新增XYD电批驱动及配置管理支持

本次提交实现了对XYD电动螺丝刀的完整支持，包括：
- 新增XYD_ScrewDriver驱动类，支持UDP通讯、数据采集与解析
- 新增IScrewDriver接口及ElectricScrewdriverBrand枚举，便于多品牌扩展
- 新增ScrewDriverConfig配置模型，支持序列化存储
- 配置服务ConfigService/IConfigService扩展，支持电批配置的读写与持久化
- 管理类Management集成电批属性、初始化与状态监控
- 项目文件注册相关新文件
为后续多品牌电批扩展和上层业务调用打下基础。

TeamAAS-VM/App.xaml.cs

@@ -23,6 +23,7 @@ using Team.Utility;
 using TeamAAS_VP;
 using TeamAAS_VP.Controls;
 using TeamAAS_VP.Core;
+using TeamAAS_VP.Core.ScrewDriver;
 using TeamAAS_VP.Interfaces;
 using TeamAAS_VP.Properties;
 using TeamAAS_VP.Resources.Languages;

TeamAAS-VM/Core/Management.cs

@@ -1,6 +1,7 @@
 using Cognex.VisionPro;
 using Cognex.VisionPro.ToolBlock;
 using CSScripting;
+using MathNet.Numerics.Distributions;
 using MathNet.Numerics.LinearAlgebra;
 using MathNet.Numerics.RootFinding;
 using NPOI.SS.Formula.Functions;
@@ -37,6 +38,7 @@ using Team.FFFeederService.Interfaces;
 using TeamAAS_VP;
 using TeamAAS_VP.Core.PLCs;
 using TeamAAS_VP.Core.Robots;
+using TeamAAS_VP.Core.ScrewDriver;
 using TeamAAS_VP.Data;
 using TeamAAS_VP.Enums;
 using TeamAAS_VP.Events;
@@ -91,14 +93,6 @@ namespace TeamAAS_VP.Core
             set { SetProperty(ref _Renders, value); }
         }
 
-
-        private Dictionary<Guid, Thread> _plcTrigger = new Dictionary<Guid, Thread>();
-
-        /// <summary>
-        /// 当前plc触发监控
-        /// </summary>
-        public Dictionary<Guid, Thread> PlcTrigger { get => _plcTrigger; set => _plcTrigger = value; }
-
         private ProductModel _CurrentProduct;
 
         /// <summary>
@@ -155,10 +149,14 @@ namespace TeamAAS_VP.Core
             set { SetProperty(ref _CurrentUPH, value); }
         }
 
-        public Dictionary<string, object> BackupObject { get; set; } = new Dictionary<string, object>();
+        private XYD_ScrewDriver _ScrewDriver;
+        public XYD_ScrewDriver ScrewDriver
+        {
+            get { return _ScrewDriver; }
+            set { SetProperty(ref _ScrewDriver, value); }
+        }
 
-        // tracker for running feeder clear tasks by task id
-        public Dictionary<Guid, CancellationTokenSource> FeederClearTaskCts { get; } = new Dictionary<Guid, CancellationTokenSource>();
+        public Dictionary<string, object> BackupObject { get; set; } = new Dictionary<string, object>();
 
         #endregion
 
@@ -520,6 +518,39 @@ namespace TeamAAS_VP.Core
                 LogHelper.WriteLogError("开启后台脚本时出错!", ex);
             }
         }
+
+        /// <summary>
+        /// 初始化电批
+        /// </summary>
+        /// <returns></returns>
+        public async Task InitScrewDriver()
+        {
+            try
+            {
+                
+                var screwDriverConfig = _configService.GetScrewDriverConfig();
+                ScrewDriver = new XYD_ScrewDriver(screwDriverConfig.IPAdress, screwDriverConfig.Port);
+                Status.Add(new StatusInfo(ScrewDriver.Id, "电批未连接", new SolidColorBrush(Colors.Red)));
+                ScrewDriver.ConnectStateChangedEvent += ScrewDriver_ConnectStateChangedEvent;
+                var isConnected = await ScrewDriver.ConnectAsync();
+                if (isConnected)
+                {
+                    SendTaskMessage($"电批已连接", MessageLevel.Debug);
+                }
+                else
+                {
+                    SendTaskMessage($"电批连接失败", MessageLevel.Error);
+                }
+            }
+            catch (Exception ex)
+            {
+                SendTaskMessage($"电批连接失败:{ex.Message}", MessageLevel.Alarm);
+                LogHelper.WriteLogError("连接电批时出错!", ex);
+            }
+        }
+
+        
+
         #endregion
 
         #region 机器人指令执行
@@ -783,6 +814,45 @@ namespace TeamAAS_VP.Core
                          }));
             }
         }
+
+        /// <summary>
+        /// 电批连接状态改变时
+        /// </summary>
+        /// <param name="screwDevice"></param>
+        /// <param name="state"></param>
+        private void ScrewDriver_ConnectStateChangedEvent(object screwDevice, bool state)
+        {
+            try
+            {
+                XYD_ScrewDriver screwDriver = screwDevice as XYD_ScrewDriver;
+                if (state)
+                {
+                    SendTaskMessage($"电批{Lang.已连接}！", MessageLevel.Debug);
+                    var sta = Status.FirstOrDefault(s => s.ID == screwDriver.Id);
+                    App.Current.Dispatcher.Invoke(new
+                         Action(() =>
+                         {
+                             sta.Message = $"电批{Lang.已连接}";
+                             sta.Background = new SolidColorBrush(Colors.Green);
+                         }));
+                }
+                else
+                {
+                    SendTaskMessage($"电批{Lang.未连接}！", MessageLevel.Error);
+                    var sta = Status.FirstOrDefault(s => s.ID == screwDriver.Id);
+                    App.Current.Dispatcher.Invoke(new
+                         Action(() =>
+                         {
+                             sta.Message = $"电批{Lang.未连接}";
+                             sta.Background = new SolidColorBrush(Colors.Red);
+                         }));
+                }
+            }
+            catch (Exception ex)
+            {
+                LogHelper.WriteLogError("电批连接状态改变时出错了", ex);
+            }
+        }
         #endregion
 
         #region 后台服务器通讯事件

TeamAAS-VM/Core/ScrewDriver/XYD_ScrewDriver.cs

@@ -0,0 +1,615 @@
+using System;
+using System.Collections.Generic;
+using System.Net;
+using System.Net.Sockets;
+using System.Text;
+using System.Threading.Tasks;
+using TeamAAS_VP.Enums;
+using TeamAAS_VP.Interfaces;
+
+namespace TeamAAS_VP.Core.ScrewDriver
+{
+    /*
+     计划（伪代码）：
+     1. 为类添加 XML 文档注释，描述此驱动器的用途与协议相关信息。
+     2. 为构造函数、属性、事件、公开方法（Connect/ConnectAsync/GetData/GetDataAsync/Dispose）添加注释，说明用途与返回值。
+     3. 为内部重要方法（EnsureSocket/SendGetTspc/ReceiveOnce/UpdateConnectState/DataAnalysis/ToInt16/ToInt32N）添加注释，解释实现细节与特殊字节序处理。
+     4. 在 DataAnalysis 中为每个解析字段添加注释，标明字节偏移与单位转换，保留对异常与边界检查的说明。
+     5. 保持原有逻辑不变，只增加注释，保证与现有代码风格一致并能通过编译。
+    */
+
+    /// <summary>
+    /// XYD 系列电动螺丝刀数据读取与解析器。
+    /// 通过 UDP 向设备发送 "GET_TSPC" 探测命令并接收包含 TSPB/TSPA 数据包的响应，
+    /// 解析设备返回的扭矩、角度、速度、时间等曲线和结果信息。
+    /// </summary>
+    public class XYD_ScrewDriver : IScrewDriver
+    {
+        private Socket _socket;
+        private IPEndPoint _endPoint;
+
+        // 协议最小数据长度（TSPB 固定头与描述长度）
+        private const int MinDataLength = 508;
+
+        #region 属性
+        public Guid Id { get; private set; }
+
+        private bool _isConnected;
+        /// <summary>
+        /// 当前连接状态（是否已与设备建立连接并成功接收过有效数据）。
+        /// </summary>
+        public bool IsConnected => _isConnected;
+
+        /// <summary>
+        /// 螺丝刀设备 IP 地址。
+        /// </summary>
+        public string IPAdress { get; private set; }
+
+        /// <summary>
+        /// 设备端口号。
+        /// </summary>
+        public int Port { get; private set; }
+
+        /// <summary>
+        /// 螺丝刀品牌标识（XYD 固定）。
+        /// </summary>
+        public ElectricScrewdriverBrand Brand => ElectricScrewdriverBrand.XYD;
+
+        /// <summary>
+        /// 螺丝编号（设备返回的整型编号）。
+        /// </summary>
+        public int ScrewNum { get; private set; }
+
+        /// <summary>
+        /// 曲线采样频率（单位：Hz 或协议定义的采样单位）。
+        /// </summary>
+        public int Frequency { get; private set; }
+
+        /// <summary>
+        /// 结果时间戳（设备返回的年月日时分秒）。
+        /// </summary>
+        public DateTime ResultDateTime { get; private set; }
+
+        /// <summary>
+        /// 锁止角（单位：度）。
+        /// </summary>
+        public double LockAngel { get; private set; }
+
+        public double StrokeAngle1 { get; private set; }
+        public double StrokeAngle2 { get; private set; }
+        public double StrokeAngle3 { get; private set; }
+        public double StrokeAngle4 { get; private set; }
+        public double StrokeAngle5 { get; private set; }
+
+        public double StrokeTorque1 { get; private set; }
+        public double StrokeTorque2 { get; private set; }
+        public double StrokeTorque3 { get; private set; }
+        public double StrokeTorque4 { get; private set; }
+        public double StrokeTorque5 { get; private set; }
+
+        /// <summary>
+        /// 峰值扭矩（单位：N·m，协议返回值需乘以 0.001）。
+        /// </summary>
+        public double MaxTorque { get; private set; }
+
+        public double OverlockAngle { get; private set; }
+
+        /// <summary>
+        /// 过锁扭矩（单位：N·m）。
+        /// </summary>
+        public double OverlockTorque { get; private set; }
+
+        public double SlopeCheck { get; private set; }
+        public double ClampingAngle { get; private set; }
+        public double ClampingAngleCheck { get; private set; }
+        public double FitAngle { get; private set; }
+        public double FitAngleCheck { get; private set; }
+
+        /// <summary>
+        /// 夹紧扭矩（单位：N·m）。
+        /// </summary>
+        public double ClampingTorque { get; private set; }
+
+        public double ClampingTorqueCheck { get; private set; }
+
+        /// <summary>
+        /// 过程最大扭矩（单位：N·m）。
+        /// </summary>
+        public double ProcessMaxTorque { get; private set; }
+
+        public double ProcessMaxTorqueCheck { get; private set; }
+        public double FitPointCoord { get; private set; }
+        public double FitAngle1 { get; private set; }
+
+        /// <summary>
+        /// 贴合点扭矩（单位：N·m）。
+        /// </summary>
+        public double FitTorque { get; private set; }
+
+        public double SectionTooth { get; private set; }
+        public double SectionStroke1 { get; private set; }
+        public double SectionStroke2 { get; private set; }
+        public double SectionStroke3 { get; private set; }
+        public double SectionStroke4 { get; private set; }
+        public double SectionStroke5 { get; private set; }
+        public double SectionLockAngle { get; private set; }
+        public double SectionLockFinish1 { get; private set; }
+        public double SectionOverLock { get; private set; }
+        public double SectionFinalEnd { get; private set; }
+
+        /// <summary>
+        /// 解析出的错误信息或结果说明（根据设备返回码映射）。
+        /// </summary>
+        public string ErrorInfo { get; private set; }
+
+        /// <summary>
+        /// 本次结果是否判定为成功（设备返回结果码为 4 表示成功）。
+        /// </summary>
+        public bool Success { get; private set; }
+
+        public int ProgramNumber { get; private set; }
+
+        /// <summary>
+        /// 总圈数（单位：圈，协议返回为度需除以 360）。
+        /// </summary>
+        public double Truns { get; private set; }
+
+        /// <summary>
+        /// 结果扭矩值（单位：N·m）。
+        /// </summary>
+        public double TorqueValue { get; private set; }
+
+        public int FinalTime { get; private set; }
+
+        /// <summary>
+        /// 曲线数据集合（解析后的时间、角度、扭矩、斜率等）。
+        /// </summary>
+        public List<WaveData> WaveDatas { get; } = new List<WaveData>();
+
+        #endregion
+
+        #region 事件
+        /// <summary>
+        /// 连接状态变化事件，参数：sender, connected。
+        /// 当连接状态改变时触发（包括连接失败/成功与获取数据后状态更新）。
+        /// </summary>
+        public event Action<object, bool> ConnectStateChangedEvent;
+        #endregion
+
+        /// <summary>
+        /// 构造函数，初始化目标设备的 IP 与端口。
+        /// </summary>
+        /// <param name="ip">设备 IP 地址</param>
+        /// <param name="port">设备 UDP 端口</param>
+        public XYD_ScrewDriver(string ip, int port)
+        {
+            IPAdress = ip;
+            Port = port;
+            Id=Guid.NewGuid();
+        }
+
+        /// <summary>
+        /// 确保内部 Socket 已创建并配置好超时与目标 EndPoint。
+        /// 如果已存在则直接返回。
+        /// </summary>
+        private void EnsureSocket()
+        {
+            if (_socket == null)
+            {
+                _socket = new Socket(AddressFamily.InterNetwork, SocketType.Dgram, ProtocolType.Udp);
+                // 发送/接收超时，避免阻塞 UI 线程过久
+                _socket.SendTimeout = 1000;
+                _socket.ReceiveTimeout = 2000;
+                _endPoint = new IPEndPoint(System.Net.IPAddress.Parse(IPAdress), Port);
+            }
+        }
+
+        /// <summary>
+        /// 同步连接到设备并进行一次探测（发送 GET_TSPC 并解析响应）。
+        /// 返回是否成功连接并解析到有效数据。
+        /// </summary>
+        public bool Connect()
+        {
+            try
+            {
+                EnsureSocket();
+                _socket.Connect(_endPoint);
+
+                // 发送探测命令并等待响应
+                if (!SendGetTspc())
+                {
+                    UpdateConnectState(false);
+                    return false;
+                }
+
+                byte[] data = ReceiveOnce();
+                if (data == null || !DataAnalysis(data))
+                {
+                    UpdateConnectState(false);
+                    return false;
+                }
+
+                UpdateConnectState(true);
+                return true;
+            }
+            catch (Exception)
+            {
+                UpdateConnectState(false);
+                return false;
+            }
+        }
+
+        /// <summary>
+        /// 异步版本的 Connect。
+        /// </summary>
+        public Task<bool> ConnectAsync()
+        {
+            return Task.Run(() => Connect());
+        }
+
+        /// <summary>
+        /// 向设备请求数据并解析，最多尝试若干次（容错网络丢包）。
+        /// </summary>
+        public bool GetData()
+        {
+            if (_socket == null)
+            {
+                EnsureSocket();
+            }
+
+            // 允许多次重试以应对 UDP 丢包/超时
+            for (int i = 0; i < 10; i++)
+            {
+                try
+                {
+                    if (!SendGetTspc())
+                        continue;
+
+                    byte[] data = ReceiveOnce();
+                    if (data == null)
+                        continue;
+
+                    if (!DataAnalysis(data))
+                        continue;
+
+                    UpdateConnectState(true);
+                    return true;
+                }
+                catch (Exception)
+                {
+                    UpdateConnectState(false);
+                }
+            }
+
+            return false;
+        }
+
+        /// <summary>
+        /// 异步版本的 GetData。
+        /// </summary>
+        public Task<bool> GetDataAsync()
+        {
+            return Task.Run(() => GetData());
+        }
+
+        /// <summary>
+        /// 发送协议探测命令 "GET_TSPC" 到设备。
+        /// 返回是否发送成功。
+        /// </summary>
+        private bool SendGetTspc()
+        {
+            try
+            {
+                var cmd = "GET_TSPC";
+                var bytes = Encoding.ASCII.GetBytes(cmd);
+                _socket.SendTo(bytes, _endPoint);
+                return true;
+            }
+            catch
+            {
+                // 发送失败通常来自网络/Socket 状态，调用方会做重试或断开处理
+                return false;
+            }
+        }
+
+        /// <summary>
+        /// 从 Socket 接收一次数据（单次 ReceiveFrom），并返回实际接收到的字节数组。
+        /// 超时或异常返回 null。
+        /// </summary>
+        private byte[] ReceiveOnce()
+        {
+            try
+            {
+                EndPoint remote = new IPEndPoint(System.Net.IPAddress.Any, 0);
+                byte[] buf = new byte[_socket.ReceiveBufferSize];
+                int len = _socket.ReceiveFrom(buf, ref remote);
+                if (len <= 0) return null;
+                var data = new byte[len];
+                Array.Copy(buf, 0, data, 0, len);
+                return data;
+            }
+            catch
+            {
+                // 接收异常（例如超时），返回 null 以触发上层重试逻辑
+                return null;
+            }
+        }
+
+        /// <summary>
+        /// 更新连接状态并触发事件。
+        /// </summary>
+        /// <param name="connected">新的连接状态</param>
+        private void UpdateConnectState(bool connected)
+        {
+            _isConnected = connected;
+            ConnectStateChangedEvent?.Invoke(this, connected);
+        }
+
+        /// <summary>
+        /// 释放资源实现（受保护，可由派生类覆盖）。
+        /// </summary>
+        /// <param name="disposing">是否为显式释放</param>
+        protected virtual void Dispose(bool disposing)
+        {
+            if (disposing)
+            {
+                if (_socket != null)
+                {
+                    try
+                    {
+                        _socket.Shutdown(SocketShutdown.Both);
+                    }
+                    catch { }
+                    _socket.Close();
+                    _socket.Dispose();
+                    _socket = null;
+                }
+            }
+        }
+
+        /// <summary>
+        /// 释放所有托管资源并抑制终结化。
+        /// </summary>
+        public void Dispose()
+        {
+            Dispose(true);
+            GC.SuppressFinalize(this);
+        }
+
+        /// <summary>
+        /// 解析设备返回的字节数据（TSPB + 可选的 TSPA 曲线数据）。
+        /// 对协议字段按固定偏移解析并进行单位转换。
+        /// 返回解析是否成功（数据完整且符合长度要求）。
+        /// </summary>
+        /// <param name="data">原始字节数据</param>
+        /// <returns>是否解析成功</returns>
+        private bool DataAnalysis(byte[] data)
+        {
+            if (data == null || data.Length < MinDataLength)
+                return false;
+
+            try
+            {
+                #region 注释（协议字段说明）
+                // 协议字节说明（基于设备文档）：
+                // 1 - 4 “TSPB”
+                // 5 - 8 螺丝编号 (4 bytes, DCBA order)
+                // 9 - 10 曲线采样频率 (2 bytes)
+                // 11 - 22 结果日期 - 年 月 日 时 分 秒 (每项 2 bytes)
+                // 23 - 24 程序编号
+                // 25 - 26 总圈数 (单位：度)
+                // 27 锁止角度 (2 bytes)
+                // 29 结果扭矩 (2 bytes)
+                // 31 结果时间 (2 bytes)
+                // 33 锁附结果 (2 bytes)
+                // 35 ... 94 各阶段角度/扭矩等（按文档固定偏移）
+                // 205 TSPA 数据起始坐标（协议中以 1-base 或 0-base 可能不同）
+                // 207 TSPA 数据总数（样本点数）
+                // 随后按扭矩/速度/角度/斜率分别存放（每项为 2 bytes，sectionBytes = length * 2）
+                #endregion
+
+                // 基本字段解析
+                ScrewNum = ToInt32N(data, 4);
+                Frequency = ToInt16(data, 8);
+
+                int year = ToInt16(data, 10);
+                int month = ToInt16(data, 12);
+                int day = ToInt16(data, 14);
+                int hour = ToInt16(data, 16);
+                int minute = ToInt16(data, 18);
+                int second = ToInt16(data, 20);
+                ResultDateTime = new DateTime(year, month, day, hour, minute, second);
+
+                ProgramNumber = ToInt16(data, 22);
+                // 设备返回的总圈数字段以度为单位，转换为圈
+                Truns = ToInt16(data, 24) / 360.0;
+                LockAngel = ToInt16(data, 26);
+                // 扭矩值以 mN·m（或协议指定单位）返回，乘以 0.001 转换为 N·m
+                TorqueValue = ToInt16(data, 28) * 0.001;
+                FinalTime = ToInt16(data, 30);
+
+                int finalResult = ToInt16(data, 32);
+                switch (finalResult)
+                {
+                    case 1: ErrorInfo = "圈数异常"; break;
+                    case 2: ErrorInfo = "区段行程NG"; break;
+                    case 3: ErrorInfo = "超时"; break;
+                    case 4: ErrorInfo = string.Empty; break;
+                    case 5: ErrorInfo = "中断"; break;
+                    case 6: ErrorInfo = "转矩过大"; break;
+                    case 7: ErrorInfo = "反转"; break;
+                    case 8: ErrorInfo = "锁止角不合格"; break;
+                    case 9: ErrorInfo = "过锁异常"; break;
+                    case 10: ErrorInfo = "斜率异常"; break;
+                    case 11: ErrorInfo = "夹角异常"; break;
+                    case 12: ErrorInfo = "贴合角异常"; break;
+                    case 13: ErrorInfo = "夹紧力异常"; break;
+                    case 14: ErrorInfo = "过程力异常"; break;
+                    default: ErrorInfo = finalResult.ToString(); break;
+                }
+                Success = finalResult == 4;
+
+                // 阶段行程角度：协议中以度为单位，代码将其转换为圈（度/360）
+                StrokeAngle1 = ToInt16(data, 34) / 360.0;
+                StrokeAngle2 = ToInt16(data, 36) / 360.0;
+                StrokeAngle3 = ToInt16(data, 38) / 360.0;
+                StrokeAngle4 = ToInt16(data, 40) / 360.0;
+                StrokeAngle5 = ToInt16(data, 42) / 360.0;
+
+                // 阶段扭矩转换（单位缩放）
+                StrokeTorque1 = ToInt16(data, 44) * 0.001;
+                StrokeTorque2 = ToInt16(data, 46) * 0.001;
+                StrokeTorque3 = ToInt16(data, 48) * 0.001;
+                StrokeTorque4 = ToInt16(data, 50) * 0.001;
+                StrokeTorque5 = ToInt16(data, 52) * 0.001;
+
+                MaxTorque = ToInt16(data, 54) * 0.001;
+                OverlockAngle = ToInt16(data, 56);
+                OverlockTorque = ToInt16(data, 58) * 0.001;
+
+                SlopeCheck = ToInt16(data, 60);
+                ClampingAngle = ToInt16(data, 62);
+                ClampingAngleCheck = ToInt16(data, 64);
+                FitAngle = ToInt16(data, 66);
+                FitAngleCheck = ToInt16(data, 68);
+                ClampingTorque = ToInt16(data, 70) * 0.001;
+
+                ClampingTorqueCheck = ToInt16(data, 72);
+                ProcessMaxTorque = ToInt16(data, 74) * 0.001;
+                ProcessMaxTorqueCheck = ToInt16(data, 76);
+                FitPointCoord = ToInt16(data, 78);
+
+                FitAngle1 = ToInt16(data, 80);
+                FitTorque = ToInt16(data, 82) * 0.001;
+                SectionTooth = ToInt16(data, 84);
+
+                SectionStroke1 = ToInt16(data, 86);
+                SectionStroke2 = ToInt16(data, 88);
+                SectionStroke3 = ToInt16(data, 90);
+                SectionStroke4 = ToInt16(data, 92);
+                SectionStroke5 = ToInt16(data, 94);
+
+                SectionLockAngle = ToInt16(data, 96);
+                SectionLockFinish1 = ToInt16(data, 98);
+                SectionOverLock = ToInt16(data, 100);
+                SectionFinalEnd = ToInt16(data, 102);
+
+                // 计算 TSPA 曲线数据段长度（协议: 在偏移 504/506 存有开始/结束索引或总数）
+                int length = ToInt16(data, 506) - ToInt16(data, 504);
+                if (length <= 0)
+                {
+                    // 无曲线数据，清空集合并返回成功
+                    WaveDatas.Clear();
+                    return true;
+                }
+
+                int sectionBytes = length * 2;
+                int expectedTotal = 508 + sectionBytes * 4;
+                // 如果整体长度不足，则认为数据不完整，返回失败以触发重试
+                if (data.Length < expectedTotal)
+                    return false;
+
+                var torques = new byte[sectionBytes];
+                var speeds = new byte[sectionBytes];
+                var angles = new byte[sectionBytes];
+                var slopes = new byte[sectionBytes];
+
+                // 按顺序从数据中拷贝各段（扭矩、速度、角度、斜率）
+                Array.Copy(data, 508, torques, 0, sectionBytes);
+                Array.Copy(data, 508 + sectionBytes, speeds, 0, sectionBytes);
+                Array.Copy(data, 508 + sectionBytes * 2, angles, 0, sectionBytes);
+                Array.Copy(data, 508 + sectionBytes * 3, slopes, 0, sectionBytes);
+
+                WaveDatas.Clear();
+                // 每 2 字节为一个样本，使用 ToInt16 解析（注意字节序）
+                for (int i = 0; i < sectionBytes; i += 2)
+                {
+                    double angleVal = ToInt16(angles, i) / 360.0;
+                    double torqueVal = ToInt16(torques, i) * 0.001;
+                    double slopeVal = ToInt16(slopes, i);
+                    // 时间：按采样频率换算（单位：秒），注意 i 为字节索引，样本索引为 i/2
+                    double time = (Frequency * i) / 1000.0;
+
+                    WaveDatas.Add(new WaveData
+                    {
+                        LockAngle = angleVal,
+                        Torque = torqueVal,
+                        Slopes = slopeVal,
+                        Turns = angleVal,
+                        Time = time
+                    });
+                }
+
+                return true;
+            }
+            catch
+            {
+                // 任意解析或转换异常均视为解析失败
+                return false;
+            }
+        }
+
+        /// <summary>
+        /// 将指定数组中从 startIndex 开始的两个字节按设备协议的字节序解析为有符号 16 位值。
+        /// 协议采用“DCBA 风格（低字节在前，高字节在后）”，因此这里以小端方式合成。
+        /// </summary>
+        /// <param name="value">字节数组</param>
+        /// <param name="startIndex">起始索引</param>
+        /// <returns>解析出的 short 值，出错返回 0</returns>
+        private short ToInt16(byte[] value, int startIndex)
+        {
+            if (value == null || startIndex < 0 || startIndex + 1 >= value.Length)
+                return 0;
+
+            // data is DCBA style (little-endian word swapped)
+            return (short)((value[startIndex + 1] << 8) | value[startIndex]);
+        }
+
+        /// <summary>
+        /// 将指定数组中从 startIndex 开始的 4 个字节按设备协议解析为 32 位整型（DCBA 顺序）。
+        /// 注意字节顺序为设备特定格式，这里按原实现保持位移组合。
+        /// </summary>
+        /// <param name="value">字节数组</param>
+        /// <param name="startIndex">起始索引</param>
+        /// <returns>解析出的 int 值，出错返回 0</returns>
+        private int ToInt32N(byte[] value, int startIndex)
+        {
+            if (value == null || startIndex < 0 || startIndex + 3 >= value.Length)
+                return 0;
+
+            // DCBA order -> 构造 32 位整数（高位在后面的索引）
+            return (value[startIndex + 3] << 24) | (value[startIndex + 2] << 16) | (value[startIndex + 1] << 8) | value[startIndex];
+        }
+
+        /// <summary>
+        /// 曲线数据结构，包含速度、扭矩、角度、圈数、斜率与时间。
+        /// </summary>
+        public struct WaveData
+        {
+            /// <summary>
+            /// 速度
+            /// </summary>
+            public double Speed { get; set; }
+            /// <summary>
+            /// 扭矩
+            /// </summary>
+            public double Torque { get; set; }
+            /// <summary>
+            /// 角度
+            /// </summary>
+            public double LockAngle { get; set; }
+            /// <summary>
+            /// 圈数
+            /// </summary>
+            public double Turns { get; set; }
+            /// <summary>
+            /// 斜率
+            /// </summary>
+            public double Slopes { get; set; }
+            /// <summary>
+            /// 时间(秒)
+            /// </summary>
+            public double Time { get; set; }
+        }
+    }
+}

TeamAAS-VM/Enums/ElectricScrewdriverBrand.cs

@@ -0,0 +1,16 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace TeamAAS_VP.Enums
+{
+    /// <summary>
+    /// 电批品牌
+    /// </summary>
+    public enum ElectricScrewdriverBrand
+    {
+        XYD = 0,
+    }
+}

TeamAAS-VM/Interfaces/IConfigService.cs

@@ -7,6 +7,7 @@ using TeamAAS_VP.Models.Calibration;
 using TeamAAS_VP.Models.Feeder;
 using TeamAAS_VP.Models.Lights;
 using TeamAAS_VP.Models.PLC;
+using TeamAAS_VP.Models.ScrewDriver;
 
 namespace TeamAAS_VP.Interfaces
 {
@@ -386,5 +387,22 @@ namespace TeamAAS_VP.Interfaces
         /// <returns>如果找到并更新成功则返回 true；否则返回 false。</returns>
         bool UpdateChannelDefaultBrightness(int globalIndex, int brightness);
 
+        // Screw driver (single device) configuration accessors
+        /// <summary>
+        /// 获取电批配置（单设备）。
+        /// </summary>
+        /// <returns>当前的 <see cref="ScrewDriverConfig"/>，若未加载则返回 null。</returns>
+        ScrewDriverConfig GetScrewDriverConfig();
+
+        /// <summary>
+        /// 设置并持久化电批配置（单设备）。
+        /// </summary>
+        /// <param name="cfg">新的配置对象，不能为空。</param>
+        void SetScrewDriverConfig(ScrewDriverConfig cfg);
+
+        /// <summary>
+        /// 仅将当前内存中的电批配置保存到文件。
+        /// </summary>
+        void SaveScrewDriverConfig();
     }
 }

TeamAAS-VM/Interfaces/IScrewDriver.cs

@@ -0,0 +1,25 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using TeamAAS_VP.Enums;
+
+namespace TeamAAS_VP.Interfaces
+{
+    public interface IScrewDriver : IDisposable
+    {
+        bool Connect();
+        bool GetData();
+
+        Task<bool> ConnectAsync();
+        Task<bool> GetDataAsync();
+
+        bool IsConnected { get; }
+        string IPAdress { get; }
+        int Port { get; }
+        ElectricScrewdriverBrand Brand { get; }
+
+        event Action<object, bool> ConnectStateChangedEvent;
+    }
+}

TeamAAS-VM/Models/ScrewDriver/ScrewDriverConfig.cs

@@ -0,0 +1,36 @@
+using System;
+using TeamAAS_VP.Enums;
+
+namespace TeamAAS_VP.Models.ScrewDriver
+{
+    /// <summary>
+    /// 电批配置，仅包含单个设备的必要信息。
+    /// </summary>
+    public class ScrewDriverConfig
+    {
+        /// <summary>
+        /// 设备 IP 地址
+        /// </summary>
+        public string IPAdress { get; set; } = "127.0.0.1";
+
+        /// <summary>
+        /// 设备端口
+        /// </summary>
+        public int Port { get; set; } = 10001;
+
+        /// <summary>
+        /// 品牌
+        /// </summary>
+        public ElectricScrewdriverBrand Brand { get; set; } = ElectricScrewdriverBrand.XYD;
+
+        /// <summary>
+        /// 发送超时(ms)
+        /// </summary>
+        public int SendTimeout { get; set; } = 1000;
+
+        /// <summary>
+        /// 接收超时(ms)
+        /// </summary>
+        public int ReceiveTimeout { get; set; } = 2000;
+    }
+}

TeamAAS-VM/Services/ConfigService.cs

@@ -13,6 +13,7 @@ using TeamAAS_VP.Models.Calibration;
 using TeamAAS_VP.Models.Feeder;
 using TeamAAS_VP.Models.Lights;
 using TeamAAS_VP.Models.PLC;
+using TeamAAS_VP.Models.ScrewDriver;
 
 namespace TeamAAS_VP.Services
 {
@@ -37,6 +38,8 @@ namespace TeamAAS_VP.Services
             public static readonly string FeederClearanceTasksConfigurationPath = "..//Config//FeederClearanceTasksConfiguration.cfg";
             // 光源控制器配置路径
             public static readonly string LightControllersConfigurationPath = "..//Config//LightControllersConfiguration.cfg";
+            // 电批配置路径（单设备）
+            public static readonly string ScrewDriverConfigurationPath = "..//Config//ScrewDriverConfiguration.cfg";
         }
 
         private readonly object _sync = new object();
@@ -51,6 +54,9 @@ namespace TeamAAS_VP.Services
         private ObservableCollection<LightControllerConfig> LightControllers { get; set; }
 
         private PlcAddressConfig PlcAddressConfig { get; set; }
+        // 单个电批配置
+        private TeamAAS_VP.Models.ScrewDriver.ScrewDriverConfig _screwDriverConfig;
+        public TeamAAS_VP.Models.ScrewDriver.ScrewDriverConfig ScrewDriverConfig { get { lock(_sync) { return _screwDriverConfig; } } }
 
         /// <summary>
         /// 初始化一个新的 <see cref="ConfigService"/> 实例。
@@ -144,6 +150,15 @@ namespace TeamAAS_VP.Services
                     PlcAddressConfig.SetDefaultValue();
                     FileHelper.WriteJsonFile(PlcAddressConfig, plcAddressPath);
                 }
+
+                // load screw driver config (single device)
+                if (File.Exists(ConfigPaths.ScrewDriverConfigurationPath))
+                    _screwDriverConfig = FileHelper.ReadJsonFile<TeamAAS_VP.Models.ScrewDriver.ScrewDriverConfig>(ConfigPaths.ScrewDriverConfigurationPath);
+                else
+                {
+                    _screwDriverConfig = new TeamAAS_VP.Models.ScrewDriver.ScrewDriverConfig();
+                    FileHelper.WriteJsonFile(_screwDriverConfig, ConfigPaths.ScrewDriverConfigurationPath);
+                }
             }
         }
 
@@ -171,6 +186,9 @@ namespace TeamAAS_VP.Services
                 FileHelper.WriteJsonFile(BgCommunicate, ConfigPaths.BgTcpIpConfigurationPath);
                 FileHelper.WriteJsonFile(BgModbusCommunicate, ConfigPaths.BgModbusTcpConfigurationPath);
                 FileHelper.WriteJsonFile(LightControllers, ConfigPaths.LightControllersConfigurationPath);
+                // save screw driver config
+                if (_screwDriverConfig != null)
+                    FileHelper.WriteJsonFile(_screwDriverConfig, ConfigPaths.ScrewDriverConfigurationPath);
                 // save plc addresses
                 //FileHelper.WriteJsonFile(PlcAddressConfig, "..//Config//PlcAddressConfiguration.cfg");
             }
@@ -922,6 +940,43 @@ namespace TeamAAS_VP.Services
         public PlcAddressConfig GetPlcAddresses() { lock (_sync) { return PlcAddressConfig; } }
         #endregion
 
+        #region ScrewDriver config (single device)
+        /// <summary>
+        /// 获取电批配置（单设备）。
+        /// </summary>
+        /// <returns>当前的 <see cref="ScrewDriverConfig"/>，若未加载则返回 null。</returns>
+        public ScrewDriverConfig GetScrewDriverConfig()
+        {
+            lock (_sync) { return _screwDriverConfig; }
+        }
+
+        /// <summary>
+        /// 设置并持久化电批配置（单设备）。
+        /// </summary>
+        /// <param name="cfg">新的配置对象，不能为空。</param>
+        public void SetScrewDriverConfig(ScrewDriverConfig cfg)
+        {
+            if (cfg == null) throw new ArgumentNullException(nameof(cfg));
+            lock (_sync)
+            {
+                _screwDriverConfig = cfg;
+                FileHelper.WriteJsonFile(_screwDriverConfig, ConfigPaths.ScrewDriverConfigurationPath);
+            }
+        }
+
+        /// <summary>
+        /// 仅将当前内存中的电批配置保存到文件。
+        /// </summary>
+        public void SaveScrewDriverConfig()
+        {
+            lock (_sync)
+            {
+                if (_screwDriverConfig != null)
+                    FileHelper.WriteJsonFile(_screwDriverConfig, ConfigPaths.ScrewDriverConfigurationPath);
+            }
+        }
+        #endregion
+
         /// <summary>
         /// 释放资源并保存当前内存中的所有配置到文件。
         /// </summary>

TeamAAS-VM/TeamAAS-VP.csproj

@@ -571,10 +571,12 @@
     <Compile Include="Core\Lights\TcpProtocol.cs" />
     <Compile Include="Core\Robots\Axis.cs" />
     <Compile Include="Core\Robots\XYZU_Robot.cs" />
+    <Compile Include="Core\ScrewDriver\XYD_ScrewDriver.cs" />
     <Compile Include="Data\DatabaseInitializer.cs" />
     <Compile Include="Data\SystemDatabaseService.cs" />
     <Compile Include="Enums\AnalysisMode.cs" />
     <Compile Include="Enums\DragHandleType.cs" />
+    <Compile Include="Enums\ElectricScrewdriverBrand.cs" />
     <Compile Include="Enums\FocusMethod.cs" />
     <Compile Include="Enums\OutputPointMode.cs" />
     <Compile Include="Enums\RoiOperationMode.cs" />
@@ -586,6 +588,7 @@
     <Compile Include="Interfaces\IPlcService.cs" />
     <Compile Include="Interfaces\IProductService.cs" />
     <Compile Include="Interfaces\IRemoteCommandService.cs" />
+    <Compile Include="Interfaces\IScrewDriver.cs" />
     <Compile Include="Interfaces\ISystemDatabaseService.cs" />
     <Compile Include="Models\AlarmRecord.cs" />
     <Compile Include="Models\AnalysisParameters.cs" />
@@ -604,6 +607,7 @@
     <Compile Include="Models\ProductionStatResult.cs" />
     <Compile Include="Models\Product\ProcedureUserDefineParam.cs" />
     <Compile Include="Models\RoiModel.cs" />
+    <Compile Include="Models\ScrewDriver\ScrewDriverConfig.cs" />
     <Compile Include="Models\SerialPortConfig.cs" />
     <Compile Include="Models\SystemConfiguration.cs" />
     <Compile Include="Models\TcpConfig.cs" />