diff --git a/maibu-common/src/main/java/com/maibu/core/business/dto/WebRouteStatusMessageDTO.java b/maibu-common/src/main/java/com/maibu/core/business/dto/WebRouteStatusMessageDTO.java
new file mode 100644
index 0000000..8709cc6
--- /dev/null
+++ b/maibu-common/src/main/java/com/maibu/core/business/dto/WebRouteStatusMessageDTO.java
@@ -0,0 +1,16 @@
+package com.maibu.core.business.dto;
+
+import java.util.List;
+
+import com.maibu.core.business.path.LatAndLngEntity;
+import com.maibu.core.enums.MesType;
+
+import lombok.Data;
+
+@Data
+public class WebRouteStatusMessageDTO {
+    private List<LatAndLngEntity> data;
+    private String deviceId;
+    private Long taskId;
+    private MesType type;
+}
diff --git a/maibu-common/src/main/java/com/maibu/core/enums/MesType.java b/maibu-common/src/main/java/com/maibu/core/enums/MesType.java
index 3e58035..0579068 100644
--- a/maibu-common/src/main/java/com/maibu/core/enums/MesType.java
+++ b/maibu-common/src/main/java/com/maibu/core/enums/MesType.java
@@ -14,5 +14,6 @@ public enum MesType {
     remoteControl,
     detectionReport, // 障碍物消息
     switchPermission, // 切换控制申请
-    switchResult;// 切换结果
+    switchResult,// 切换结果
+    route_post;// 路径规划 点位推送
 }
diff --git a/maibu-common/src/main/java/com/maibu/memory/DeviceSessionManager.java b/maibu-common/src/main/java/com/maibu/memory/DeviceSessionManager.java
index da31df5..64b3ef4 100644
--- a/maibu-common/src/main/java/com/maibu/memory/DeviceSessionManager.java
+++ b/maibu-common/src/main/java/com/maibu/memory/DeviceSessionManager.java
@@ -1,6 +1,5 @@
 package com.maibu.memory;
 
-
 import cn.hutool.core.util.ObjectUtil;
 import com.maibu.core.business.device.Connector;
 import com.maibu.core.business.device.NettyDevice;
@@ -30,7 +29,7 @@ public class DeviceSessionManager {
     // 设备ID -> 设备对象（业务实体）
     private final ConcurrentHashMap<String, NettyDevice> deviceMap = new ConcurrentHashMap<>();
 
-    //当前设备的控制权在哪  登录的账号 deviceId(下位机) ->  token key 唯一保证一个deviceId 只有一个控制权
+    // 当前设备的控制权在哪 登录的账号 deviceId(下位机) -> token key 唯一保证一个deviceId 只有一个控制权
     private final ConcurrentHashMap<String, String> controllerMap = new ConcurrentHashMap<>();
 
     // 设备ID -> Channel（通信通道）
@@ -39,7 +38,6 @@ public class DeviceSessionManager {
     // Channel -> 设备ID（反查）
     private final ConcurrentHashMap<Channel, String> channelToDeviceIdMap = new ConcurrentHashMap<>();
 
-
     public void clearChannelToDeviceIdMap(String deviceId) {
         if (StringUtils.isEmpty(deviceId) || CollectionUtils.isEmpty(channelToDeviceIdMap)) {
             return;
@@ -67,7 +65,6 @@ public class DeviceSessionManager {
         }
     }
 
-
     /**
      * 注册设备连接（设备上线）
      *
@@ -75,7 +72,8 @@ public class DeviceSessionManager {
      * @param channel    通信通道
      * @param deviceType 设备类型（MASTER/SLAVE）
      */
-    public void registerDevice(String deviceId, Channel channel, ConnectorType deviceType, ConnectorStatus status, String slaveId) {
+    public void registerDevice(String deviceId, Channel channel, ConnectorType deviceType, ConnectorStatus status,
+            String slaveId) {
         NettyDevice nettyDevice = deviceMap.computeIfAbsent(deviceId, id -> new NettyDevice(id, deviceType));
         nettyDevice.setChannel(channel);
         nettyDevice.setConnectorStatus(status); // 默认上线即ACTIVE
@@ -109,7 +107,8 @@ public class DeviceSessionManager {
      */
     public void bindConnector(String masterId, String slaveId) {
         NettyDevice master = deviceMap.get(masterId);
-        if (master == null) return;
+        if (master == null)
+            return;
         NettyDevice slave = deviceMap.computeIfAbsent(slaveId, id -> new NettyDevice(id, ConnectorType.SLAVE));
         master.addConnectedDevice(slave);
         System.out.println("Bind connectors for master " + masterId + " and slave " + slaveId);
@@ -147,7 +146,6 @@ public class DeviceSessionManager {
         }
     }
 
-
     public boolean unLock(String token) {
         if (!StringUtils.isEmpty(token)) {
             Iterator<String> iterator = controllerMap.keySet().iterator();
@@ -179,7 +177,6 @@ public class DeviceSessionManager {
 
     }
 
-
     // 模糊匹配
     public List<NettyDevice> getDevicesLike(String query) {
         return deviceMap.values().stream()
@@ -187,7 +184,6 @@ public class DeviceSessionManager {
                 .collect(Collectors.toList());
     }
 
-
     public List<NettyDevice> getSlaveControl(String slaveId) {
         // 获取所有连接的主机 且是active状态的
         return deviceMap.values().stream()
@@ -196,7 +192,6 @@ public class DeviceSessionManager {
                 .collect(Collectors.toList());
     }
 
-
     public List<NettyDevice> getAllSlaveControl(String slaveId) {
         // 获取所有连接的主机 不区分状态
         return deviceMap.values().stream()
@@ -212,7 +207,6 @@ public class DeviceSessionManager {
                 .findFirst().orElse(null);
     }
 
-
     /// 模糊匹配
     public NettyDevice getUserControl(String userName) {
         return deviceMap.values().stream()
@@ -221,7 +215,6 @@ public class DeviceSessionManager {
                 .findFirst().orElse(null);
     }
 
-
     /**
      * 根据设备ID获取Channel
      */
@@ -236,7 +229,6 @@ public class DeviceSessionManager {
         return channelToDeviceIdMap.get(channel);
     }
 
-
     /**
      * 根据从机查控制的主机
      */
@@ -249,7 +241,8 @@ public class DeviceSessionManager {
      * 根据从机查所有主机
      */
     public List<NettyDevice> getMastersBySlaveId(String slaveId) {
-        return deviceMap.values().stream().filter(x -> Objects.equals(x.getCurrentSlaveId(), slaveId)).collect(Collectors.toList());
+        return deviceMap.values().stream().filter(x -> Objects.equals(x.getCurrentSlaveId(), slaveId))
+                .collect(Collectors.toList());
     }
 
     /**
@@ -257,12 +250,12 @@ public class DeviceSessionManager {
      */
     public void removeDevice(String deviceId) {
         NettyDevice nettyDevice = deviceMap.remove(deviceId);
-//        Channel channel = channelMap.remove(deviceId);
+        // Channel channel = channelMap.remove(deviceId);
         clearChannelToDeviceIdMap(deviceId);
-//        if (channel != null) {
-//            channelToDeviceIdMap.remove(channel);
-//            channel.close();
-//        }
+        // if (channel != null) {
+        // channelToDeviceIdMap.remove(channel);
+        // channel.close();
+        // }
         if (nettyDevice != null) {
             // 仅当设备是上位机时，才解绑绑定关系
             if (nettyDevice.getDeviceType() == ConnectorType.MASTER) {
@@ -281,7 +274,6 @@ public class DeviceSessionManager {
         }
     }
 
-
     /**
      * 判断设备是否在线
      */
@@ -306,5 +298,20 @@ public class DeviceSessionManager {
         return nettyDevice != null && nettyDevice.canReceive();
     }
 
+    /**
+     * 获取客户端当前 控制的设备
+     */
+    public String getDeviceByTaskId(Long taskId) {
+        if (taskId == null) {
+            return null;
+        }
+        for (String key : deviceMap.keySet()) {
+            NettyDevice nettyDevice = deviceMap.get(key);
+            if (nettyDevice != null && Objects.equals(nettyDevice.getCurrentTaskId(), taskId)) {
+                return nettyDevice.getConnectorId();
+            }
+        }
+        return null;
+    }
 
 }
diff --git a/maibu-common/src/main/java/com/maibu/memory/GlobalMemory.java b/maibu-common/src/main/java/com/maibu/memory/GlobalMemory.java
index 1df0561..038ec51 100644
--- a/maibu-common/src/main/java/com/maibu/memory/GlobalMemory.java
+++ b/maibu-common/src/main/java/com/maibu/memory/GlobalMemory.java
@@ -108,6 +108,7 @@ public class GlobalMemory {
                     MqttTopic.MOWER_HEARTBEAT,//心跳
                     MqttTopic.MOWER_WILDCARD_LOCATION,//位置 经纬度
                     MqttTopic.MOWER_WILDCARD_TASK_ROUTE, //路径回复
+                    MqttTopic.MOWER_WILDCARD_TASK_STATUS,//任务状态
                     MqttTopic.MOWER_WILDCARD_ERROR,//错误
                     MqttTopic.MOWER_WILDCARD_REALTIME, //状态消息
                     MqttTopic.MOWER_WILDCARD_TASK_TARGET_REPLY //路径规划下发回复
diff --git a/maibu-common/src/main/java/com/maibu/mqtt/HostMessageHandler.java b/maibu-common/src/main/java/com/maibu/mqtt/HostMessageHandler.java
index 8c6ff29..0b3be73 100644
--- a/maibu-common/src/main/java/com/maibu/mqtt/HostMessageHandler.java
+++ b/maibu-common/src/main/java/com/maibu/mqtt/HostMessageHandler.java
@@ -74,21 +74,17 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
                 case "realtime_post":
                     handleRealtimePost(deviceId, topic, payload);
                     break;
-                case "status_post":
-                    handleStatusPost(deviceId, topic, payload);
-                    break;
                 case "heartbeat_post":
                     handleHeartbeatPost(deviceId, topic, payload);
                     break;
                 case "error_post":
                     handleErrorPost(deviceId, topic, payload);
                     break;
-                case "route_post":
-                case "point_post":
-                    handleTaskPost(deviceId, topic, payload, action);
-                    break;
+                // case "route_post":
+                // case "point_post":
+                //     handleTaskPost(deviceId, topic, payload, action);
+                    // break;
                 case "task_status_post":
-                case "task_finish_post":
                     handleTaskPost(deviceId, topic, payload, action);
                     break;
                 case "config_reply":
@@ -357,13 +353,11 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
 
         if (remaining.equals("property/location/post")) return "location_post";
         if (remaining.equals("property/realtime/post")) return "realtime_post";
-        if (remaining.equals("event/status/post")) return "status_post";
         if (remaining.equals("event/heartbeat/post")) return "heartbeat_post";
         if (remaining.equals("event/error/post")) return "error_post";
-        if (remaining.equals("task/route/post")) return "route_post";
-        if (remaining.equals("task/point/post")) return "point_post";
+        // if (remaining.equals("task/route/post")) return "route_post";
+        // if (remaining.equals("task/point/post")) return "point_post";
         if (remaining.equals("task/status/post")) return "task_status_post";
-        if (remaining.equals("task/finish/post")) return "task_finish_post";
         if (remaining.equals("action/config/reply")) return "config_reply";
         if (remaining.equals("action/control/reply")) return "control_reply";
         if (remaining.equals("task/target/reply")) return "route_reply";
diff --git a/maibu-common/src/main/java/com/maibu/mqtt/MqttTopic.java b/maibu-common/src/main/java/com/maibu/mqtt/MqttTopic.java
index d6c8160..503c8cc 100644
--- a/maibu-common/src/main/java/com/maibu/mqtt/MqttTopic.java
+++ b/maibu-common/src/main/java/com/maibu/mqtt/MqttTopic.java
@@ -1,6 +1,5 @@
 package com.maibu.mqtt;
 
-
 public class MqttTopic {
 
     /** @deprecated 通用设备主题，建议使用 MOWER_* 系列主题 */
@@ -13,6 +12,7 @@ public class MqttTopic {
     public static final String DEVICE_TASK_ARRIVE_TOPIC = "task/%s/arrive";
     /** @deprecated 通用设备主题，建议使用 MOWER_* 系列主题 */
     public static final String DEVICE_ERROR_PUSH_TOPIC = "device/%s/error";
+    public static final String DEVICE_ROUTE_PUSH_TOPIC = "device/%s/route/post";
 
     /** 产品标识：割草机 */
     public static final String MOWER_PRODUCT = "mower";
@@ -47,8 +47,9 @@ public class MqttTopic {
 
     // ==================== 任务管理 ====================
     /** 路径规划下发（平台->设备），对应 TCP 0x01 path */
-//    public static final String MOWER_TASK_ROUTE_SET = "mower/%s/task/route/set";
-//    public static final String MOWER_TASK_ROUTE_POST = "mower/%s/task/route/post";
+    // public static final String MOWER_TASK_ROUTE_SET = "mower/%s/task/route/set";
+    // public static final String MOWER_TASK_ROUTE_POST =
+    // "mower/%s/task/route/post";
 
     public static final String MOWER_TASK_ROUTE_SET = "mower/%s/task/target/set";
 
@@ -57,28 +58,32 @@ public class MqttTopic {
     public static final String MOWER_TASK_POINT_POST = "mower/%s/task/point/post";
     /** 任务状态变更上报：执行中/暂停/完成等（设备->平台） */
     public static final String MOWER_TASK_STATUS_POST = "mower/%s/task/status/post";
-    /** 任务完成上报（设备->平台） */
-    public static final String MOWER_TASK_FINISH_POST = "mower/%s/task/finish/post";
 
     // ==================== 错误告警 ====================
     /** 设备错误告警上报：电机故障/传感器异常等（设备->平台） */
     public static final String MOWER_ERROR_POST = "mower/%s/event/error/post";
 
     // ==================== OTA 固件升级 ====================
-//    /** 下发 OTA 升级指令（平台->设备） */
-//    public static final String MOWER_OTA_UPGRADE_SET = "mower/%s/ota/upgrade/set";
-//    /** OTA 升级进度上报（设备->平台） */
-//    public static final String MOWER_OTA_PROGRESS_POST = "mower/%s/ota/progress/post";
-//    /** OTA 升级结果上报（设备->平台） */
-//    public static final String MOWER_OTA_RESULT_POST = "mower/%s/ota/result/post";
+    // /** 下发 OTA 升级指令（平台->设备） */
+    // public static final String MOWER_OTA_UPGRADE_SET =
+    // "mower/%s/ota/upgrade/set";
+    // /** OTA 升级进度上报（设备->平台） */
+    // public static final String MOWER_OTA_PROGRESS_POST =
+    // "mower/%s/ota/progress/post";
+    // /** OTA 升级结果上报（设备->平台） */
+    // public static final String MOWER_OTA_RESULT_POST =
+    // "mower/%s/ota/result/post";
 
     // ==================== 设备信息 ====================
-//    /** 查询设备信息（平台->设备） */
-//    public static final String MOWER_INFO_DEVICE_GET = "mower/%s/info/device/get";
-//    /** 设备信息响应（设备->平台） */
-//    public static final String MOWER_INFO_DEVICE_REPLY = "mower/%s/info/device/reply";
+    // /** 查询设备信息（平台->设备） */
+    // public static final String MOWER_INFO_DEVICE_GET =
+    // "mower/%s/info/device/get";
+    // /** 设备信息响应（设备->平台） */
+    // public static final String MOWER_INFO_DEVICE_REPLY =
+    // "mower/%s/info/device/reply";
     /** 设备版本信息上报（设备->平台） */
-//    public static final String MOWER_INFO_VERSION_POST = "mower/%s/info/version/post";
+    // public static final String MOWER_INFO_VERSION_POST =
+    // "mower/%s/info/version/post";
 
     // ==================== 通配符订阅 ====================
     /** 订阅所有设备的状态变更事件 */
@@ -98,9 +103,6 @@ public class MqttTopic {
 
     public static final String MOWER_HEARTBEAT = "mower/+/event/heartbeat/post";
 
-
-
-
     /**
      * 格式化 Topic 模板，将 %s 替换为设备ID
      * 
diff --git a/maibu-netty-server/src/main/java/com/maibu/netty/handler/DeviceConnectHandler.java b/maibu-netty-server/src/main/java/com/maibu/netty/handler/DeviceConnectHandler.java
index f6f22a0..c25935f 100644
--- a/maibu-netty-server/src/main/java/com/maibu/netty/handler/DeviceConnectHandler.java
+++ b/maibu-netty-server/src/main/java/com/maibu/netty/handler/DeviceConnectHandler.java
@@ -1,6 +1,5 @@
 package com.maibu.netty.handler;
 
-import java.math.BigDecimal;
 import java.nio.charset.StandardCharsets;
 import java.time.LocalDateTime;
 import java.util.List;
@@ -8,7 +7,6 @@ import java.util.concurrent.ConcurrentHashMap;
 
 import javax.annotation.Resource;
 
-import com.maibu.memory.DeviceSessionManager;
 import org.apache.commons.codec.binary.Hex;
 import org.apache.commons.lang3.StringUtils;
 import org.eclipse.paho.client.mqttv3.MqttException;
@@ -24,8 +22,6 @@ import com.maibu.constant.Constant;
 import com.maibu.core.business.Device;
 import com.maibu.core.business.device.NettyDevice;
 import com.maibu.core.business.inter.WebsocketMesDispather;
-import com.maibu.core.domain.entity.SysUser;
-import com.maibu.core.domain.entity.UserClient;
 import com.maibu.core.enums.CommandRequestType;
 import com.maibu.core.enums.ConnectionCloseReason;
 import com.maibu.core.enums.ConnectorStatus;
@@ -34,12 +30,12 @@ import com.maibu.core.enums.DeviceStatus;
 import com.maibu.core.enums.DeviceTaskStaus;
 import com.maibu.core.enums.MesType;
 import com.maibu.core.enums.RespondCode;
-import com.maibu.dto.DeviceLoginResponseDTO;
 import com.maibu.dto.DeviceRequestDTO;
 import com.maibu.dto.DeviceRespondDTO;
 import com.maibu.dto.DeviceStatusChangeDTO;
 import com.maibu.dto.DeviceTaskStatusMessageDTO;
 import com.maibu.mapper.DeviceRunStatisticsMapper;
+import com.maibu.memory.DeviceSessionManager;
 import com.maibu.memory.GlobalMemory;
 import com.maibu.mqtt.MqttTopic;
 import com.maibu.service.IDeviceService;
@@ -74,9 +70,6 @@ public class DeviceConnectHandler extends SimpleChannelInboundHandler<String> {
     @Autowired
     private IDeviceService deviceService;
 
-    @Autowired
-    private ISysUserService userService;
-
     @Autowired
     private DeviceRunStatisticsMapper deviceRunStatisticsMapper;
 
@@ -190,7 +183,7 @@ public class DeviceConnectHandler extends SimpleChannelInboundHandler<String> {
 
                             NettyDevice masterDevice = sessionManager.getDevice(sessionId);
                             if (masterDevice == null) {
-//                                sessionManager.getControl(sessionId);
+                            //    sessionManager.getControl(sessionId);
                                 handleMasterConnect(ctx, sessionId, null, ConnectorStatus.ACTIVE);
                             } else {
                                 ctx.channel().attr(Constant.ATT_DEVICE_ID).set(sessionId);
diff --git a/maibu-netty-server/src/main/java/com/maibu/service/TransferDeviceService.java b/maibu-netty-server/src/main/java/com/maibu/service/TransferDeviceService.java
index 2aa543e..4188a9a 100644
--- a/maibu-netty-server/src/main/java/com/maibu/service/TransferDeviceService.java
+++ b/maibu-netty-server/src/main/java/com/maibu/service/TransferDeviceService.java
@@ -333,7 +333,7 @@ public class TransferDeviceService {
             }
             masterDevice.setCurrentSlaveId(slaveId);
             masterDevice.setConnectorStatus(ConnectorStatus.ACTIVE);
-            sysUserClientService.updateAliveStatus(masterDevice.getConnectorId(), slaveId, 1);
+            // sysUserClientService.updateAliveStatus(masterDevice.getConnectorId(), slaveId, 1);
 
             dto.setSwitchControl(true);
             dto.setHolder(platform);
diff --git a/maibu-service/maibu-iot-service/src/main/java/com/maibu/controller/HostComputerController.java b/maibu-service/maibu-iot-service/src/main/java/com/maibu/controller/HostComputerController.java
index eed03f4..aab6e07 100644
--- a/maibu-service/maibu-iot-service/src/main/java/com/maibu/controller/HostComputerController.java
+++ b/maibu-service/maibu-iot-service/src/main/java/com/maibu/controller/HostComputerController.java
@@ -1,16 +1,5 @@
 package com.maibu.controller;
 
-import com.maibu.core.business.path.LatAndLngEntity;
-import com.maibu.core.controller.BaseController;
-import com.maibu.core.domain.R;
-import com.maibu.memory.GlobalMemory;
-import com.maibu.service.impl.HostComputerService;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.http.MediaType;
-import org.springframework.web.bind.annotation.*;
-import org.springframework.web.multipart.MultipartFile;
-
 import java.io.BufferedReader;
 import java.io.InputStreamReader;
 import java.util.ArrayList;
@@ -18,6 +7,32 @@ import java.util.Arrays;
 import java.util.List;
 import java.util.zip.GZIPInputStream;
 
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.http.MediaType;
+import org.springframework.util.CollectionUtils;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RequestParam;
+import org.springframework.web.bind.annotation.RequestPart;
+import org.springframework.web.bind.annotation.RestController;
+import org.springframework.web.multipart.MultipartFile;
+
+import com.maibu.core.business.device.NettyDevice;
+import com.maibu.core.business.dto.WebRouteStatusMessageDTO;
+import com.maibu.core.business.inter.WebsocketMesDispather;
+import com.maibu.core.business.path.LatAndLngEntity;
+import com.maibu.core.controller.BaseController;
+import com.maibu.core.domain.R;
+import com.maibu.core.enums.MesType;
+import com.maibu.memory.DeviceSessionManager;
+import com.maibu.memory.GlobalMemory;
+import com.maibu.mqtt.MqttTopic;
+import com.maibu.service.impl.HostComputerService;
+import com.maibu.utils.json.JsonUtils;
+
+import lombok.extern.slf4j.Slf4j;
+
 @Slf4j
 @RestController
 @RequestMapping("/iot/host")
@@ -28,10 +43,21 @@ public class HostComputerController extends BaseController {
     @Autowired
     private HostComputerService hostComputerService;
 
+    @Autowired
+    private WebsocketMesDispather websocketMesDispather;
+
+    @Autowired
+    private DeviceSessionManager deviceSessionManager;
+
+    @Value("${mqtt.client-id}")
+    private String mqttClientId;
+
     /**
      * 上传 csv.gz 轨迹文件并解析为 LatAndLngEntity 列表（分批处理，每批 BATCH_SIZE 条）
      *
-     * <p>CSV 格式：第 1 列=cell_index，第 2 列=x(lat)，第 3 列=y(lng)</p>
+     * <p>
+     * CSV 格式：第 1 列=cell_index，第 2 列=x(lat)，第 3 列=y(lng)
+     * </p>
      *
      * @param file   csv.gz 压缩文件
      * @param taskId 任务ID
@@ -40,8 +66,7 @@ public class HostComputerController extends BaseController {
     @PostMapping(value = "/upload-path-csv", consumes = MediaType.MULTIPART_FORM_DATA_VALUE)
     public R uploadCsv(
             @RequestPart("file") MultipartFile file,
-            @RequestParam("taskId") Long taskId
-    ) {
+            @RequestParam("taskId") Long taskId) {
         if (file == null || file.isEmpty()) {
             return R.fail("文件不能为空");
         }
@@ -61,7 +86,7 @@ public class HostComputerController extends BaseController {
         int batchIndex = 0;
 
         try (GZIPInputStream gzipInputStream = new GZIPInputStream(file.getInputStream());
-             BufferedReader reader = new BufferedReader(new InputStreamReader(gzipInputStream))) {
+                BufferedReader reader = new BufferedReader(new InputStreamReader(gzipInputStream))) {
 
             String line;
             int lineNum = 0;
@@ -74,7 +99,7 @@ public class HostComputerController extends BaseController {
 
                 String[] values = line.split(",");
 
-                if (lineNum == 1) {
+                if (lineNum < 4) {
                     log.info("CSV 表头: {}", Arrays.toString(values));
                     continue;
                 }
@@ -109,7 +134,8 @@ public class HostComputerController extends BaseController {
             log.info("csv 解析完成: taskId={}, 共 {} 个轨迹点, 分 {} 批处理", taskId, allPath.size(), batchIndex);
 
             GlobalMemory.taskPathMap.put(taskId, allPath);
-
+            sendMessage(taskId, allPath);
+            // TODO 推送数据到前端
 
             return R.ok();
 
@@ -119,14 +145,46 @@ public class HostComputerController extends BaseController {
         }
     }
 
+    /**
+     * 定位信息 经纬度
+     */
+    private void sendMessage(Long taskId, List<LatAndLngEntity> data) {
+        try {
+            WebRouteStatusMessageDTO dto = new WebRouteStatusMessageDTO();
+            String deviceId = deviceSessionManager.getDeviceByTaskId(taskId);
+            List<NettyDevice> controlMasters = deviceSessionManager
+                    .getAllSlaveControl(deviceId);
+            dto.setData(data);
+            dto.setDeviceId(deviceId);
+            dto.setTaskId(taskId);
+            dto.setType(MesType.route_post);
+            if (!CollectionUtils.isEmpty(controlMasters)) {
+                for (NettyDevice x : controlMasters) {
+                    try {
+                        websocketMesDispather.dispather(x.getConnectorId(), JsonUtils.toJsonString(dto));
+                    } catch (Exception e) {
+                        log.error("位置数据websocket推送失败: connectorId={}, error={}", x.getConnectorId(),
+                                e.getMessage());
+                    }
+                }
+            }
+            GlobalMemory.customMqttDeviceMonitor.publish(mqttClientId,
+                    String.format(MqttTopic.DEVICE_ROUTE_PUSH_TOPIC, deviceId),
+                    JsonUtils.toJsonString(dto));
+
+        } catch (Exception e) {
+            log.error("sendMessage失败: taskId={}", taskId, e);
+        }
+    }
+
     /**
      * 从 CSV 行解析 LatAndLngEntity
-     * 第 2 列(x) → lat，第 3 列(y) → lng
+     * 第 3 列(x) → lat，第 4 列(y) → lng
      */
     private LatAndLngEntity parseLatLng(String[] values) {
         try {
-            String xStr = values[1].trim();
-            String yStr = values[2].trim();
+            String xStr = values[2].trim();
+            String yStr = values[3].trim();
 
             if (xStr.isEmpty() || yStr.isEmpty()) {
                 return null;
@@ -145,11 +203,13 @@ public class HostComputerController extends BaseController {
     /**
      * 分批处理轨迹数据
      *
-     * <p>每批 BATCH_SIZE 条数据触发一次，可用于：</p>
+     * <p>
+     * 每批 BATCH_SIZE 条数据触发一次，可用于：
+     * </p>
      * <ul>
-     *   <li>批量入库（insertBatch）</li>
-     *   <li>发布 MQTT 消息到上位机</li>
-     *   <li>数据校验/统计</li>
+     * <li>批量入库（insertBatch）</li>
+     * <li>发布 MQTT 消息到上位机</li>
+     * <li>数据校验/统计</li>
      * </ul>
      *
      * @param taskId     任务ID
@@ -166,10 +226,14 @@ public class HostComputerController extends BaseController {
         double minLng = Double.MAX_VALUE, maxLng = -Double.MAX_VALUE;
 
         for (LatAndLngEntity p : path) {
-            if (p.getLat() < minLat) minLat = p.getLat();
-            if (p.getLat() > maxLat) maxLat = p.getLat();
-            if (p.getLng() < minLng) minLng = p.getLng();
-            if (p.getLng() > maxLng) maxLng = p.getLng();
+            if (p.getLat() < minLat)
+                minLat = p.getLat();
+            if (p.getLat() > maxLat)
+                maxLat = p.getLat();
+            if (p.getLng() < minLng)
+                minLng = p.getLng();
+            if (p.getLng() > maxLng)
+                maxLng = p.getLng();
         }
 
         log.info("【第 {} 批处理】taskId={}, 本批 {} 条, lat范围=[{}, {}], lng范围=[{}, {}]",
diff --git a/maibu-web-middleware/src/main/java/com/maibu/controller/WebMiddlewareController.java b/maibu-web-middleware/src/main/java/com/maibu/controller/WebMiddlewareController.java
index 769ab4a..83cfd07 100644
--- a/maibu-web-middleware/src/main/java/com/maibu/controller/WebMiddlewareController.java
+++ b/maibu-web-middleware/src/main/java/com/maibu/controller/WebMiddlewareController.java
@@ -67,6 +67,7 @@ public class WebMiddlewareController extends BaseController {
         });
         res.put("nettyClientMap", nettyClients);
         res.put("controllerMap", deviceSessionManager.getControllerMap());
+        res.put("taskPathMap", GlobalMemory.taskPathMap);
         res.put("siteMemory", GlobalMemory.getAllSiteMemory());
         return AjaxResult.success(res);
     }