd.app.model.entity.Ores;
 import com.iflytop.gd.app.model.entity.User;
 import com.iflytop.gd.app.service.UserService;
 import com.iflytop.gd.common.base.BasePageQuery;

src/main/java/com/iflytop/gd/app/core/device/DeviceState.java

@@ -1,5 +1,7 @@
 package com.iflytop.gd.app.core.device;
 
+import com.iflytop.gd.app.model.entity.Tasks;
+import com.iflytop.gd.app.model.entity.User;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.Data;
 
@@ -27,4 +29,8 @@ public class DeviceState {
     private boolean selfTest = false;
     @Schema(description = "是否是急停状态，true为急停")
     private boolean emergencyStop = false;
+    @Schema(description = "当前登录用户")
+    private User currentUser;
+    @Schema(description = "当前实验")
+    private Tasks currentTasks;
 }

src/main/java/com/iflytop/gd/app/core/device/HeatModuleState.java

@@ -26,10 +26,10 @@ public class HeatModuleState {
     private boolean capExist = false;
 
     @Schema(description = "加热器目标温度")
-    private double targetTemperature = 0.0;
+    private Double targetTemperature = null;
 
     @Schema(description = "加热器当前温度")
-    private double temperature = 0.0;
+    private Double temperature = null;
 
     public HeatModuleState(HeatModuleCode moduleCode) {
         this.moduleCode = moduleCode;

src/main/java/com/iflytop/gd/app/mapper/TaskStepsMapper.java

@@ -11,5 +11,4 @@ import java.util.List;
  */
 @Mapper
 public interface TaskStepsMapper extends BaseMapper<TaskSteps> {
-    List<TaskSteps> getTaskStepsByTaskId(Long taskId);
 }

src/main/java/com/iflytop/gd/app/mapper/TasksMapper.java

@@ -3,7 +3,6 @@ package com.iflytop.gd.app.mapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.iflytop.gd.app.model.entity.Tasks;
-import com.iflytop.gd.app.model.vo.TaskListVO;
 import org.apache.ibatis.annotations.Mapper;
 
 import java.util.List;
@@ -13,11 +12,5 @@ import java.util.List;
  */
 @Mapper
 public interface TasksMapper extends BaseMapper<Tasks> {
-    Page<TaskListVO> selectPage(Page<TaskListVO> page);
 
-    TaskListVO selectById(Long id);
-
-    Integer removeByIds(List<Long> ids);
-
-    int stopTask(Long taskId);
 }

src/main/java/com/iflytop/gd/app/model/dto/GetAllTasksDTO.java

@@ -0,0 +1,13 @@
+package com.iflytop.gd.app.model.dto;
+
+import com.iflytop.gd.common.base.BasePageQuery;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@EqualsAndHashCode(callSuper = true)
+@Data
+public class GetAllTasksDTO extends BasePageQuery {
+    @Schema(description = "实验名称")
+    private String name;
+}

src/main/java/com/iflytop/gd/app/model/entity/Tasks.java

@@ -1,12 +1,15 @@
 package com.iflytop.gd.app.model.entity;
 
 import com.baomidou.mybatisplus.annotation.TableName;
+import com.fasterxml.jackson.annotation.JsonFormat;
 import com.iflytop.gd.common.base.BaseEntity;
 import io.swagger.v3.oas.annotations.media.Schema;
 import jakarta.validation.constraints.NotBlank;
 import lombok.Data;
 import lombok.EqualsAndHashCode;
 
+import java.time.LocalDateTime;
+
 @EqualsAndHashCode(callSuper = true)
 @Schema(description = "实验")
 @TableName("tasks")
@@ -19,14 +22,16 @@ public class Tasks extends BaseEntity {
 
     @NotBlank
     @Schema(description = "开始时间")
-    private String startTime;
+    @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss")
+    private LocalDateTime startTime;
+
+    @Schema(description = "结束时间")
+    @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss")
+    private LocalDateTime endTime;
 
     @Schema(description = "创建人")
     private Long createUser;
 
-    @Schema(description = "结束时间")
-    private String endTime;
-
     @Schema(description = "状态 1 执行中 2 执行完毕")
     private Integer status;
 

src/main/java/com/iflytop/gd/app/model/vo/SetCraftsVO.java

@@ -10,11 +10,13 @@ public class SetCraftsVO {
 
     @Schema(description = "工艺名称")
     private String craftsName;
+
     @Schema(description = "工艺名称")
     private Long craftsId;
 
     @Schema(description = "矿石名称")
     private String oresName;
+
     @Schema(description = "矿石ID")
     private Long oresId;
 }

src/main/java/com/iflytop/gd/app/model/vo/TaskListVO.java

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

src/main/java/com/iflytop/gd/app/model/vo/TaskStepsVO.java

@@ -0,0 +1,16 @@
+package com.iflytop.gd.app.model.vo;
+
+import com.iflytop.gd.app.model.entity.TaskSteps;
+import com.iflytop.gd.app.model.entity.Tasks;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+import java.util.List;
+
+@EqualsAndHashCode(callSuper = false)
+@Data
+public class TaskStepsVO extends Tasks {
+    @Schema(description = "实验步骤")
+    private List<TaskSteps> steps;
+}

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

@@ -5,6 +5,7 @@ import com.iflytop.gd.app.core.device.HeatModuleState;
 import com.iflytop.gd.app.core.device.SolutionContainerState;
 import com.iflytop.gd.app.model.bo.DeviceInitializationData;
 import com.iflytop.gd.app.model.entity.Container;
+import com.iflytop.gd.app.model.entity.DeviceParamConfig;
 import com.iflytop.gd.common.enums.ContainerCode;
 import com.iflytop.gd.common.enums.ContainerType;
 import com.iflytop.gd.common.enums.HeatModuleCode;
@@ -50,6 +51,7 @@ public class DeviceInitService {
     private final LeisaiServoDriver leisaiServoDriver;
     private final ActionOvertimeConstant actionOvertimeConstant;
     private final OutputIOCtrlDriver outputIOCtrlDriver;
+    private final DeviceParamConfigService deviceParamConfigService;
 
     @PostConstruct
     public void init() {
@@ -86,7 +88,7 @@ public class DeviceInitService {
     /**
      * 设置各动作超时时间
      */
-    public void initOvertime(){
+    public void initOvertime() {
         actionOvertimeConstant.pushNewConfig(StepMotorMId.DOOR_MOTOR_MID, CmdId.step_motor_easy_move_to_zero, 90 * 1000);
         actionOvertimeConstant.pushNewConfig(LeisaiServoMId.MainXSV, CmdId.step_motor_easy_move_to_zero, 300 * 1000);
         actionOvertimeConstant.pushNewConfig(LeisaiServoMId.MainYSV, CmdId.step_motor_easy_move_to_zero, 120 * 1000);
@@ -129,30 +131,25 @@ public class DeviceInitService {
         if (deviceStateService.getDeviceState().isVirtual() || deviceStateService.getDeviceState().isInitComplete()) {
             return;
         }
-        try {
-            // 使用 ClassPathResource 来从类路径加载 CSV 文件并使用 InputStream 读取
-            ClassPathResource resource = new ClassPathResource("init/zapp_sub_module_reg_initial_value.csv");
-            try (CSVReader reader = new CSVReader(new InputStreamReader(resource.getInputStream()))) {
-                reader.readNext(); // 跳过表头
-
-                String[] line;
-                while ((line = reader.readNext()) != null) {
+        //从数据库中读取数据通过串口进行数据初始化
+        List<DeviceParamConfig> deviceParamConfigs = deviceParamConfigService.list();
+        for (DeviceParamConfig deviceParamConfig : deviceParamConfigs) {
             DeviceInitializationData data = new DeviceInitializationData();
-                    data.setId(Integer.parseInt(line[0]));
-                    data.setMid(line[1]);
-                    data.setRegIndex(line[2]);
-                    data.setRegInitVal(Integer.parseInt(line[3]));
+            data.setId(Math.toIntExact(deviceParamConfig.getId()));
+            data.setMid(deviceParamConfig.getMid());
+            data.setRegIndex(deviceParamConfig.getRegIndex());
+            data.setRegInitVal(deviceParamConfig.getRegVal());
+            try {
                 sendToDevice(data);
-                }
-            }
             } catch (Exception e) {
                 log.error("设备初始化写入参数失败，2秒后重试", e);
-            // 如果发生错误，可以递归调用重试（如果需要）
                 Thread.sleep(2000);
                 initDeviceSetData();
             }
         }
 
+    }
+
     public void sendToDevice(DeviceInitializationData data) throws Exception {
         canBusService.moduleSetReg(MId.valueOf(data.getMid()), RegIndex.valueOf(data.getRegIndex()), data.getRegInitVal());
     }

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

@@ -1,6 +1,7 @@
 package com.iflytop.gd.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.gd.app.mapper.DeviceParamConfigMapper;
 import com.iflytop.gd.app.model.entity.DeviceParamConfig;
@@ -67,6 +68,22 @@ public class DeviceParamConfigService extends ServiceImpl<DeviceParamConfigMappe
     }
 
     /**
+     * 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>

src/main/java/com/iflytop/gd/app/service/DeviceStateService.java

@@ -2,6 +2,8 @@ package com.iflytop.gd.app.service;
 
 import com.iflytop.gd.app.core.device.*;
 import com.iflytop.gd.app.core.listener.DeviceStateListener;
+import com.iflytop.gd.app.model.entity.Tasks;
+import com.iflytop.gd.app.model.entity.User;
 import com.iflytop.gd.common.enums.ContainerCode;
 import com.iflytop.gd.common.enums.HeatModuleCode;
 import lombok.RequiredArgsConstructor;
@@ -139,6 +141,20 @@ public class DeviceStateService {
         support.firePropertyChange("setHeatModuleStateHeating", oldValue, heating);
     }
 
+    public synchronized void setHeatModuleStateFanOpen(HeatModuleCode heatModuleId, boolean fanOpen) {
+        HeatModuleState heatModuleState = null;
+        for (HeatModuleState t : deviceState.getHeatModule()) {
+            if (heatModuleId.equals(t.getModuleCode())) {
+                heatModuleState = t;
+                break;
+            }
+        }
+        assert heatModuleState != null;
+        boolean oldValue = heatModuleState.isFanOpen();
+        heatModuleState.setFanOpen(fanOpen);
+        support.firePropertyChange("setHeatModuleStateFanOpen", oldValue, fanOpen);
+    }
+
     public synchronized void setHeatModuleStateCapExist(HeatModuleCode heatModuleId, boolean capStatus) {
         HeatModuleState heatModuleState = null;
         for (HeatModuleState t : deviceState.getHeatModule()) {
@@ -162,7 +178,7 @@ public class DeviceStateService {
             }
         }
         assert heatModuleState != null;
-        double oldValue = heatModuleState.getTargetTemperature();
+        Double oldValue = heatModuleState.getTargetTemperature();
         heatModuleState.setTargetTemperature(targetTemperature);
         support.firePropertyChange("setHeatModuleStateTargetTemperature", oldValue, targetTemperature);
     }
@@ -176,7 +192,7 @@ public class DeviceStateService {
             }
         }
         assert heatModuleState != null;
-        double oldValue = heatModuleState.getTemperature();
+        Double oldValue = heatModuleState.getTemperature();
         heatModuleState.setTemperature(temperature);
         support.firePropertyChange("setHeatModuleStateTemperature", oldValue, temperature);
     }
@@ -320,4 +336,18 @@ public class DeviceStateService {
         support.firePropertyChange("setTubeStateAddSolution", oldValue, addSolution);
     }
 
+    public synchronized void setCurrentUser(User currentUser) {
+        User oldValue = deviceState.getCurrentUser();
+        deviceState.setCurrentUser(currentUser);
+        support.firePropertyChange("setCurrentUser", oldValue, currentUser);
+    }
+
+    public synchronized void setCurrentTasks(Tasks currentTasks) {
+        User oldValue = deviceState.getCurrentUser();
+        deviceState.setCurrentTasks(currentTasks);
+        support.firePropertyChange("setCurrentTasks", oldValue, currentTasks);
+    }
+
+
+
 }

src/main/java/com/iflytop/gd/app/service/OresService.java

@@ -34,7 +34,7 @@ public class OresService extends ServiceImpl<OresMapper, Ores> {
         Page<Ores> oresPage = new Page<>(pageQuery.getPageNum(), pageQuery.getPageSize());
 
         // 分页查询矿石数据
-        IPage<Ores> oresIPage = this.baseMapper.selectPage(oresPage, new QueryWrapper<Ores>());
+        IPage<Ores> oresIPage = this.baseMapper.selectPage(oresPage, new QueryWrapper<>());
 
         // 获取矿石ID列表
         List<Long> oresIds = oresIPage.getRecords().stream()

src/main/java/com/iflytop/gd/app/service/TaskStepsService.java

@@ -14,13 +14,5 @@ import java.util.List;
 @Service
 @RequiredArgsConstructor
 public class TaskStepsService extends ServiceImpl<TaskStepsMapper, TaskSteps> {
-    private final TaskStepsMapper taskStepsMapper;
 
-    public List<TaskSteps> getTaskStepsByTaskId(Long taskId) {
-        return taskStepsMapper.getTaskStepsByTaskId(taskId);
-    }
-
-    public int addTaskSteps(TaskSteps taskSteps) {
-        return this.baseMapper.insert(taskSteps);
-    }
 }

src/main/java/com/iflytop/gd/app/service/TasksService.java

@@ -1,22 +1,18 @@
 package com.iflytop.gd.app.service;
 
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.core.metadata.IPage;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
-import com.iflytop.gd.app.mapper.TaskStepsMapper;
 import com.iflytop.gd.app.mapper.TasksMapper;
 import com.iflytop.gd.app.model.entity.TaskSteps;
 import com.iflytop.gd.app.model.entity.Tasks;
-import com.iflytop.gd.app.model.entity.User;
-import com.iflytop.gd.app.model.vo.TaskListVO;
-import com.iflytop.gd.common.base.BasePageQuery;
+import com.iflytop.gd.app.model.vo.TaskStepsVO;
 import lombok.RequiredArgsConstructor;
 import org.springframework.stereotype.Service;
 
+import java.time.LocalDateTime;
 import java.util.Arrays;
+import java.util.Date;
 import java.util.List;
-import java.util.Map;
 import java.util.stream.Collectors;
 
 /**
@@ -25,95 +21,64 @@ import java.util.stream.Collectors;
 @Service
 @RequiredArgsConstructor
 public class TasksService extends ServiceImpl<TasksMapper, Tasks> {
-
-    private final TasksMapper tasksMapper;
-    private final UserService userService;
-    private final TaskStepsMapper taskStepsMapper;
     private final TaskStepsService taskStepsService;
-
-    public IPage<TaskListVO> getPage(BasePageQuery pageQuery) {
-        // 构建分页对象
-        Page<TaskListVO> page = new Page<>(pageQuery.getPageNum(), pageQuery.getPageSize());
-
-
-        IPage<TaskListVO> tasksIPage = tasksMapper.selectPage(page);
-
-
-        List<Long> taskIds = tasksIPage.getRecords().stream()
-                .map(TaskListVO::getId)
-                .toList();
-
-        QueryWrapper<TaskSteps> queryWrapper = new QueryWrapper<>();
-        queryWrapper.in("task_id", taskIds);
-        List<TaskSteps> list = taskStepsMapper.selectList(queryWrapper);
-
-
-        Map<Long, List<TaskSteps>> map = list.stream()
-                .collect(Collectors.groupingBy(TaskSteps::getTaskId));
-
-
-        List<TaskListVO> taskList = tasksIPage.getRecords().stream().map(task -> {
-            TaskListVO taskListVO = new TaskListVO();
-            taskListVO.setId(task.getId());
-            taskListVO.setName(task.getName());
-            taskListVO.setStatus(task.getStatus());
-            taskListVO.setStartTime(task.getStartTime());
-            taskListVO.setEndTime(task.getEndTime());
-            taskListVO.setCreateUser(task.getCreateUser());
-
-            List<TaskSteps> steps = map.get(task.getId());
-            taskListVO.setSteps(steps);
-
-            return taskListVO;
-        }).collect(Collectors.toList());
-
-
-        Page<TaskListVO> resultPage = new Page<>(pageQuery.getPageNum(), pageQuery.getPageSize());
-        resultPage.setTotal(tasksIPage.getTotal());
-        resultPage.setRecords(taskList);
-
-        return resultPage;
+    private final DeviceStateService deviceStateService;
+
+    public TaskStepsVO detail(Long id) {
+        Tasks tasks = this.getById(id);
+        List<TaskSteps> taskSteps = taskStepsService.list(new LambdaQueryWrapper<>(TaskSteps.class).eq(TaskSteps::getTaskId, id));
+        TaskStepsVO taskStepsVO = new TaskStepsVO();
+        taskStepsVO.setId(tasks.getId());
+        taskStepsVO.setName(tasks.getName());
+        taskStepsVO.setStartTime(tasks.getStartTime());
+        taskStepsVO.setEndTime(tasks.getEndTime());
+        taskStepsVO.setCreateUser(tasks.getCreateUser());
+        taskStepsVO.setStatus(tasks.getStatus());
+        taskStepsVO.setIsDeleted(tasks.getIsDeleted());
+        taskStepsVO.setSteps(taskSteps);
+        return taskStepsVO;
     }
 
-    public TaskListVO selectById(Long id) {
-        TaskListVO taskListVO = tasksMapper.selectById(id);
-        List<TaskSteps> taskSteps = taskStepsMapper.selectList(new QueryWrapper<TaskSteps>().eq("task_id", id));
-        taskListVO.setSteps(taskSteps);
-        return taskListVO;
-    }
-
-    public Tasks addTask(String taskName) {
+    public Tasks start(String taskName) {
         Tasks tasks = new Tasks();
         tasks.setName(taskName);
-        User user = userService.getCurrentUser();
-        tasks.setCreateUser(user.getId());
+        tasks.setCreateUser(deviceStateService.getDeviceState().getCurrentUser().getId());
         tasks.setStatus(1);
         tasks.setIsDeleted(0);
-        tasksMapper.insert(tasks);
+        tasks.setStartTime(LocalDateTime.now());
+        this.save(tasks);
         TaskSteps taskSteps = new TaskSteps();
         taskSteps.setTaskId(tasks.getId());
         taskSteps.setStepDescription("开始实验");
-        taskStepsService.addTaskSteps(taskSteps);
+        taskStepsService.save(taskSteps);
+        deviceStateService.setCurrentTasks(tasks);
         return tasks;
     }
 
-    public Tasks getIngTask() {
-        return tasksMapper.selectOne(new QueryWrapper<Tasks>().eq("status", 1));
+    public Tasks getCurrent() {
+        return deviceStateService.getDeviceState().getCurrentTasks();
     }
 
-    public int removeByIds(String ids) {
-        List<Long> idsArr = Arrays.stream(ids.split(","))
+    public boolean deleteTasks(String idsStr) {
+        List<Long> ids = Arrays.stream(idsStr.split(","))
                 .map(Long::parseLong)
-                .collect(Collectors.toList());
-        return tasksMapper.removeByIds(idsArr);
+                .toList();
+        for (Long id : ids) {
+            List<TaskSteps> taskSteps = taskStepsService.list(new LambdaQueryWrapper<>(TaskSteps.class).eq(TaskSteps::getTaskId, id));
+            taskStepsService.removeByIds(taskSteps.stream().map(TaskSteps::getId).collect(Collectors.toList()));
+            this.removeById(id);
+        }
+        return true;
     }
 
-    public int stopTask(Long taskId) {
-        TaskSteps taskSteps = new TaskSteps();
-        taskSteps.setTaskId(taskId);
-        taskSteps.setStepDescription("结束实验");
-        taskStepsService.addTaskSteps(taskSteps);
-        return tasksMapper.stopTask(taskId);
+    public void stop() {
+        Tasks tasks = deviceStateService.getDeviceState().getCurrentTasks();
+        if (tasks != null) {
+            tasks.setStatus(2);
+            tasks.setEndTime(LocalDateTime.now());
+            this.updateById(tasks);
+            deviceStateService.setCurrentTasks(null);
+        }
     }
 
 }

src/main/java/com/iflytop/gd/app/service/UserService.java

@@ -1,6 +1,7 @@
 package com.iflytop.gd.app.service;
 
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.iflytop.gd.app.core.device.DeviceState;
 import com.iflytop.gd.app.mapper.UserMapper;
 import com.iflytop.gd.app.model.entity.User;
 import com.iflytop.gd.common.enums.data.Deleted;
@@ -19,9 +20,6 @@ import java.util.List;
 @Service
 @RequiredArgsConstructor
 public class UserService extends ServiceImpl<UserMapper, User> {
-    @Getter
-    @Setter
-    private User currentUser;
 
     public boolean deleteUser(String idsStr) {
         List<Long> ids = Arrays.stream(idsStr.split(","))
@@ -37,7 +35,4 @@ public class UserService extends ServiceImpl<UserMapper, User> {
         return true;
     }
 
-    public void clearCurrentUser() {
-        currentUser = null;
-    }
 }

src/main/java/com/iflytop/gd/common/enums/data/DevicePositionCode.java

@@ -8,6 +8,10 @@ import lombok.Getter;
 @Getter
 public enum DevicePositionCode {
     /**
+     * 预充防滴落距离
+     */
+    antiDripDistance(DevicePositionType.DISTANCE, "预充防滴落距离"),
+    /**
      * 试管间距距离
      */
     testTubeSpacing(DevicePositionType.DISTANCE, "试管间距距离"),

src/main/java/com/iflytop/gd/hardware/controller/AcidPumpController.java

@@ -1,7 +1,10 @@
 package com.iflytop.gd.hardware.controller;
 
+import com.iflytop.gd.app.service.DeviceParamConfigService;
 import com.iflytop.gd.hardware.drivers.StepMotorDriver.AcidPumpDriver;
+import com.iflytop.gd.hardware.type.Servo.MiniServoRegIndex;
 import com.iflytop.gd.hardware.type.StepMotor.StepMotorMId;
+import com.iflytop.gd.hardware.type.StepMotor.StepMotorRegIndex;
 import io.swagger.v3.oas.annotations.tags.Tag;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -17,12 +20,14 @@ import org.springframework.web.bind.annotation.RestController;
 @Slf4j
 public class AcidPumpController {
     private final AcidPumpDriver driver;
+    private final DeviceParamConfigService deviceParamConfigService;
 
     @PostMapping("/set-speed")
     public void setSpeed(@RequestParam StepMotorMId stepMotorMId, @RequestParam int speed) {
         log.info("Setting acid pump speed to: {}", speed);
         try {
             driver.setSpeed(stepMotorMId, speed);
+            deviceParamConfigService.setModuleAndReg(stepMotorMId.mid.name(), StepMotorRegIndex.kreg_step_motor_default_velocity.regIndex.name(),speed);
         } catch (Exception e) {
             log.error("Failed to set speed for acid pump: {}", e.getMessage());
         }

src/main/java/com/iflytop/gd/hardware/controller/ServoController.java

@@ -1,10 +1,12 @@
 package com.iflytop.gd.hardware.controller;
 
+import com.iflytop.gd.app.service.DeviceParamConfigService;
 import com.iflytop.gd.common.result.Result;
 import com.iflytop.gd.hardware.type.Servo.DeviceServoId;
 import com.iflytop.gd.hardware.type.Servo.MiniServoRegIndex;
 import com.iflytop.gd.hardware.exception.HardwareException;
 import com.iflytop.gd.hardware.service.ServoService;
+import com.iflytop.gd.hardware.type.StepMotor.StepMotorRegIndex;
 import io.swagger.v3.oas.annotations.Operation;
 import io.swagger.v3.oas.annotations.tags.Tag;
 import lombok.RequiredArgsConstructor;
@@ -23,6 +25,7 @@ import java.util.Map;
 @Slf4j
 public class ServoController {
     private final ServoService servoService;
+    private final DeviceParamConfigService deviceParamConfigService;
 
     // 获取设备列表
     @PostMapping("/get-device-list")
@@ -88,7 +91,6 @@ public class ServoController {
         servoService.rotate(deviceId, 0);
         return Result.success();
     }
-
     @PostMapping("/rotate-with-torque")
     @Operation(summary = "旋转(力矩)")
     public Result<?> rotateWithTorque(@RequestParam DeviceServoId deviceId, @RequestParam Integer pos) throws HardwareException {
@@ -110,6 +112,7 @@ public class ServoController {
             @RequestParam DeviceServoId deviceId,
             @RequestParam Integer val) throws HardwareException {
         servoService.setLimitVelocity(deviceId, val);
+        deviceParamConfigService.setModuleAndReg(deviceId.getServoMId().mid.name(), MiniServoRegIndex.kreg_mini_servo_limit_velocity.regIndex.name(),val);
         return Result.success();
     }
 
@@ -119,6 +122,7 @@ public class ServoController {
             @RequestParam DeviceServoId deviceId,
             @RequestParam Integer val) throws HardwareException {
         servoService.setLimitTorque(deviceId, val);
+        deviceParamConfigService.setModuleAndReg(deviceId.getServoMId().mid.name(), MiniServoRegIndex.kreg_mini_servo_limit_torque.regIndex.name(),val);
         return Result.success();
     }
 
@@ -128,6 +132,7 @@ public class ServoController {
             @RequestParam DeviceServoId deviceId,
             @RequestParam Integer val) throws HardwareException {
         servoService.setProtectiveTorque(deviceId, val);
+        deviceParamConfigService.setModuleAndReg(deviceId.getServoMId().mid.name(),  MiniServoRegIndex.kreg_mini_servo_protective_torque.regIndex.name(),val);
         return Result.success();
     }
 
@@ -138,6 +143,7 @@ public class ServoController {
             @RequestParam MiniServoRegIndex reg,
             @RequestParam Integer val) throws HardwareException {
         servoService.setReg(deviceId, reg, val);
+        deviceParamConfigService.setModuleAndReg(deviceId.getServoMId().mid.name(), reg.regIndex.name(),val);
         return Result.success();
     }
 

src/main/java/com/iflytop/gd/hardware/controller/StepMotorController.java

@@ -1,5 +1,6 @@
 package com.iflytop.gd.hardware.controller;
 
+import com.iflytop.gd.app.service.DeviceParamConfigService;
 import com.iflytop.gd.common.result.Result;
 import com.iflytop.gd.hardware.exception.HardwareException;
 import com.iflytop.gd.hardware.service.StepMotorService;
@@ -24,6 +25,7 @@ import java.util.Map;
 @Slf4j
 public class StepMotorController {
     private final StepMotorService stepMotorService;
+    private final DeviceParamConfigService deviceParamConfigService;
 
     // 获取设备列表
     @PostMapping("/get-device-list")
@@ -142,6 +144,7 @@ public class StepMotorController {
             @RequestParam DeviceStepMotorId deviceId,
             @RequestParam Integer mres) throws HardwareException {
         stepMotorService.setMres(deviceId, mres);
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_mres.regIndex.name(),mres);
         return Result.success();
     }
 
@@ -151,6 +154,7 @@ public class StepMotorController {
             @RequestParam DeviceStepMotorId deviceId,
             @RequestParam Integer irun) throws HardwareException {
         stepMotorService.setIRUN(deviceId, irun);
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_irun.regIndex.name(),irun);
         return Result.success();
     }
 
@@ -160,6 +164,7 @@ public class StepMotorController {
             @RequestParam DeviceStepMotorId deviceId,
             @RequestParam Integer ihold) throws HardwareException {
         stepMotorService.setIHOLD(deviceId, ihold);
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_ihold.regIndex.name(),ihold);
         return Result.success();
     }
 
@@ -169,6 +174,10 @@ public class StepMotorController {
             @RequestParam DeviceStepMotorId deviceId,
             @RequestParam Integer v) throws HardwareException {
         stepMotorService.setStartAndStopVel(deviceId, v);
+        //开始速度参数保存到数据库
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_vstart.regIndex.name(),v);
+        //停止速度参数保存到数据库
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_vstop.regIndex.name(),v);
         return Result.success();
     }
 
@@ -178,6 +187,8 @@ public class StepMotorController {
             @RequestParam DeviceStepMotorId deviceId,
             @RequestParam Integer v) throws HardwareException {
         stepMotorService.setV1(deviceId, v);
+        //参数保存到数据库
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_v1.regIndex.name(),v);
         return Result.success();
     }
 
@@ -187,6 +198,8 @@ public class StepMotorController {
             @RequestParam DeviceStepMotorId deviceId,
             @RequestParam Integer acc) throws HardwareException {
         stepMotorService.setA1AndD1(deviceId, acc);
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_a1.regIndex.name(),acc);
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_d1.regIndex.name(),acc);
         return Result.success();
     }
 
@@ -196,6 +209,8 @@ public class StepMotorController {
             @RequestParam DeviceStepMotorId deviceId,
             @RequestParam Integer acc) throws HardwareException {
         stepMotorService.setAmaxAndDmax(deviceId, acc);
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_amax.regIndex.name(),acc);
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_dmax.regIndex.name(),acc);
         return Result.success();
     }
 
@@ -205,6 +220,7 @@ public class StepMotorController {
             @RequestParam DeviceStepMotorId deviceId,
             @RequestParam Integer v) throws HardwareException {
         stepMotorService.setDefaultVel(deviceId, v);
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_default_velocity.regIndex.name(),v);
         return Result.success();
     }
 
@@ -216,6 +232,9 @@ public class StepMotorController {
             @RequestParam Integer mid,
             @RequestParam Integer high) throws HardwareException {
         stepMotorService.setSpeed(deviceId, low, mid, high);
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_low_velocity.regIndex.name(),low);
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_mid_velocity.regIndex.name(),mid);
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_high_velocity.regIndex.name(),high);
         return Result.success();
     }
 
@@ -226,6 +245,8 @@ public class StepMotorController {
             @RequestParam Integer pulse,
             @RequestParam Integer denominator) throws HardwareException {
         stepMotorService.setOneCirclePulse(deviceId, pulse, denominator);
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_one_circle_pulse.regIndex.name(),pulse);
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_one_circle_pulse_denominator.regIndex.name(),denominator);
         return Result.success();
     }
 
@@ -235,6 +256,7 @@ public class StepMotorController {
             @RequestParam DeviceStepMotorId deviceId,
             @RequestParam Integer dzero) throws HardwareException {
         stepMotorService.setDZero(deviceId, dzero);
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_dzero_pos.regIndex.name(),dzero);
         return Result.success();
     }
 
@@ -253,6 +275,7 @@ public class StepMotorController {
             @RequestParam StepMotorRegIndex reg,
             @RequestParam Integer val) throws HardwareException {
         stepMotorService.setReg(deviceId, reg, val);
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),reg.regIndex.name(),val);
         return Result.success();
     }
 

src/main/resources/sql/init.sql

@@ -48,6 +48,7 @@ CREATE TABLE IF NOT EXISTS container
     pump_id        TEXT,
     capacity_total INTEGER,
     capacity_used  INTEGER,
+    filled         REAL,
     create_time    TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
     update_time    TIMESTAMP DEFAULT CURRENT_TIMESTAMP
 );
@@ -153,7 +154,7 @@ CREATE TABLE IF NOT EXISTS task_steps
 CREATE TABLE IF NOT EXISTS device_param_config
 (
     id          INTEGER PRIMARY KEY AUTOINCREMENT,
-    m_id   text,
+    mid   text,
     reg_index text,
     reg_val   INTEGER,
     create_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP,