add:增加配置类

src/main/java/com/iflytop/sgs/app/cmd/control/MoveToFeedAreaCommand.java

@@ -1,5 +1,6 @@
 package com.iflytop.sgs.app.cmd.control;
 
+import cn.hutool.core.lang.Assert;
 import com.iflytop.sgs.app.core.BaseCommandHandler;
 import com.iflytop.sgs.app.model.bo.Point3D;
 import com.iflytop.sgs.app.model.dto.CmdDTO;
@@ -10,6 +11,8 @@ import com.iflytop.sgs.app.service.device.module.TransferModuleService;
 import com.iflytop.sgs.common.annotation.CommandMapping;
 import com.iflytop.sgs.common.enums.HeatModuleCode;
 import com.iflytop.sgs.common.enums.data.DevicePositionCode;
+import com.iflytop.sgs.common.exception.AppException;
+import com.iflytop.sgs.common.result.ResultCode;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -38,7 +41,10 @@ public class MoveToFeedAreaCommand extends BaseCommandHandler {
             targetHeatModuleCode = HeatModuleCode.valueOf(targetHeatModuleCodeStr);
         } else {
             targetHeatModuleCode = null;
-            //TODO 尝试获取加液位是否有托盘，如果没有托盘则提示错误
+            Assert.isTrue(deviceStateService.getDeviceState().getTransferModule().isTrayStatus(),()->new AppException(ResultCode.TRANSFER_MODULE_NO_TRAY));//转运模块是否有托盘
+
+
+
         }
 
         Point3D targetHeatModuleTrayClawPoint3D = heatModuleService.getHeatModuleTrayClawPoint3D(targetHeatModuleCode);//获取目标加热模块托盘夹取点

src/main/java/com/iflytop/sgs/app/service/api/DeviceParamConfigService.java

@@ -0,0 +1,119 @@
+package com.iflytop.sgs.app.service.api;
+
+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.sgs.app.mapper.DeviceParamConfigMapper;
+import com.iflytop.sgs.app.model.entity.DeviceParamConfig;
+import com.iflytop.sgs.app.model.vo.DeviceParamGroupVO;
+import com.iflytop.sgs.app.model.vo.ModuleIdVO;
+import com.iflytop.sgs.app.model.vo.RegIndexVO;
+import com.iflytop.sgs.hardware.type.MId;
+import com.iflytop.sgs.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/sgs/common/result/ResultCode.java

@@ -56,7 +56,7 @@ public enum ResultCode implements IResultCode, Serializable {
     CAP_LIFT_ERROR("6023", "拍子升降错误"),
     CMD_BUSY("6024", "设备忙，请稍后"),
     TARGET_HEAT_MODULE_NOT_ANNEAL("6025", "目标加热区不是退火状态"),
-    TRANSFER_MODULE_NO_TRAY("6026", "转运模块无托盘"),
+    TRANSFER_MODULE_NO_TRAY("6026", "机械臂无托盘"),
     SOLUTION_MODULE_NO_TRAY("6027", "加液模块无托盘"),
     FEED_AREA_NO_TRAY("6028", "上料区无托盘"),
     SOLUTION_MODULE_IS_BUSY("6029", "加液模块正忙"),

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

@@ -1,6 +1,6 @@
 package com.iflytop.sgs.hardware.controller;
 
-//import com.iflytop.sgs.app.service.api.DeviceParamConfigService;
+import com.iflytop.sgs.app.service.api.DeviceParamConfigService;
 import com.iflytop.sgs.common.result.Result;
 import com.iflytop.sgs.hardware.exception.HardwareException;
 import com.iflytop.sgs.hardware.service.StepMotorService;