#实时消息和参数

#更新实时消息具体字段
#修改远程遥控控制方式将左右轮速改成线速度和角速度
2026-10-23 09:12:53 +08:00 · 2026-10-20 09:04:57 +08:00 · 2026-10-16 09:19:31 +08:00 · 2026-10-14 09:08:33 +08:00 · 2026-10-13 12:57:29 +08:00 · 2026-10-12 15:40:23 +08:00
41 changed files with 1729 additions and 719 deletions
--- a/maibu-admin/src/main/java/com/maibu/web/controller/system/SysParamController.java
+++ b/maibu-admin/src/main/java/com/maibu/web/controller/system/SysParamController.java
@@ -0,0 +1,53 @@
+package com.maibu.web.controller.system;
+
+import java.util.List;
+
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+import com.maibu.core.controller.BaseController;
+import com.maibu.core.domain.AjaxResult;
+import com.maibu.core.domain.entity.SysParam;
+import com.maibu.service.SysParamService;
+
+/**
+ * 系统参数管理
+ *
+ * @author ruoyi
+ */
+@RestController
+@RequestMapping("/system/param")
+public class SysParamController extends BaseController {
+    @Autowired
+    private SysParamService sysParamService;
+
+    /**
+     * 查询系统参数列表
+     */
+    @GetMapping("/list")
+    public AjaxResult list() {
+        try {
+            return AjaxResult.success(sysParamService.list());
+        } catch (Exception e) {
+            throw new RuntimeException(e);
+        }
+    }
+
+    /**
+     * 新增或者修改系统参数
+     */
+
+    @PostMapping("/save")
+    public AjaxResult save(@RequestBody List<SysParam> sysParams) {
+        try {
+            return AjaxResult.success(sysParamService.save(sysParams));
+        } catch (Exception e) {
+            return AjaxResult.error("新增修改系统参数出错", e.getMessage());
+        }
+    }
+
+}
--- a/maibu-admin/src/main/resources/i18n/messages.properties
+++ b/maibu-admin/src/main/resources/i18n/messages.properties
@@ -1,3 +1,28 @@
+system.param.systemName.name = 系统名称
+system.param.systemName.desc = 系统名称
+
+system.param.defaultStationName.name = 默认场站
+system.param.defaultStationName.desc = "默认场站
+
+system.param.defaultLanguage.name = 默认语言
+system.param.defaultLanguage.desc = 默认语言
+
+system.param.defaultZoneId.name = 默认时区
+system.param.defaultZoneId.desc = 默认时区
+
+system.param.daylightSavingTime.name = 夏令时
+system.param.daylightSavingTime.desc = 夏令时
+
+system.param.defaultUnit.name = 默认单位
+system.param.defaultUnit.desc = 默认单位
+
+system.param.defaultDateFormat.name = 默认日期格式
+system.param.defaultDateFormat.desc = 默认日期格式
+
+
+
+
+
 #\u9519\u8BEF\u6D88\u606F
 not.null=* \u5FC5\u987B\u586B\u5199
 user.jcaptcha.error=\u9A8C\u8BC1\u7801\u9519\u8BEF
--- a/maibu-admin/src/main/resources/i18n/messages_en_US.properties
+++ b/maibu-admin/src/main/resources/i18n/messages_en_US.properties
@@ -1,3 +1,32 @@
+system.param.systemName.name = System Name
+system.param.systemName.desc = System Name
+
+system.param.defaultStationName.name = Default Station
+system.param.defaultStationName.desc = Default Station
+
+system.param.defaultLanguage.name = Default Language
+system.param.defaultLanguage.desc = Default Language
+
+system.param.defaultZoneId.name = Default Zone
+system.param.defaultZoneId.desc = Default Zone
+
+system.param.daylightSavingTime.name = Daylight Saving Time
+system.param.daylightSavingTime.desc = Daylight Saving Time
+
+system.param.defaultUnit.name = Default Unit
+system.param.defaultUnit.desc = Default Unit
+
+system.param.defaultDateFormat.name = Default Date Format
+system.param.defaultDateFormat.desc = Default Date Format
+
+
+
+
+
+
+
+
+
 #\u9519\u8BEF\u6D88\u606F
 not.null=* \u5FC5\u987B\u586B\u5199
 user.jcaptcha.error=\u9A8C\u8BC1\u7801\u9519\u8BEF
--- a/maibu-admin/src/main/resources/i18n/messages_zh_CN.properties
+++ b/maibu-admin/src/main/resources/i18n/messages_zh_CN.properties
@@ -1,3 +1,31 @@
+system.param.systemName.name = 系统名称
+system.param.systemName.desc = 系统名称
+
+system.param.defaultStationName.name = 默认场站
+system.param.defaultStationName.desc = "默认场站
+
+system.param.defaultLanguage.name = 默认语言
+system.param.defaultLanguage.desc = 默认语言
+
+system.param.defaultZoneId.name = 默认时区
+system.param.defaultZoneId.desc = 默认时区
+
+system.param.daylightSavingTime.name = 夏令时
+system.param.daylightSavingTime.desc = 夏令时
+
+system.param.defaultUnit.name = 默认单位
+system.param.defaultUnit.desc = 默认单位
+
+system.param.defaultDateFormat.name = 默认日期格式
+system.param.defaultDateFormat.desc = 默认日期格式
+
+
+
+
+
+
+
+
 #\u9519\u8BEF\u6D88\u606F
 not.null=* \u5FC5\u987B\u586B\u5199
 user.jcaptcha.error=\u9A8C\u8BC1\u7801\u9519\u8BEF
--- a/maibu-common/src/main/java/com/maibu/constant/Constant.java
+++ b/maibu-common/src/main/java/com/maibu/constant/Constant.java
@@ -1,19 +1,19 @@
 package com.maibu.constant;

-import com.maibu.core.business.DeviceRunParam;
-import com.maibu.core.enums.ConnectionCloseReason;
-import io.netty.util.AttributeKey;
-import lombok.Data;
-
 import java.util.concurrent.CompletableFuture;

-@Data
+import com.maibu.core.business.DeviceRunParam;
+import com.maibu.core.enums.ConnectionCloseReason;
+
+import io.netty.util.AttributeKey;
+
+
 public class Constant {

    public static final AttributeKey<String> ATT_DEVICE_ID = AttributeKey.valueOf("deviceId");

-    public static final AttributeKey<CompletableFuture<DeviceRunParam>> READ_CONFIG_KEY =
-            AttributeKey.valueOf("READ_CONFIG");
+    public static final AttributeKey<CompletableFuture<DeviceRunParam>> READ_CONFIG_KEY = AttributeKey
+            .valueOf("READ_CONFIG");

    public static final AttributeKey<ConnectionCloseReason> ATT_CLOSE_REASON = AttributeKey.valueOf("closeReason");

@@ -27,5 +27,10 @@ public class Constant {

    public static final String mqttHandleKey = "hostHandle";

-    public static final Long hostOfflineInterval = 10000L; //单位毫秒
+    public static final Long hostOfflineInterval = 10000L; // 单位毫秒
+
+    // ==================== 远程控制 ====================
+    public static final String protocol_version = "1.4.3";
+    public static final String remote_control_msg_prefix = "remote-msg";
+    public static final String remote_control_cmd_prefix = "remote-cmd";
 }
--- a/maibu-common/src/main/java/com/maibu/core/business/DeviceRunParam.java
+++ b/maibu-common/src/main/java/com/maibu/core/business/DeviceRunParam.java
@@ -1,22 +1,19 @@
 package com.maibu.core.business;

+import java.time.LocalDate;
+import java.util.List;
+
 import com.baomidou.mybatisplus.annotation.IdType;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableId;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.handlers.JacksonTypeHandler;
 import com.maibu.annotation.Excel;
-import com.maibu.constant.CommandConstant;
 import com.maibu.core.domain.BaseDO;

 import lombok.Data;
 import lombok.EqualsAndHashCode;

-import java.nio.ByteBuffer;
-import java.nio.ByteOrder;
-import java.nio.charset.StandardCharsets;
-import java.util.List;
-
@EqualsAndHashCode(callSuper = true)
@Data
@TableName(value = "iot_device_run_param", autoResultMap = true)
@@ -25,366 +22,440 @@ public class DeviceRunParam extends BaseDO {
    @TableId(type = IdType.AUTO)
    private Long id;

-//    private String deviceId;
+    // private String deviceId;

    private Long siteId;

    private Long orgId;

-    private Integer runSpeed; //不下发到设备自己用
+    private Integer runSpeed; // 不下发到设备自己用

    @Excel(name = "设备序列号", cellType = Excel.ColumnType.STRING, prompt = "设备序列号")
-    private String deviceId;//设备序列号
+    private String deviceId;// 设备序列号

    @Excel(name = "产品型号", cellType = Excel.ColumnType.STRING, prompt = "产品型号")
-    private String productModel;//产品型号
+    private String productModel;// 产品型号

    @Excel(name = "设备类型", cellType = Excel.ColumnType.STRING, prompt = "设备类型")
-    private String deviceType;//设备类型：mower-割草机器人
+    private String deviceType;// 设备类型：mower-割草机器人

    @Excel(name = "RTK模式", cellType = Excel.ColumnType.STRING, prompt = "RTK模式")
-    private String rtkMode;//RTK模式：network-4G网络差分
+    private String rtkMode;// RTK模式：network-4G网络差分

    @Excel(name = "摄像头数量", cellType = Excel.ColumnType.STRING, prompt = "摄像头数量")
-    private Integer cameraNum;//摄像头数量
+    private Integer cameraNum;// 摄像头数量

    @Excel(name = "动力类型", cellType = Excel.ColumnType.STRING, prompt = "动力类型")
-    private String powerType;//动力类型：hybrid-混动
+    private String powerType;// 动力类型：hybrid-混动

    @Excel(name = "车轮类型", cellType = Excel.ColumnType.STRING, prompt = "车轮类型")
-    private String wheelType;//车轮类型：track-履带式
+    private String wheelType;// 车轮类型：track-履带式

    @Excel(name = "发动机类型", cellType = Excel.ColumnType.STRING, prompt = "发动机类型")
-    private String engineType;//发动机类型：honda-本田发动机
+    private String engineType;// 发动机类型：honda-本田发动机

-    @Excel(name = "是否搭载上位机",cellType = Excel.ColumnType.NUMERIC)
-    private Integer hasHost = 1;//是否搭载上位机
+    @Excel(name = "是否搭载上位机", cellType = Excel.ColumnType.NUMERIC)
+    private Integer hasHost = 1;// 是否搭载上位机

    @Excel(name = "设备能力列表")
    @TableField(exist = false)
    private String capabilities;

+    private String factoryCode; // 工厂码
+
+    private String lineNum;// 产线号
+
+    private LocalDate productionDate;// 生产日期
+
+    private String serialNumber;// 流水号
+
+    @Excel(name = "电池类型", cellType = Excel.ColumnType.STRING, prompt = "电池类型")
+    private String batteryType;// 电池类型
+
+    @Excel(name = "行走驱动类型", cellType = Excel.ColumnType.STRING, prompt = "行走驱动类型")
+    private String walkingDriveType;// 行走驱动类型
+
+    @Excel(name = "割刀驱动类型", cellType = Excel.ColumnType.STRING, prompt = "割刀驱动类型")
+    private String cutterDriveType;// 割刀驱动类型
+
+    @Excel(name = "RTK天线数", cellType = Excel.ColumnType.STRING, prompt = "RTK天线数")
+    private String rtkAntennasNum;// RTK天线数
+
+    @Excel(name = "手柄类型", cellType = Excel.ColumnType.STRING, prompt = "手柄类型")
+    private String handleType;// 手柄类型
+
+    @Excel(name = "PCB硬件版本", cellType = Excel.ColumnType.STRING, prompt = "PCB硬件版本")
+    private String pcbVersion;// PCB硬件版本
+
+    @Excel(name = "长宽高", cellType = Excel.ColumnType.STRING, prompt = "长宽高")
+    private String dimensions;// 长宽高
+
+    @Excel(name = "割刀宽度", cellType = Excel.ColumnType.STRING, prompt = "割刀宽度")
+    private String bladeWidth;// 割刀宽度
+
+    @Excel(name = "轮胎尺寸", cellType = Excel.ColumnType.STRING, prompt = "轮胎尺寸")
+    private String tyreSize;// 轮胎尺寸
+
+    @Excel(name = "转速比", cellType = Excel.ColumnType.STRING, prompt = "转速比")
+    private String speedRatio;// 转速比
+
+    @Excel(name = "蜂窝网络通信信息", cellType = Excel.ColumnType.STRING, prompt = "蜂窝网络通信信息")
+    private String cellularInfo;// 蜂窝网络通信信息
+
+    @Excel(name = "wifi名称", cellType = Excel.ColumnType.STRING, prompt = "wifi名称")
+    private String wifiName;// wifi名称
+
+    @Excel(name = "蓝牙广播名", cellType = Excel.ColumnType.STRING, prompt = "蓝牙广播名")
+    private String bluetoothName;// 蓝牙广播名
+
+    @Excel(name = "硬件标识信息", cellType = Excel.ColumnType.STRING, prompt = "硬件标识信息")
+    private String hardwareIdentifiers;// 硬件标识信息
+
+    @Excel(name = "IMU型号", cellType = Excel.ColumnType.STRING, prompt = "IMU型号")
+    private String imuModel;// IMU型号
+
+    @Excel(name = "温湿度传感器", cellType = Excel.ColumnType.STRING, prompt = "温湿度传感器")
+    private String tempHumiditySensor;// 温湿度传感器
+
+    @Excel(name = "气压计在位", cellType = Excel.ColumnType.STRING, prompt = "气压计在位")
+    private String barometerPresent;// 气压计在位
+
+    @Excel(name = "超声波在位", cellType = Excel.ColumnType.STRING, prompt = "超声波在位")
+    private String ultrasonicPresent;// 超声波在位
+
+    @Excel(name = "DAC在位", cellType = Excel.ColumnType.STRING, prompt = "DAC在位")
+    private String dacPresent;// DAC在位
+
+    @Excel(name = "质检员", cellType = Excel.ColumnType.STRING, prompt = "质检员")
+    private String operator;// 质检员
+
+    @Excel(name = "检测报告号", cellType = Excel.ColumnType.STRING, prompt = "检测报告号")
+    private String inspectionNo;// 检测报告号
+
+    @Excel(name = "固件版本", cellType = Excel.ColumnType.STRING, prompt = "固件版本")
+    private String firmwareVersion;// 固件版本
+
+    @Excel(name = "经销商", cellType = Excel.ColumnType.STRING, prompt = "经销商")
+    private String dealer;// DAC在位
+
    @TableField(typeHandler = JacksonTypeHandler.class)
-    private List<String> capabilityList;//设备能力列表：heartbeat-上报心跳/location-上报位置/vehicle_status-上报整机状态/task_control-任务控制/single_point-单点作业/coverage-全覆盖割草作业/path_upload-作业路径上传
+    private List<String> capabilityList;// 设备能力列表：heartbeat-上报心跳/location-上报位置/vehicle_status-上报整机状态/task_control-任务控制/single_point-单点作业/coverage-全覆盖割草作业/path_upload-作业路径上传
+
+    // @TableField(exist = false)
+    // public byte header1;
+    // @TableField(exist = false)
+    // public byte header2;
+    // @TableField(exist = false)
+    // public byte cmd;
+
+    // public byte chipUidSign;// 芯片UID固化标志位
+    // public String chipUid;// 芯片UID
+
+    // public byte[] remoteConfig;// 遥控器通道配置
+    // public int knifeMotorMode;// 割刀电机模式
+    // public int walkMotorMode;// 行走电机模式
+    // public int leftMotorReverse;// 左轮电机方向极性
+    // public int rightMotorReverse;// 右轮电机方向极性
+    // public int swapChannel;// 左右轮通道互换标志位
+    // public int use4G;// 联网标志位
+
+    // public short forwardSpeedLimit;// 前进速度限制
+    // public short turnSpeedLimit;// 转向速度限制
+
+    // public int knifePolarity;// 割刀通道极性
+    // public int fanPolarity;// 风门通道极性
+    // public int throttlePolarity;// 油门通道极性
+    // public int liftProtectTime;// 底盘升降电机保护时间
+    // public int dualRtk;// RTK配置
+
+    // public int knifeChannel;// 割刀通道配置
+    // public int fanChannel;// 风门通道配置
+
+    // public int throttleChannel;// 油门通道配置
+    // public int remoteType;// 遥控器类型
+    // public boolean relayBoard;// 是否搭载继电器板
+
+    // public int liftChannel;// 底盘升通道配置
+    // public int chassisChannel;// 底盘降通道配置
+
+    // public int armChannel;// 抱闸通道配置
+    // public int fuelPumpChannel;// 燃油励磁通道配置
+
+    // public String wifiName;// wifi名称
+    // public String wifiPassword;// wifi密码
+
+    // public int batteryType;// 电池类型
+    // public int driveType;// 行走驱动配置
+
+    // public float gearRatio;// 转速比
+    // public float robotLength;// 机器人长度
+    // public float robotWidth;// 机器人宽度
+    // public float robotHeight;// 机器人高度
+    // public float knifeWidth;// 割刀宽度
+    // public float tyreSize;// 轮胎尺寸
+    // public float leftForwardGain;// 左轮前进增益
+    // public float leftBackwardGain;// 左轮后退增益
+    // public float rightForwardGain;// 右轮前进增益
+    // public float rightBackwardGain;// 右轮后退增益
+
+    // public String firmwareVersion;// 固件版本
+    // @TableField(exist = false)
+    // public int crc16;
+    // @TableField(exist = false)
+    // public byte tail1;
+    // @TableField(exist = false)
+    // public byte tail2;
+    // @TableField(exist = false)
+    // private byte[] originalData;
+
+    // public static byte[] toReadBytes() {
+    // ByteBuffer buffer = ByteBuffer.allocate(7); // 修改为27字节
+    // buffer.order(ByteOrder.LITTLE_ENDIAN);
+
+    // buffer.put((byte) 0xAB);
+    // buffer.put((byte) 0xAA);
+
+    // buffer.put(CommandConstant.readConfig);
+
+    // buffer.putShort((short) 0);
+
+    // buffer.put((byte) 0xAA);
+    // buffer.put((byte) 0xAB);
+
+    // return buffer.array();
+    // }
+
+    // public byte[] toWriteBytes() {
+    // // 如果没有原始数据，使用静态方法重新构建
+    // if (originalData == null || originalData.length < 178) {
+    // return null;
+    // }
+
+    // // 克隆原始数据，避免修改原始数据
+    // byte[] result = originalData.clone();
+    // ByteBuffer buffer = ByteBuffer.wrap(result);
+    // buffer.order(ByteOrder.LITTLE_ENDIAN);
+
+    // // 修改指令为写配置（字节2）
+    // buffer.put(2, CommandConstant.writeConfig);
+
+    // // 修改字节68：遥控器配置
+    // byte remote = 0;
+    // remote |= (getKnifeMotorMode() & 0x03);
+    // remote |= (getWalkMotorMode() & 0x03) << 2;
+    // remote |= (getLeftMotorReverse() & 0x01) << 4;
+    // remote |= (getRightMotorReverse() & 0x01) << 5;
+    // remote |= (getSwapChannel() & 0x01) << 6;
+    // remote |= (getUse4G() & 0x01) << 7;
+    // buffer.put(68, remote);
+
+    // // 修改字节69-72：速度限制
+    // buffer.putShort(69, getForwardSpeedLimit());
+    // buffer.putShort(71, getTurnSpeedLimit());
+
+    // // 修改字节73：通道极性
+    // byte b73 = 0;
+    // b73 |= (getKnifePolarity() & 1);
+    // b73 |= (getFanPolarity() & 1) << 1;
+    // b73 |= (getThrottlePolarity() & 1) << 2;
+    // b73 |= (getLiftProtectTime() & 0x0F) << 3;
+    // b73 |= (getDualRtk() & 1) << 7;
+    // buffer.put(73, b73);
+
+    // // 修改字节74-77：通道配置
+    // byte b74 = 0;
+    // b74 |= (getKnifeChannel() & 0x0F);
+    // b74 |= (getFanChannel() & 0x0F) << 4;
+    // buffer.put(74, b74);
+
+    // byte b75 = 0;
+    // b75 |= (getThrottleChannel() & 0x0F);
+    // b75 |= (getRemoteType() & 0x07) << 4;
+    // if (isRelayBoard())
+    // b75 |= 1 << 7;
+    // buffer.put(75, b75);
+
+    // byte b76 = 0;
+    // b76 |= (getLiftChannel() & 0x0F);
+    // b76 |= (getChassisChannel() & 0x0F) << 4;
+    // buffer.put(76, b76);
+
+    // byte b77 = 0;
+    // b77 |= (getArmChannel() & 0x0F);
+    // b77 |= (getFuelPumpChannel() & 0x0F) << 4;
+    // buffer.put(77, b77);
+
+    // // // 修改字节78-117：WiFi信息
+    // // byte[] wifiNameBytes = new byte[20];
+    // // if (getWifiName() != null) {
+    // // byte[] src = getWifiName().getBytes(StandardCharsets.UTF_8);
+    // // System.arraycopy(src, 0, wifiNameBytes, 0, Math.min(src.length, 20));
+    // // }
+    // // System.arraycopy(wifiNameBytes, 0, result, 78, 20);
+    // //
+    // // byte[] wifiPwdBytes = new byte[20];
+    // // if (getWifiPassword() != null) {
+    // // byte[] src = getWifiPassword().getBytes(StandardCharsets.UTF_8);
+    // // System.arraycopy(src, 0, wifiPwdBytes, 0, Math.min(src.length, 20));
+    // // }
+    // // System.arraycopy(wifiPwdBytes, 0, result, 98, 20);
+
+    // // // 修改字节118：电池和驱动配置
+    // // byte b118 = 0;
+    // // b118 |= (getBatteryType() & 0x03);
+    // // b118 |= (getDriveType() & 0x03) << 2;
+    // // buffer.put(118, b118);
+
+    // // 修改字节119-158：float参数
+    // buffer.putFloat(119, getGearRatio());
+    // buffer.putFloat(123, getRobotLength());
+    // buffer.putFloat(127, getRobotWidth());
+    // buffer.putFloat(131, getRobotHeight());
+    // buffer.putFloat(135, getKnifeWidth());
+    // buffer.putFloat(139, getTyreSize());
+    // buffer.putFloat(143, getLeftForwardGain());
+    // buffer.putFloat(147, getLeftBackwardGain());
+    // buffer.putFloat(151, getRightForwardGain());
+    // buffer.putFloat(155, getRightBackwardGain());
+
+    // // 修改字节159-173：固件版本
+    // // byte[] fwBytes = new byte[15];
+    // // if (getFirmwareVersion() != null) {
+    // // byte[] src = getFirmwareVersion().getBytes(StandardCharsets.UTF_8);
+    // // System.arraycopy(src, 0, fwBytes, 0, Math.min(src.length, 15));
+    // // }
+    // // System.arraycopy(fwBytes, 0, result, 159, 15);
+
+    // // 保留原始的 CRC 和尾部，不强制修改
+    // // 移除以下强制修改：
+    // // buffer.putShort(174, (short) 0);
+    // // buffer.put(176, (byte) 0xAA);
+    // // buffer.put(177, (byte) 0xAB);
+
+    // return result;
+    // }
+
+    // public static void putFixedString(ByteBuffer buffer, String value, int len) {
+
+    // byte[] bytes = new byte[len];
+
+    // if (value != null) {
+    // byte[] src = value.getBytes(StandardCharsets.UTF_8);
+
+    // System.arraycopy(src, 0, bytes, 0, Math.min(src.length, len));
+    // }
+
+    // buffer.put(bytes);
+    // }
+
+    // public static DeviceRunParam fromBytes(byte[] data) {
+    // // 183
+    // if (data == null || data.length < 178) {
+    // throw new IllegalArgumentException("数据长度不足");
+    // }
+
+    // ByteBuffer buffer = ByteBuffer.wrap(data);
+    // buffer.order(ByteOrder.LITTLE_ENDIAN);
+
+    // DeviceRunParam p = new DeviceRunParam();

+    // p.setOriginalData(data);

-    @TableField(exist = false)
-    public byte header1;
-    @TableField(exist = false)
-    public byte header2;
-    @TableField(exist = false)
-    public byte cmd;
-
-
-    public byte chipUidSign;//芯片UID固化标志位
-    public String chipUid;//芯片UID
-
-    public byte[] remoteConfig;//遥控器通道配置
-    public int knifeMotorMode;//割刀电机模式
-    public int walkMotorMode;//行走电机模式
-    public int leftMotorReverse;//左轮电机方向极性
-    public int rightMotorReverse;//右轮电机方向极性
-    public int swapChannel;//左右轮通道互换标志位
-    public int use4G;//联网标志位
-
-    public short forwardSpeedLimit;//前进速度限制
-    public short turnSpeedLimit;//转向速度限制
-
-    public int knifePolarity;//割刀通道极性
-    public int fanPolarity;//风门通道极性
-    public int throttlePolarity;//油门通道极性
-    public int liftProtectTime;//底盘升降电机保护时间
-    public int dualRtk;//RTK配置
-
-
-    public int knifeChannel;//割刀通道配置
-    public int fanChannel;//风门通道配置
-
-    public int throttleChannel;//油门通道配置
-    public int remoteType;//遥控器类型
-    public boolean relayBoard;//是否搭载继电器板
-
-    public int liftChannel;//底盘升通道配置
-    public int chassisChannel;//底盘降通道配置
-
-    public int armChannel;//抱闸通道配置
-    public int fuelPumpChannel;//燃油励磁通道配置
-
-    public String wifiName;//wifi名称
-    public String wifiPassword;//wifi密码
-
-    public int batteryType;//电池类型
-    public int driveType;//行走驱动配置
-
-    public float gearRatio;//转速比
-    public float robotLength;//机器人长度
-    public float robotWidth;//机器人宽度
-    public float robotHeight;//机器人高度
-    public float knifeWidth;//割刀宽度
-    public float tyreSize;//轮胎尺寸
-    public float leftForwardGain;//左轮前进增益
-    public float leftBackwardGain;//左轮后退增益
-    public float rightForwardGain;//右轮前进增益
-    public float rightBackwardGain;//右轮后退增益
-
-    public String firmwareVersion;//固件版本
-    @TableField(exist = false)
-    public int crc16;
-    @TableField(exist = false)
-    public byte tail1;
-    @TableField(exist = false)
-    public byte tail2;
-    @TableField(exist = false)
-    private byte[] originalData;
-
-    public static byte[] toReadBytes() {
-        ByteBuffer buffer = ByteBuffer.allocate(7); // 修改为27字节
-        buffer.order(ByteOrder.LITTLE_ENDIAN);
-
-        buffer.put((byte) 0xAB);
-        buffer.put((byte) 0xAA);
-
-        buffer.put(CommandConstant.readConfig);
-
-        buffer.putShort((short) 0);
-
-        buffer.put((byte) 0xAA);
-        buffer.put((byte) 0xAB);
-
-        return buffer.array();
-    }
-
-    public byte[] toWriteBytes() {
-        // 如果没有原始数据，使用静态方法重新构建
-        if (originalData == null || originalData.length < 178) {
-            return null;
-        }
-
-        // 克隆原始数据，避免修改原始数据
-        byte[] result = originalData.clone();
-        ByteBuffer buffer = ByteBuffer.wrap(result);
-        buffer.order(ByteOrder.LITTLE_ENDIAN);
-
-        // 修改指令为写配置（字节2）
-        buffer.put(2, CommandConstant.writeConfig);
-
-        // 修改字节68：遥控器配置
-        byte remote = 0;
-        remote |= (getKnifeMotorMode() & 0x03);
-        remote |= (getWalkMotorMode() & 0x03) << 2;
-        remote |= (getLeftMotorReverse() & 0x01) << 4;
-        remote |= (getRightMotorReverse() & 0x01) << 5;
-        remote |= (getSwapChannel() & 0x01) << 6;
-        remote |= (getUse4G() & 0x01) << 7;
-        buffer.put(68, remote);
-
-        // 修改字节69-72：速度限制
-        buffer.putShort(69, getForwardSpeedLimit());
-        buffer.putShort(71, getTurnSpeedLimit());
-
-        // 修改字节73：通道极性
-        byte b73 = 0;
-        b73 |= (getKnifePolarity() & 1);
-        b73 |= (getFanPolarity() & 1) << 1;
-        b73 |= (getThrottlePolarity() & 1) << 2;
-        b73 |= (getLiftProtectTime() & 0x0F) << 3;
-        b73 |= (getDualRtk() & 1) << 7;
-        buffer.put(73, b73);
-
-        // 修改字节74-77：通道配置
-        byte b74 = 0;
-        b74 |= (getKnifeChannel() & 0x0F);
-        b74 |= (getFanChannel() & 0x0F) << 4;
-        buffer.put(74, b74);
-
-        byte b75 = 0;
-        b75 |= (getThrottleChannel() & 0x0F);
-        b75 |= (getRemoteType() & 0x07) << 4;
-        if (isRelayBoard()) b75 |= 1 << 7;
-        buffer.put(75, b75);
-
-        byte b76 = 0;
-        b76 |= (getLiftChannel() & 0x0F);
-        b76 |= (getChassisChannel() & 0x0F) << 4;
-        buffer.put(76, b76);
-
-        byte b77 = 0;
-        b77 |= (getArmChannel() & 0x0F);
-        b77 |= (getFuelPumpChannel() & 0x0F) << 4;
-        buffer.put(77, b77);
-
-//        // 修改字节78-117：WiFi信息
-//        byte[] wifiNameBytes = new byte[20];
-//        if (getWifiName() != null) {
-//            byte[] src = getWifiName().getBytes(StandardCharsets.UTF_8);
-//            System.arraycopy(src, 0, wifiNameBytes, 0, Math.min(src.length, 20));
-//        }
-//        System.arraycopy(wifiNameBytes, 0, result, 78, 20);
-//
-//        byte[] wifiPwdBytes = new byte[20];
-//        if (getWifiPassword() != null) {
-//            byte[] src = getWifiPassword().getBytes(StandardCharsets.UTF_8);
-//            System.arraycopy(src, 0, wifiPwdBytes, 0, Math.min(src.length, 20));
-//        }
-//        System.arraycopy(wifiPwdBytes, 0, result, 98, 20);
-
-//        // 修改字节118：电池和驱动配置
-//        byte b118 = 0;
-//        b118 |= (getBatteryType() & 0x03);
-//        b118 |= (getDriveType() & 0x03) << 2;
-//        buffer.put(118, b118);
-        
-        // 修改字节119-158：float参数
-        buffer.putFloat(119, getGearRatio());
-        buffer.putFloat(123, getRobotLength());
-        buffer.putFloat(127, getRobotWidth());
-        buffer.putFloat(131, getRobotHeight());
-        buffer.putFloat(135, getKnifeWidth());
-        buffer.putFloat(139, getTyreSize());
-        buffer.putFloat(143, getLeftForwardGain());
-        buffer.putFloat(147, getLeftBackwardGain());
-        buffer.putFloat(151, getRightForwardGain());
-        buffer.putFloat(155, getRightBackwardGain());
-
-        // 修改字节159-173：固件版本
-//        byte[] fwBytes = new byte[15];
-//        if (getFirmwareVersion() != null) {
-//            byte[] src = getFirmwareVersion().getBytes(StandardCharsets.UTF_8);
-//            System.arraycopy(src, 0, fwBytes, 0, Math.min(src.length, 15));
-//        }
-//        System.arraycopy(fwBytes, 0, result, 159, 15);
-
-        // 保留原始的 CRC 和尾部，不强制修改
-        // 移除以下强制修改：
-        // buffer.putShort(174, (short) 0);
-        // buffer.put(176, (byte) 0xAA);
-        // buffer.put(177, (byte) 0xAB);
-
-        return result;
-    }
-
-    public static void putFixedString(ByteBuffer buffer, String value, int len) {
-
-        byte[] bytes = new byte[len];
-
-        if (value != null) {
-            byte[] src = value.getBytes(StandardCharsets.UTF_8);
-
-            System.arraycopy(src, 0, bytes, 0, Math.min(src.length, len));
-        }
-
-        buffer.put(bytes);
-    }
-
-
-    public static DeviceRunParam fromBytes(byte[] data) {
-        // 183
-        if (data == null || data.length < 178) {
-            throw new IllegalArgumentException("数据长度不足");
-        }
-
-        ByteBuffer buffer = ByteBuffer.wrap(data);
-        buffer.order(ByteOrder.LITTLE_ENDIAN);
-
-        DeviceRunParam p = new DeviceRunParam();
+    // p.setHeader1(buffer.get());
+    // p.setHeader2(buffer.get());

-        p.setOriginalData(data);
+    // p.setCmd(buffer.get());

-        p.setHeader1(buffer.get());
-        p.setHeader2(buffer.get());
+    // p.setChipUidSign(buffer.get());

-        p.setCmd(buffer.get());
+    // p.setChipUid(readString(buffer, 45));

-        p.setChipUidSign(buffer.get());
+    // // 跳过字节49-67（共19字节，预留不用）
+    // buffer.position(buffer.position() + 19);

-        p.setChipUid(readString(buffer, 45));
+    // byte remote = buffer.get();

-        // 跳过字节49-67（共19字节，预留不用）
-        buffer.position(buffer.position() + 19);
+    // // p.setRemoteConfig(remote);

-        byte remote = buffer.get();
+    // p.setKnifeMotorMode(remote & 0x03);
+    // p.setWalkMotorMode((remote >> 2) & 0x03);
+    // p.setLeftMotorReverse((remote >> 4) & 0x01);
+    // p.setRightMotorReverse((remote >> 5) & 0x01);
+    // p.setSwapChannel((remote >> 6) & 0x01);
+    // p.setUse4G((remote >> 7) & 0x01);

-//        p.setRemoteConfig(remote);
+    // p.setForwardSpeedLimit(buffer.getShort());
+    // p.setTurnSpeedLimit(buffer.getShort());

-        p.setKnifeMotorMode(remote & 0x03);
-        p.setWalkMotorMode((remote >> 2) & 0x03);
-        p.setLeftMotorReverse((remote >> 4) & 0x01);
-        p.setRightMotorReverse((remote >> 5) & 0x01);
-        p.setSwapChannel((remote >> 6) & 0x01);
-        p.setUse4G((remote >> 7) & 0x01);
+    // byte b73 = buffer.get();

-        p.setForwardSpeedLimit(buffer.getShort());
-        p.setTurnSpeedLimit(buffer.getShort());
+    // p.setKnifePolarity(b73 & 1);
+    // p.setFanPolarity((b73 >> 1) & 1);
+    // p.setThrottlePolarity((b73 >> 2) & 1);
+    // p.setLiftProtectTime((b73 >> 3) & 0x0F);
+    // p.setDualRtk((b73 >> 7) & 1);

-        byte b73 = buffer.get();
+    // byte b74 = buffer.get();

-        p.setKnifePolarity(b73 & 1);
-        p.setFanPolarity((b73 >> 1) & 1);
-        p.setThrottlePolarity((b73 >> 2) & 1);
-        p.setLiftProtectTime((b73 >> 3) & 0x0F);
-        p.setDualRtk((b73 >> 7) & 1);
+    // p.setKnifeChannel(b74 & 0x0F);
+    // p.setFanChannel((b74 >> 4) & 0x0F);

-        byte b74 = buffer.get();
+    // byte b75 = buffer.get();

-        p.setKnifeChannel(b74 & 0x0F);
-        p.setFanChannel((b74 >> 4) & 0x0F);
+    // p.setThrottleChannel(b75 & 0x0F);
+    // p.setRemoteType((b75 >> 4) & 0x07);
+    // p.setRelayBoard(((b75 >> 7) & 1) == 1);

-        byte b75 = buffer.get();
+    // byte b76 = buffer.get();

-        p.setThrottleChannel(b75 & 0x0F);
-        p.setRemoteType((b75 >> 4) & 0x07);
-        p.setRelayBoard(((b75 >> 7) & 1) == 1);
+    // p.setLiftChannel(b76 & 0x0F);
+    // p.setChassisChannel((b76 >> 4) & 0x0F);

-        byte b76 = buffer.get();
+    // byte b77 = buffer.get();

-        p.setLiftChannel(b76 & 0x0F);
-        p.setChassisChannel((b76 >> 4) & 0x0F);
+    // p.setArmChannel(b77 & 0x0F);
+    // p.setFuelPumpChannel((b77 >> 4) & 0x0F);

-        byte b77 = buffer.get();
+    // p.setWifiName(readString(buffer, 20));
+    // p.setWifiPassword(readString(buffer, 20));

-        p.setArmChannel(b77 & 0x0F);
-        p.setFuelPumpChannel((b77 >> 4) & 0x0F);
+    // byte b118 = buffer.get();

-        p.setWifiName(readString(buffer, 20));
-        p.setWifiPassword(readString(buffer, 20));
+    // p.setBatteryType(b118 & 0x03);
+    // p.setDriveType((b118 >> 2) & 0x03);

-        byte b118 = buffer.get();
+    // // float
+    // p.setGearRatio(buffer.getFloat());
+    // p.setRobotLength(buffer.getFloat());
+    // p.setRobotWidth(buffer.getFloat());
+    // p.setRobotHeight(buffer.getFloat());
+    // p.setKnifeWidth(buffer.getFloat());
+    // p.setTyreSize(buffer.getFloat());
+    // p.setLeftForwardGain(buffer.getFloat());
+    // p.setLeftBackwardGain(buffer.getFloat());
+    // p.setRightForwardGain(buffer.getFloat());
+    // p.setRightBackwardGain(buffer.getFloat());

-        p.setBatteryType(b118 & 0x03);
-        p.setDriveType((b118 >> 2) & 0x03);
+    // p.setFirmwareVersion(readString(buffer, 15));

-        // float
-        p.setGearRatio(buffer.getFloat());
-        p.setRobotLength(buffer.getFloat());
-        p.setRobotWidth(buffer.getFloat());
-        p.setRobotHeight(buffer.getFloat());
-        p.setKnifeWidth(buffer.getFloat());
-        p.setTyreSize(buffer.getFloat());
-        p.setLeftForwardGain(buffer.getFloat());
-        p.setLeftBackwardGain(buffer.getFloat());
-        p.setRightForwardGain(buffer.getFloat());
-        p.setRightBackwardGain(buffer.getFloat());
+    // p.setCrc16(Short.toUnsignedInt(buffer.getShort()));

-        p.setFirmwareVersion(readString(buffer, 15));
+    // p.setTail1(buffer.get());
+    // p.setTail2(buffer.get());

-        p.setCrc16(Short.toUnsignedInt(buffer.getShort()));
+    // return p;
+    // }

-        p.setTail1(buffer.get());
-        p.setTail2(buffer.get());
+    // public static String readString(ByteBuffer buffer, int len) {
+    // byte[] bytes = new byte[len];
+    // buffer.get(bytes);

-        return p;
-    }
+    // int end = 0;
+    // while (end < bytes.length && bytes[end] != 0) {
+    // end++;
+    // }

-    public static String readString(ByteBuffer buffer, int len) {
-        byte[] bytes = new byte[len];
-        buffer.get(bytes);
-
-        int end = 0;
-        while (end < bytes.length && bytes[end] != 0) {
-            end++;
-        }
-
-        return new String(bytes, 0, end, StandardCharsets.UTF_8);
-    }
+    // return new String(bytes, 0, end, StandardCharsets.UTF_8);
+    // }

 }
--- a/maibu-common/src/main/java/com/maibu/core/business/LawnMoverProtocolEntity.java
+++ b/maibu-common/src/main/java/com/maibu/core/business/LawnMoverProtocolEntity.java
@@ -1,4 +1,4 @@
-package com.maibu.dto;
+package com.maibu.core.business;

 import lombok.Data;

@@ -42,13 +42,13 @@ public class LawnMoverProtocolEntity {
    }

    public byte[] toBytes() {
-        ByteBuffer buffer = ByteBuffer.allocate(15);
+        ByteBuffer buffer = ByteBuffer.allocate(27);
        buffer.order(ByteOrder.LITTLE_ENDIAN); // 根据协议决定字节序
        buffer.put(Header1);
        buffer.put(Header2);
        buffer.put(CommandType);
-        buffer.putShort(LeftWheelSpeed);
-        buffer.putShort(RightWheelSpeed);
+        buffer.putDouble(linearSpeed);
+        buffer.putDouble(angularSpeed);
        buffer.put(ChassisLiftFlag);
        buffer.put(MowerSpeedFlag);
        buffer.put(IgnitionFlag);
@@ -67,7 +67,46 @@ public class LawnMoverProtocolEntity {
        return sb.toString().trim();
    }

+    /**
+     * 将控制指令字节数组解析为实体对象
+     */
+    public static LawnMoverProtocolEntity parseControlCommand(byte[] data) {
+        if (data == null || data.length != 27) {
+            throw new IllegalArgumentException("控制指令长度必须为15字节");
+        }

+        ByteBuffer buffer = ByteBuffer.wrap(data);
+        buffer.order(ByteOrder.LITTLE_ENDIAN);
+
+        LawnMoverProtocolEntity entity = new LawnMoverProtocolEntity();
+
+        // 帧头
+        entity.setHeader1(buffer.get());
+        entity.setHeader2(buffer.get());
+
+        // 命令类型
+        entity.setCommandType(buffer.get());
+
+        // 左右轮速度：int16
+        entity.setLinearSpeed(buffer.getDouble());
+        entity.setAngularSpeed(buffer.getDouble());
+
+        // 控制标志：uint8
+        entity.setChassisLiftFlag(buffer.get());
+        entity.setMowerSpeedFlag(buffer.get());
+        entity.setIgnitionFlag(buffer.get());
+        entity.setEmergencyStopFlag(buffer.get());
+
+        // 预留字段
+        buffer.get();
+        buffer.get();
+
+        // 帧尾
+        entity.setEndFlag1(buffer.get());
+        entity.setEndFlag2(buffer.get());
+
+        return entity;
+    }

    // 包头起始字节1
    private byte Header1;
@@ -79,6 +118,10 @@ public class LawnMoverProtocolEntity {
    private short LeftWheelSpeed;
    // 右轮速度：16位有符号
    private short RightWheelSpeed;
+
+    private double linearSpeed;
+
+    private double angularSpeed;
    // 底盘升降标志位
    private byte ChassisLiftFlag;
    // 割刀速度标志位
--- a/maibu-common/src/main/java/com/maibu/core/business/device/NettyDevice.java
+++ b/maibu-common/src/main/java/com/maibu/core/business/device/NettyDevice.java
@@ -1,6 +1,7 @@
 package com.maibu.core.business.device;

 import com.fasterxml.jackson.annotation.JsonIgnore;
+import com.maibu.constant.Constant;
 import com.maibu.core.business.*;
 import com.maibu.core.business.path.LatAndLngEntity;
 import com.maibu.core.business.path.RoutePlanSendEntity;
@@ -136,7 +137,6 @@ public class NettyDevice extends Connector {
        return finishId;
    }

-
    public synchronized boolean cancelingTask() throws MqttException {
        if (task != null) {
            WorkRecord workRecord = workRecordMapper.selectById(task.getRouteId());
@@ -149,7 +149,7 @@ public class NettyDevice extends Connector {
                dto.setMode(workRecord.getMode());
                dto.setTimestamp(System.currentTimeMillis());
                dto.setMessage_id(task.getId() + "_" + System.currentTimeMillis());
-                dto.setProtocol_version("1.4");
+                dto.setProtocol_version(Constant.protocol_version);

                GlobalMemory.customMqttDeviceMonitor.publish(mqttClientId,
                        String.format(MqttTopic.MOWER_TASK_ROUTE_SET, task.getDeviceId()),
@@ -214,7 +214,7 @@ public class NettyDevice extends Connector {

    // 配置左右轮增益系数
    public void sendWheelGainCoefficientsCommand(double leftForwardGain, double leftBackwardGain,
-                                                 double rightForwardGain, double rightBackwardGain) {
+            double rightForwardGain, double rightBackwardGain) {
        ByteBuffer buffer = ByteBuffer.allocate(39);
        buffer.order(ByteOrder.LITTLE_ENDIAN);

@@ -246,24 +246,24 @@ public class NettyDevice extends Connector {
        }
    }

-    public void readConfigCommand() {
-        byte[] bytes = DeviceRunParam.toReadBytes();
-        log.debug("下发读取配置的报文：{}", toHexString(bytes));
-        if (this.getChannel() != null && this.getChannel().isActive()) {
-            this.getChannel().writeAndFlush(Unpooled.wrappedBuffer(bytes));
-        }
-        log.debug("下发读取配置的报文完成：{}", toHexString(bytes));
-    }
+    // public void readConfigCommand() {
+    //     byte[] bytes = DeviceRunParam.toReadBytes();
+    //     log.debug("下发读取配置的报文：{}", toHexString(bytes));
+    //     if (this.getChannel() != null && this.getChannel().isActive()) {
+    //         this.getChannel().writeAndFlush(Unpooled.wrappedBuffer(bytes));
+    //     }
+    //     log.debug("下发读取配置的报文完成：{}", toHexString(bytes));
+    // }

-    public void writeConfigCommand(DeviceRunParam deviceRunParam) {
-        log.debug("下发修改配置的属性：{}", JsonUtils.toJsonString(deviceRunParam));
-        byte[] bytes = deviceRunParam.toWriteBytes();
-        log.debug("下发修改配置的报文：{}", toHexString(bytes));
-        if (this.getChannel() != null && this.getChannel().isActive()) {
-            this.getChannel().writeAndFlush(Unpooled.wrappedBuffer(bytes));
-        }
-        log.debug("下发修改配置的报文完成：{}", toHexString(bytes));
-    }
+    // public void writeConfigCommand(DeviceRunParam deviceRunParam) {
+    //     log.debug("下发修改配置的属性：{}", JsonUtils.toJsonString(deviceRunParam));
+    //     byte[] bytes = deviceRunParam.toWriteBytes();
+    //     log.debug("下发修改配置的报文：{}", toHexString(bytes));
+    //     if (this.getChannel() != null && this.getChannel().isActive()) {
+    //         this.getChannel().writeAndFlush(Unpooled.wrappedBuffer(bytes));
+    //     }
+    //     log.debug("下发修改配置的报文完成：{}", toHexString(bytes));
+    // }

    // todo 优化
    public synchronized boolean pauseTask() {
@@ -294,7 +294,6 @@ public class NettyDevice extends Connector {
        }
    }

-
    public void startTask() {
        try {
            if (executingTask)
@@ -363,7 +362,7 @@ public class NettyDevice extends Connector {
            dto.setMode(workRecord.getMode());
            dto.setTimestamp(System.currentTimeMillis());
            dto.setMessage_id(task.getId() + "_" + System.currentTimeMillis());
-            dto.setProtocol_version("1.4");
+            dto.setProtocol_version(Constant.protocol_version);

            PointEntity point = new PointEntity();
            if (!StringUtils.isEmpty(workRecord.getMode())) {
@@ -414,8 +413,19 @@ public class NettyDevice extends Connector {
        GlobalMemory.customMqttDeviceMonitor.publish(
                mqttClientId,
                String.format(MqttTopic.MOWER_OTA_UPGRADE_SET, deviceId),
-                JsonUtils.toJsonString(payload)
-        );
+                JsonUtils.toJsonString(payload));
+    }
+
+    public void searchDevice(String deviceId) throws MqttException {
+        Map<String, Object> payload = new HashMap<>();
+        payload.put("action", "search_device");
+        payload.put("timestamp", System.currentTimeMillis());
+        payload.put("message_id", "search_device_" + System.currentTimeMillis());
+
+        GlobalMemory.customMqttDeviceMonitor.publish(
+                mqttClientId,
+                String.format(MqttTopic.MOWER_SEARCH_DEVICE_SET, deviceId),
+                JsonUtils.toJsonString(payload));
    }

 }
--- a/maibu-common/src/main/java/com/maibu/core/business/dto/DeviceMapPushDTO.java
+++ b/maibu-common/src/main/java/com/maibu/core/business/dto/DeviceMapPushDTO.java
@@ -7,12 +7,14 @@ public class DeviceMapPushDTO {
    private String id;
    private double lat;
    private double lng;
-    private double y; //yaw
-    private String f; //fix_status
-    private double a; //altitude
-    private String s;//status 运行状态
-    private Long t; //taskId 任务id
-    private double b; //电量
-    private boolean ha = false;//hasAlarm 有无告警
+    private double y; // yaw
+    private String f; // fix_status
+    private double a; // altitude
+    private String s;// status 运行状态
+    private Long t; // taskId 任务id
+    private double b; // 电量
+    private boolean ha = false;// hasAlarm 有无告警
+
+    private String cm;// 控制模式 manual_remote|auto

 }
--- a/maibu-common/src/main/java/com/maibu/core/business/dto/WebOlineStatusMessageDTO.java
+++ b/maibu-common/src/main/java/com/maibu/core/business/dto/WebOlineStatusMessageDTO.java
@@ -1,4 +1,4 @@
-package com.maibu.dto;
+package com.maibu.core.business.dto;

 import com.maibu.core.enums.MesType;

@@ -12,4 +12,6 @@ public class WebOlineStatusMessageDTO {
    private String errorCode;
    private String description;
    private MesType type;
+
+    private Long time;
 }
--- a/maibu-common/src/main/java/com/maibu/core/domain/entity/SysParam.java
+++ b/maibu-common/src/main/java/com/maibu/core/domain/entity/SysParam.java
@@ -0,0 +1,40 @@
+package com.maibu.core.domain.entity;
+
+import com.baomidou.mybatisplus.annotation.IdType;
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableId;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.maibu.core.domain.OrgNoUserDO;
+import com.maibu.core.enums.SysParamType;
+
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@EqualsAndHashCode(callSuper = true)
+@Data
+@TableName(value = "sys_param")
+public class SysParam extends OrgNoUserDO {
+
+    @TableId(type = IdType.AUTO)
+    private Long id;
+
+    private SysParamType paramType;
+
+    private String paramKey;
+
+    private String nameTranslateKey;
+
+    private String paramValue;
+
+    private String descTranslateKey;
+
+    @TableField(exist = false)
+    private String nameTranslate;
+    @TableField(exist = false)
+    private String descTranslate;
+
+    private String valueRange;
+
+    private String dataType;
+
+}
--- a/maibu-common/src/main/java/com/maibu/core/enums/AlarmType.java
+++ b/maibu-common/src/main/java/com/maibu/core/enums/AlarmType.java
@@ -1,27 +1,26 @@
-package com.maibu.core.enums;
-
-import com.maibu.annotation.Excel;
-import lombok.AllArgsConstructor;
-import lombok.Getter;
-
-@Getter
-@AllArgsConstructor
-public enum AlarmType {
-
-    UAV_FAULT("UAV_FAULT", "无人机故障"),
-
-    MOWER_FAULT("MOWER_FAULT", "割草机故障"),
-
-    OTHER_DEVICE_FAULT("OTHER_DEVICE_FAULT", "其他设备故障"),
-
-    SERVER_FAILURE("SERVER_FAILURE", "服务器故障"),
-
-    SYSTEM_ERROR("SYSTEM_ERROR", "系统错误");
-
-    /** 错误来源值（存储在数据库中） */
-    private final String value;
-
-    /** 错误来源名称（用于前端显示） */
-    private final String name;
-
-}
+package com.maibu.core.enums;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+@Getter
+@AllArgsConstructor
+public enum AlarmType {
+
+    UAV_FAULT("UAV_FAULT", "无人机故障"),
+
+    MOWER_FAULT("MOWER_FAULT", "割草机故障"),
+
+    OTHER_DEVICE_FAULT("OTHER_DEVICE_FAULT", "其他设备故障"),
+
+    SERVER_FAILURE("SERVER_FAILURE", "服务器故障"),
+
+    SYSTEM_ERROR("SYSTEM_ERROR", "系统错误");
+
+    /** 错误来源值（存储在数据库中） */
+    private final String value;
+
+    /** 错误来源名称（用于前端显示） */
+    private final String name;
+
+}
--- a/maibu-common/src/main/java/com/maibu/core/enums/SysParamType.java
+++ b/maibu-common/src/main/java/com/maibu/core/enums/SysParamType.java
@@ -0,0 +1,22 @@
+package com.maibu.core.enums;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+@Getter
+@AllArgsConstructor
+public enum SysParamType {
+
+    site("site", "场站维度"),
+
+    org("org", "组织维度"),
+
+    global("global", "全局维度"),
+
+    personal("personal", "个人维度");
+
+    private final String value;
+
+    private final String name;
+
+}
--- a/maibu-common/src/main/java/com/maibu/core/host/DeviceRemoteControlDTO.java
+++ b/maibu-common/src/main/java/com/maibu/core/host/DeviceRemoteControlDTO.java
@@ -0,0 +1,15 @@
+package com.maibu.core.host;
+
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+/**
+ * 上位机远程控制参数
+ * DeviceRemoteControlDTO
+ */
+@EqualsAndHashCode(callSuper = true)
+@Data
+public class DeviceRemoteControlDTO extends HostBase {
+    private String command_id;
+    private ParamDetail data;
+}
--- a/maibu-common/src/main/java/com/maibu/core/host/ParamDetail.java
+++ b/maibu-common/src/main/java/com/maibu/core/host/ParamDetail.java
@@ -0,0 +1,18 @@
+package com.maibu.core.host;
+
+import lombok.Data;
+
+@Data
+public class ParamDetail {
+    // private short left_wheel_rpm; // 左轮转速
+    // private short right_wheel_rpm; // 右轮转速
+
+    private double linear_x; // 线速度
+    private double angular_z; // 角速度
+
+    private int chassis_lift; // 底盘升降 0:停止 1:升 2:降
+    private int cutter; // 割刀加减速 0:停止 1:加速 2:减速
+    private int ignition; // 点火熄火 0:停止 1:点火 2:熄火
+    private int emergency_stop; // 急停 0:正常 1:急停
+    private int valid_for_ms; // 指令有效时间，单位毫秒
+}
--- a/maibu-common/src/main/java/com/maibu/core/host/VehicleMessage.java
+++ b/maibu-common/src/main/java/com/maibu/core/host/VehicleMessage.java
@@ -5,12 +5,33 @@ import lombok.Data;
@Data
 public class VehicleMessage {

-    private double speed;
-    private double battery_percentage;// 电量
-    private double battery_voltage;// 电压
-    private String motion;// moving|stopped|blocked
-    private boolean emergency_stop; // 急停状态
+    private double battery_percentage;// 实时电量百分比
+    private double battery_voltage;// 实时电压

-    private double distance; // 里程数
+    private double left_motor_current;// 实时左电机电流
+    private double right_motor_current;// 实时右电机电流
+    private double left_motor_temperature;// 实时左电机温度
+    private double right_motor_temperature;// 实时右电机温度
+    private double main_temperature;// 实时主温度
+    private double yaw;// 实时航向角度
+    private double pitch;// 实时俯仰角度
+    private String heading_status;// 实时航向状态
+    private double total_work_area;// 累计作业面积
+    private double total_work_duration;// 累计作业时长
+    private double total_work_distance;// 累计作业里程
+    private String motion;// moving|stopped|blocked 运动状态
+    private Boolean emergency_stop; // 急停状态
+
+    private double left_target_rpm; // 实时左电机目标转速
+    private double right_target_rpm;// 实时右电机目标转速
+    private double left_measured_rpm;// 实时左电机测量转速
+    private double right_measured_rpm;// 实时右电机测量转速
+    private double left_motor_rpm;// 实时左电机转速
+    private double right_motor_rpm;// 实时右电机转速
+    private double roll;// 实时翻滚角度
+    private String control_mode;// 遥控器拨杆对应的当前控制模式
+
+    private double linear_speed; // 实时线速度
+    private double angular_speed; // 实时角速度

 }
--- a/maibu-common/src/main/java/com/maibu/memory/SiteMemory.java
+++ b/maibu-common/src/main/java/com/maibu/memory/SiteMemory.java
@@ -16,6 +16,7 @@ import org.springframework.util.CollectionUtils;

 import com.maibu.core.domain.entity.SysSite;
 import com.maibu.core.enums.ErrorSource;
+import com.maibu.core.host.VehicleMessage;

 import lombok.Data;
 import lombok.extern.slf4j.Slf4j;
@@ -59,6 +60,20 @@ public class SiteMemory {

    public static ConcurrentHashMap<String, DeviceMapPushDTO> deviceMapPushMap = new ConcurrentHashMap<>();

+    public static ConcurrentHashMap<String, VehicleMessage> vehicleMessageMap = new ConcurrentHashMap<>();
+
+    public VehicleMessage getVehicleMessage(String deviceId) {
+        return vehicleMessageMap.get(deviceId);
+    }
+
+    public void saveVehicleMessage(String deviceId, VehicleMessage vehicleMessage) {
+        vehicleMessageMap.put(deviceId, vehicleMessage);
+    }
+
+    public void removeVehicleMessage(String deviceId) {
+        vehicleMessageMap.remove(deviceId);
+    }
+
    public Map<String, DeviceMapPushDTO> getAllDeviceMapPush() {
        return deviceMapPushMap;
    }
--- a/maibu-common/src/main/java/com/maibu/mqtt/HostMessageHandler.java
+++ b/maibu-common/src/main/java/com/maibu/mqtt/HostMessageHandler.java
@@ -33,7 +33,7 @@ import java.util.List;
 */
@Slf4j
 public class HostMessageHandler implements CustomMqttMessageHandler {
-    
+
    private final DeviceSessionManager deviceSessionManager = SpringUtils.getBean(DeviceSessionManager.class);

    private final WebsocketMesDispather websocketMesDispather = SpringUtils.getBean(WebsocketMesDispather.class);
@@ -148,6 +148,15 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
                locationMessage.setDeviceId(deviceId);
                redisCache.setCacheObject(key, locationMessage);

+                // todo 推送实时位置和状态消息到外部
+                try {
+                    GlobalMemory.customMqttDeviceMonitor.publish(mqttClientId,
+                            String.format(MqttTopic.DEVICE_LOCATION_MESSAGE_TOPIC, deviceId),
+                            JsonUtils.toJsonString(locationRelTimeDTO));
+                } catch (MqttException e) {
+                    log.error("位置实时数据推送失败: deviceId={}, error={}", deviceId, e.getMessage(), e);
+                }
+
            }
        } catch (Exception e) {
            log.error("位置消息解析失败: deviceId={}, payload={}, error={}", deviceId, payload, e);
@@ -155,7 +164,7 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
    }

    public WebStatusMessageDTO createWebDeviceLocationMessage(HostLocationRelTimeDTO locationRelTimeDTO,
-                                                              String deviceId) {
+            String deviceId) {
        WebStatusMessageDTO webStatusMessageDTO = new WebStatusMessageDTO();
        List<DeviceStatusDetail> transferData = new ArrayList<>();

@@ -227,7 +236,6 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
                DeviceMapPushDTO dto = new DeviceMapPushDTO();
                dto.setA(Double.parseDouble(altitude.getValue()));
                dto.setId(deviceId);
-                // dto.setB();
                // dto.setHa();
                dto.setF(fix_status.getValue());
                dto.setS(status.getValue());
@@ -235,6 +243,12 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
                dto.setLng(Double.parseDouble(lng.getValue()));
                dto.setT(nettyDevice.getCurrentTaskId());
                dto.setY(Double.parseDouble(yaw.getValue()));
+                siteMemory.getVehicleMessage(deviceId);
+                VehicleMessage vehicleMessage = siteMemory.getVehicleMessage(deviceId);
+                if (vehicleMessage != null) {
+                    dto.setCm(vehicleMessage.getControl_mode());
+                    dto.setB(vehicleMessage.getBattery_percentage());
+                }
                siteMemory.saveMapPushDTO(deviceId, dto);
            }
        }
@@ -248,17 +262,82 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
        WebStatusMessageDTO webStatusMessageDTO = new WebStatusMessageDTO();
        List<DeviceStatusDetail> transferData = new ArrayList<>();
        DeviceStatusDetail voltage = new DeviceStatusDetail();
-        voltage.setName("voltage");
-        voltage.setValue(String.valueOf(vehicleRelTimeDTO.getData().getBattery_voltage()));
+        voltage.setName("battery_percentage");
+        voltage.setValue(String.valueOf(vehicleRelTimeDTO.getData().getBattery_percentage()));
        voltage.setUnit("");
-
        transferData.add(voltage);

-        DeviceStatusDetail speed = new DeviceStatusDetail();
-        speed.setName("speed");
-        speed.setValue(String.valueOf(vehicleRelTimeDTO.getData().getSpeed()));
-        speed.setUnit("");
-        transferData.add(speed);
+        DeviceStatusDetail battery_voltage = new DeviceStatusDetail();
+        battery_voltage.setName("battery_voltage");
+        battery_voltage.setValue(String.valueOf(vehicleRelTimeDTO.getData().getBattery_voltage()));
+        battery_voltage.setUnit("");
+        transferData.add(battery_voltage);
+
+        DeviceStatusDetail left_motor_current = new DeviceStatusDetail();
+        left_motor_current.setName("left_motor_current");
+        left_motor_current.setValue(String.valueOf(vehicleRelTimeDTO.getData().getLeft_motor_current()));
+        left_motor_current.setUnit("");
+        transferData.add(left_motor_current);
+
+        DeviceStatusDetail right_motor_current = new DeviceStatusDetail();
+        right_motor_current.setName("right_motor_current");
+        right_motor_current.setValue(String.valueOf(vehicleRelTimeDTO.getData().getRight_motor_current()));
+        right_motor_current.setUnit("");
+        transferData.add(right_motor_current);
+
+        DeviceStatusDetail left_motor_temperature = new DeviceStatusDetail();
+        left_motor_temperature.setName("left_motor_temperature");
+        left_motor_temperature.setValue(String.valueOf(vehicleRelTimeDTO.getData().getLeft_motor_temperature()));
+        left_motor_temperature.setUnit("");
+        transferData.add(left_motor_temperature);
+
+        DeviceStatusDetail right_motor_temperature = new DeviceStatusDetail();
+        right_motor_temperature.setName("right_motor_temperature");
+        right_motor_temperature.setValue(String.valueOf(vehicleRelTimeDTO.getData().getRight_motor_temperature()));
+        right_motor_temperature.setUnit("");
+        transferData.add(right_motor_temperature);
+
+        DeviceStatusDetail main_temperature = new DeviceStatusDetail();
+        main_temperature.setName("main_temperature");
+        main_temperature.setValue(String.valueOf(vehicleRelTimeDTO.getData().getMain_temperature()));
+        main_temperature.setUnit("");
+        transferData.add(main_temperature);
+
+        DeviceStatusDetail yaw = new DeviceStatusDetail();
+        yaw.setName("yaw");
+        yaw.setValue(String.valueOf(vehicleRelTimeDTO.getData().getYaw()));
+        yaw.setUnit("");
+        transferData.add(yaw);
+
+        DeviceStatusDetail pitch = new DeviceStatusDetail();
+        pitch.setName("pitch");
+        pitch.setValue(String.valueOf(vehicleRelTimeDTO.getData().getPitch()));
+        pitch.setUnit("");
+        transferData.add(pitch);
+
+        DeviceStatusDetail heading_status = new DeviceStatusDetail();
+        heading_status.setName("heading_status");
+        heading_status.setValue(String.valueOf(vehicleRelTimeDTO.getData().getHeading_status()));
+        heading_status.setUnit("");
+        transferData.add(heading_status);
+
+        DeviceStatusDetail total_work_area = new DeviceStatusDetail();
+        total_work_area.setName("total_work_area");
+        total_work_area.setValue(String.valueOf(vehicleRelTimeDTO.getData().getTotal_work_area()));
+        total_work_area.setUnit("");
+        transferData.add(total_work_area);
+
+        DeviceStatusDetail total_work_duration = new DeviceStatusDetail();
+        total_work_duration.setName("total_work_duration");
+        total_work_duration.setValue(String.valueOf(vehicleRelTimeDTO.getData().getTotal_work_duration()));
+        total_work_duration.setUnit("");
+        transferData.add(total_work_duration);
+
+        DeviceStatusDetail total_work_distance = new DeviceStatusDetail();
+        total_work_distance.setName("total_work_distance");
+        total_work_distance.setValue(String.valueOf(vehicleRelTimeDTO.getData().getTotal_work_distance()));
+        total_work_distance.setUnit("");
+        transferData.add(total_work_distance);

        DeviceStatusDetail motion = new DeviceStatusDetail();
        motion.setName("motion");
@@ -266,11 +345,71 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
        motion.setUnit("");
        transferData.add(motion);

-        DeviceStatusDetail percentage = new DeviceStatusDetail();
-        percentage.setName("percentage");
-        percentage.setValue(String.valueOf(vehicleRelTimeDTO.getData().getBattery_percentage()));
-        percentage.setUnit("");
-        transferData.add(percentage);
+        DeviceStatusDetail emergency_stop = new DeviceStatusDetail();
+        emergency_stop.setName("emergency_stop");
+        emergency_stop.setValue(String.valueOf(vehicleRelTimeDTO.getData().getEmergency_stop()));
+        emergency_stop.setUnit("");
+        transferData.add(emergency_stop);
+
+        DeviceStatusDetail left_target_rpm = new DeviceStatusDetail();
+        left_target_rpm.setName("left_target_rpm");
+        left_target_rpm.setValue(String.valueOf(vehicleRelTimeDTO.getData().getLeft_target_rpm()));
+        left_target_rpm.setUnit("");
+        transferData.add(left_target_rpm);
+
+        DeviceStatusDetail right_target_rpm = new DeviceStatusDetail();
+        right_target_rpm.setName("right_target_rpm");
+        right_target_rpm.setValue(String.valueOf(vehicleRelTimeDTO.getData().getRight_target_rpm()));
+        right_target_rpm.setUnit("");
+        transferData.add(right_target_rpm);
+
+        DeviceStatusDetail left_measured_rpm = new DeviceStatusDetail();
+        left_measured_rpm.setName("left_measured_rpm");
+        left_measured_rpm.setValue(String.valueOf(vehicleRelTimeDTO.getData().getLeft_measured_rpm()));
+        left_measured_rpm.setUnit("");
+        transferData.add(left_measured_rpm);
+
+        DeviceStatusDetail right_measured_rpm = new DeviceStatusDetail();
+        right_measured_rpm.setName("right_measured_rpm");
+        right_measured_rpm.setValue(String.valueOf(vehicleRelTimeDTO.getData().getRight_measured_rpm()));
+        right_measured_rpm.setUnit("");
+        transferData.add(right_measured_rpm);
+
+        DeviceStatusDetail left_motor_rpm = new DeviceStatusDetail();
+        left_motor_rpm.setName("left_motor_rpm");
+        left_motor_rpm.setValue(String.valueOf(vehicleRelTimeDTO.getData().getLeft_motor_rpm()));
+        left_motor_rpm.setUnit("");
+        transferData.add(left_motor_rpm);
+
+        DeviceStatusDetail right_motor_rpm = new DeviceStatusDetail();
+        right_motor_rpm.setName("right_motor_rpm");
+        right_motor_rpm.setValue(String.valueOf(vehicleRelTimeDTO.getData().getRight_motor_rpm()));
+        right_motor_rpm.setUnit("");
+        transferData.add(right_motor_rpm);
+
+        DeviceStatusDetail roll = new DeviceStatusDetail();
+        roll.setName("roll");
+        roll.setValue(String.valueOf(vehicleRelTimeDTO.getData().getRoll()));
+        roll.setUnit("");
+        transferData.add(roll);
+
+        DeviceStatusDetail control_mode = new DeviceStatusDetail();
+        control_mode.setName("control_mode");
+        control_mode.setValue(String.valueOf(vehicleRelTimeDTO.getData().getControl_mode()));
+        control_mode.setUnit("");
+        transferData.add(control_mode);
+
+        DeviceStatusDetail linear_speed = new DeviceStatusDetail();
+        linear_speed.setName("linear_speed");
+        linear_speed.setValue(String.valueOf(vehicleRelTimeDTO.getData().getLinear_speed()));
+        linear_speed.setUnit("");
+        transferData.add(linear_speed);
+
+        DeviceStatusDetail angular_speed = new DeviceStatusDetail();
+        angular_speed.setName("angular_speed");
+        angular_speed.setValue(String.valueOf(vehicleRelTimeDTO.getData().getAngular_speed()));
+        angular_speed.setUnit("");
+        transferData.add(angular_speed);

        webStatusMessageDTO.setData(transferData);
        webStatusMessageDTO.setType(MesType.deviceInfo);
@@ -287,7 +426,7 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
            if (vehicleRelTimeDTO != null) {

                // todo 更新里程数 里程数 * 割幅0.8
-                vehicleRelTimeDTO.getData().getDistance();
+                vehicleRelTimeDTO.getData().getTotal_work_distance();
                NettyDevice nettyDevice = deviceSessionManager.getDevice(deviceId);
                if (nettyDevice != null) {
                    Long orgId = nettyDevice.getDevice().getOrgId();
@@ -299,9 +438,11 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
                            deviceRunStatistics = new DeviceRunStatistics();
                        }
                        deviceRunStatistics.setDeviceId(deviceId);
-                        deviceRunStatistics.setDistance(vehicleRelTimeDTO.getData().getDistance());
-                        deviceRunStatistics.setWorkArea(vehicleRelTimeDTO.getData().getDistance() * 0.8);
+                        deviceRunStatistics.setDistance(vehicleRelTimeDTO.getData().getTotal_work_distance());
+                        deviceRunStatistics.setWorkArea(vehicleRelTimeDTO.getData().getTotal_work_distance() * 0.8);
                        siteMemory.saveRunStatistics(deviceRunStatistics);
+
+                        siteMemory.saveVehicleMessage(deviceId, vehicleRelTimeDTO.getData());
                    }
                }

@@ -318,6 +459,14 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
                        }
                    }
                }
+                // todo 推送实时位置和状态消息到外部
+                try {
+                    GlobalMemory.customMqttDeviceMonitor.publish(mqttClientId,
+                            String.format(MqttTopic.DEVICE_VEHICLE_MESSAGE_TOPIC, deviceId),
+                            JsonUtils.toJsonString(vehicleRelTimeDTO));
+                } catch (MqttException e) {
+                    log.error("位置实时数据推送失败: deviceId={}, error={}", deviceId, e.getMessage(), e);
+                }
            }
        } catch (Exception e) {
            log.error("实时消息解析失败: deviceId={}, payload={}, error={}", deviceId, payload, e.getMessage());
@@ -371,7 +520,7 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
                        try {
                            websocketMesDispather.dispather(x.getConnectorId(), JsonUtils.toJsonString(sendDto));
                        } catch (Exception e) {
-                            log.error("实时数据websocket推送失败: connectorId={}, error={}", x.getConnectorId(),
+                            log.error("实时数据websocket任务状态推送失败: connectorId={}, error={}", x.getConnectorId(),
                                    e.getMessage());
                        }
                    }
@@ -382,8 +531,7 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
                            String.format(MqttTopic.DEVICE_TASK_STATUS_TOPIC, taskId),
                            JsonUtils.toJsonString(sendDto));
                } catch (MqttException e) {
-                    // TODO Auto-generated catch block
-                    e.printStackTrace();
+                    log.error("实时数据websocket任务状态推送失败: deviceId={}, error={}", deviceId, e.getMessage(), e);
                }

            }
@@ -397,7 +545,7 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
            if ("failed".equals(dto.getStatus())) {
                nettyDevice.failedTask();
            }
-            // if("accepted".equals(dto.getStatus())){
+            // if ("accepted".equals(dto.getStatus())) {
            // NettyDevice nettyDevice = deviceSessionManager.getDevice(deviceId);
            // nettyDevice.finishTask();
            // }
@@ -436,6 +584,34 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
            if (device != null && device.getTask() != null
                    && String.valueOf(device.getTask().getId()).equals(replyDTO.getTask_id())) {
                device.getTask().setTaskAccepted(true);
+
+                WebDeviceTaskStatusMessageDTO sendDto = new WebDeviceTaskStatusMessageDTO();
+                sendDto.setDeviceId(deviceId);
+                sendDto.setTaskId(device.getTask().getId());
+                sendDto.setStatus(DeviceTaskStaus.EXECUTING.toString());
+                sendDto.setType(MesType.device_task_change);
+
+                List<NettyDevice> controlMasters = deviceSessionManager
+                        .getAllSlaveControl(deviceId);
+                if (!CollectionUtils.isEmpty(controlMasters)) {
+                    for (NettyDevice x : controlMasters) {
+                        try {
+                            websocketMesDispather.dispather(x.getConnectorId(), JsonUtils.toJsonString(sendDto));
+                        } catch (Exception e) {
+                            log.error("实时数据websocket推送失败: connectorId={}, error={}", x.getConnectorId(),
+                                    e.getMessage(), e);
+                        }
+                    }
+                }
+                // todo 推送实时位置和状态消息到外部
+                try {
+                    GlobalMemory.customMqttDeviceMonitor.publish(mqttClientId,
+                            String.format(MqttTopic.DEVICE_TASK_STATUS_TOPIC, device.getTask().getId()),
+                            JsonUtils.toJsonString(sendDto));
+                } catch (MqttException e) {
+                    log.error("实时数据websocket推送失败: deviceId={}, error={}", deviceId, e.getMessage(), e);
+                }
+
            }
        }
    }
@@ -444,17 +620,18 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
     * 处理控制指令响应
     */
    private void handleUpgradeReply(String deviceId, String topic, String payload) {
-//        log.debug("【路径任务下发响应】deviceId={}, payload={}", deviceId, payload);
-//
-//        // todo 更新任务接收状态
-//        HostNavigationReplyDTO replyDTO = JsonUtils.parseObject(payload, HostNavigationReplyDTO.class);
-//        NettyDevice device = deviceSessionManager.getDevice(deviceId);
-//        if (replyDTO.isAccepted()) {
-//            if (device != null && device.getTask() != null
-//                    && String.valueOf(device.getTask().getId()).equals(replyDTO.getTask_id())) {
-//                device.getTask().setTaskAccepted(true);
-//            }
-//        }
+        // log.debug("【路径任务下发响应】deviceId={}, payload={}", deviceId, payload);
+        //
+        // // todo 更新任务接收状态
+        // HostNavigationReplyDTO replyDTO = JsonUtils.parseObject(payload,
+        // HostNavigationReplyDTO.class);
+        // NettyDevice device = deviceSessionManager.getDevice(deviceId);
+        // if (replyDTO.isAccepted()) {
+        // if (device != null && device.getTask() != null
+        // && String.valueOf(device.getTask().getId()).equals(replyDTO.getTask_id())) {
+        // device.getTask().setTaskAccepted(true);
+        // }
+        // }
    }

    /**
@@ -510,7 +687,6 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
        if (remaining.equals("/ota/result/post"))
            return "upgrade_reply";

-
        return null;
    }

--- a/maibu-common/src/main/java/com/maibu/mqtt/MqttTopic.java
+++ b/maibu-common/src/main/java/com/maibu/mqtt/MqttTopic.java
@@ -2,18 +2,22 @@ package com.maibu.mqtt;

 public class MqttTopic {

-    /**  通用设备主题，建议使用 MOWER_* 系列主题 */
+    /** 通用设备主题，建议使用 MOWER_* 系列主题 */
    public static final String DEVICE_STATUS_TOPIC = "device/%s/realTimeMessage";

-    public static final String DEVICE_LOCATION_TOPIC = "device/%s/locationMessage";
-    /**  通用设备主题，建议使用 MOWER_* 系列主题 */
+    public static final String DEVICE_VEHICLE_MESSAGE_TOPIC = "device/%s/host/realTime/message";
+
+    public static final String DEVICE_LOCATION_MESSAGE_TOPIC = "device/%s/host/location/message";
+    /** 通用设备主题，建议使用 MOWER_* 系列主题 */
    public static final String DEVICE_TASK_STATUS_TOPIC = "task/%s/status";
-    /**  通用设备主题，建议使用 MOWER_* 系列主题 */
+    /** 通用设备主题，建议使用 MOWER_* 系列主题 */
    public static final String DEVICE_TASK_ARRIVE_TOPIC = "task/%s/arrive";
-    /**  通用设备主题，建议使用 MOWER_* 系列主题 */
+    /** 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";

+    public static final String DEVICE_STATUS_PUSH_TOPIC = "device/%s/status/change";
+
    /** 产品标识：割草机 */
    public static final String MOWER_PRODUCT = "mower";

@@ -43,7 +47,7 @@ public class MqttTopic {

    // ==================== 远程控制 ====================
    /** 远程控制指令下发：前进/后退/转向/割草等（平台->设备），对应 TCP 0x00 remoteControl */
-    public static final String MOWER_CONTROL_SET = "mower/%s/action/control/set";
+    public static final String MOWER_CONTROL_SET = "mower/%s/control/remote/set";

    // ==================== 任务管理 ====================
    /** 路径规划下发（平台->设备），对应 TCP 0x01 path */
@@ -71,6 +75,9 @@ public class MqttTopic {
    /** OTA 升级结果上报（设备->平台） */
    public static final String MOWER_OTA_RESULT_POST = "mower/+/ota/result/post";

+    /** 寻车指令（平台->设备） */
+    public static final String MOWER_SEARCH_DEVICE_SET = "mower/%s/action/search/set";
+
    // ==================== 设备信息 ====================
    // /** 查询设备信息（平台->设备） */
    // public static final String MOWER_INFO_DEVICE_GET =
--- a/maibu-framework/src/main/java/com/maibu/config/SecurityConfig.java
+++ b/maibu-framework/src/main/java/com/maibu/config/SecurityConfig.java
@@ -116,7 +116,7 @@ public class SecurityConfig extends WebSecurityConfigurerAdapter {
                // 过滤请求
                .authorizeRequests()
                // 对于登录login 注册register 验证码captchaImage 允许匿名访问
-                .antMatchers("/iot/host/upload-path-csv","/api/thermal/**","/iotDA/device/**", "/websocket/allMemory", "/iot/UAV/**", "/iot/api/**", "/iot/device/userDevice", "/external/sms/sendAliSmsCode", "/login", "/register", "/captchaImage", "/iot/tool/register", "/iot/tool/ntp",
+                .antMatchers("/system/param/list","/iot/host/upload-path-csv","/api/thermal/**","/iotDA/device/**", "/websocket/allMemory", "/iot/UAV/**", "/iot/api/**", "/iot/device/userDevice", "/external/sms/sendAliSmsCode", "/login", "/register", "/captchaImage", "/iot/tool/register", "/iot/tool/ntp",
                        "/iot/tool/mqtt/auth", "/iot/workRecord/**", "/iot/tool/mqtt/authv5", "/iot/tool/mqtt/webhook", "/iot/tool/mqtt/webhookv5", "/auth/**/**",
                        "/wechat/mobileLogin", "/wechat/miniLogin", "/wechat/wxBind/callback").permitAll()
                .antMatchers("/zlmhook/**").permitAll()
--- a/maibu-netty-server/src/main/java/com/maibu/controller/NettyDeviceController.java
+++ b/maibu-netty-server/src/main/java/com/maibu/controller/NettyDeviceController.java
@@ -44,5 +44,4 @@ public class NettyDeviceController extends BaseController {
        nettyDeviceService.sendCommand(command);
        return AjaxResult.success();
    }
-
 }
--- a/maibu-netty-server/src/main/java/com/maibu/init/InitThread.java
+++ b/maibu-netty-server/src/main/java/com/maibu/init/InitThread.java
@@ -1,34 +1,64 @@
 package com.maibu.init;

 import java.io.IOException;
+import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.List;
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
 import java.util.concurrent.Executor;
+import java.util.stream.Collectors;

 import javax.annotation.Resource;

-import com.maibu.core.business.*;
-import com.maibu.mapper.*;
-import com.maibu.service.impl.IotDeviceCommonService;
+import org.checkerframework.checker.units.qual.s;
 import org.eclipse.paho.client.mqttv3.MqttException;
 import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
 import org.springframework.boot.ApplicationArguments;
 import org.springframework.boot.ApplicationRunner;
 import org.springframework.core.annotation.Order;
+import org.springframework.core.io.ResourceLoader;
 import org.springframework.stereotype.Component;
 import org.springframework.util.CollectionUtils;

+import com.alibaba.fastjson2.JSON;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.maibu.constant.FastBeeConstant;
+import com.maibu.core.business.AlarmOrderConfig;
+import com.maibu.core.business.Device;
+import com.maibu.core.business.DeviceModel;
+import com.maibu.core.business.DevicePlan;
+import com.maibu.core.business.DevicePlanTask;
+import com.maibu.core.business.DeviceRunParam;
+import com.maibu.core.business.ErrorIdentificationStandard;
+import com.maibu.core.business.IoTCommonDevice;
+import com.maibu.core.business.OrderModel;
+import com.maibu.core.business.Product;
+import com.maibu.core.domain.entity.SysParam;
 import com.maibu.core.domain.entity.SysSite;
 import com.maibu.core.enums.DeviceTaskStaus;
 import com.maibu.influxdb.util.InfluxDBUtil;
+import com.maibu.mapper.AlarmOrderConfigMapper;
+import com.maibu.mapper.DevicePlanMapper;
+import com.maibu.mapper.DevicePlanTaskMapper;
+import com.maibu.mapper.DeviceProductMapper;
+import com.maibu.mapper.DeviceRunParamMapper;
+import com.maibu.mapper.ErrorIdentificationStandardMapper;
+import com.maibu.mapper.IotDeviceCommonMapper;
+import com.maibu.mapper.OrderModelMapper;
+import com.maibu.mapper.SysDeviceModelMapper;
+import com.maibu.mapper.SysParamMapper;
+import com.maibu.mapper.SysSiteMapper;
 import com.maibu.memory.GlobalMemory;
 import com.maibu.memory.SiteMemory;
-import com.maibu.mqtt.MqttClientUtil;
 import com.maibu.mybatis.LambdaQueryWrapperX;
 import com.maibu.service.DevicePlanTaskMonitorService;
 import com.maibu.service.DeviceThreadService;
-import org.springframework.beans.factory.annotation.Value;
+import com.maibu.service.impl.IotDeviceCommonService;
+
+import cn.hutool.core.io.IORuntimeException;
+import cn.hutool.core.io.IoUtil;
 import lombok.extern.slf4j.Slf4j;

@Slf4j
@@ -81,6 +111,7 @@ public class InitThread implements ApplicationRunner {
    @Autowired
    private ErrorIdentificationStandardMapper errorIdentificationStandardMapper;
    @Autowired
+    
    private OrderModelMapper orderModelMapper;
    @Autowired
    private AlarmOrderConfigMapper alarmOrderConfigMapper;
@@ -88,6 +119,12 @@ public class InitThread implements ApplicationRunner {
    @Autowired
    private IotDeviceCommonService commonService;

+    @Autowired
+    private ResourceLoader resourceLoader;
+
+    @Autowired
+    private SysParamMapper sysParamMapper;
+
    @Value("${influxdb.url}")
    private String influxDBUrl;

@@ -119,12 +156,15 @@ public class InitThread implements ApplicationRunner {
    private String mqttClientId;

    @Override
-    public void run(ApplicationArguments args) throws MqttException {
+    public void run(ApplicationArguments args) throws Exception {
        recoverMemory();
        init();
    }

-    private void init() throws MqttException {
+    private void init() throws Exception {
+        //初始化系统参数
+        initSystemParam();
+
        // 初始化InfluxDBUtil
        GlobalMemory.influxDBUtil = new InfluxDBUtil(influxDBUrl, influxDBToken, influxDBOrg, influxDBBucket);

@@ -185,7 +225,7 @@ public class InitThread implements ApplicationRunner {
            });
        }

-        //外部设备
+        // 外部设备
        List<IoTCommonDevice> ioTCommonDeviceList = iotDeviceCommonMapper.selectList();
        if (!CollectionUtils.isEmpty(ioTCommonDeviceList)) {
            ioTCommonDeviceList.forEach(x -> {
@@ -197,7 +237,7 @@ public class InitThread implements ApplicationRunner {
                }
            });
        }
-        //产品
+        // 产品
        List<Product> productList = deviceProductMapper.selectList();
        if (!CollectionUtils.isEmpty(productList)) {
            productList.forEach(x -> {
@@ -209,7 +249,7 @@ public class InitThread implements ApplicationRunner {
                }
            });
        }
-        //设备模型
+        // 设备模型
        List<DeviceModel> deviceModelList = deviceModelMapper.selectList();
        if (!CollectionUtils.isEmpty(deviceModelList)) {
            deviceModelList.forEach(x -> {
@@ -221,7 +261,7 @@ public class InitThread implements ApplicationRunner {
                }
            });
        }
-        //车辆参数
+        // 车辆参数
        List<DeviceRunParam> deviceRunParamList = deviceRunParamMapper.selectList();
        if (!CollectionUtils.isEmpty(deviceRunParamList)) {
            deviceRunParamList.forEach(x -> {
@@ -233,7 +273,7 @@ public class InitThread implements ApplicationRunner {
                }
            });
        }
-        //错误标准
+        // 错误标准
        List<ErrorIdentificationStandard> standadList = errorIdentificationStandardMapper.selectList();
        if (!CollectionUtils.isEmpty(standadList)) {
            standadList.forEach(x -> {
@@ -245,7 +285,7 @@ public class InitThread implements ApplicationRunner {
                }
            });
        }
-        //订单模型
+        // 订单模型
        List<OrderModel> orderModelList = orderModelMapper.selectList();
        if (!CollectionUtils.isEmpty(orderModelList)) {
            orderModelList.forEach(x -> {
@@ -257,7 +297,7 @@ public class InitThread implements ApplicationRunner {
                }
            });
        }
-        //告警订单配置
+        // 告警订单配置
        List<AlarmOrderConfig> alarmOrderList = alarmOrderConfigMapper.selectList();
        if (!CollectionUtils.isEmpty(alarmOrderList)) {
            alarmOrderList.forEach(x -> {
@@ -317,4 +357,38 @@ public class InitThread implements ApplicationRunner {
        }

    }
+
+    public void initSystemParam() throws IOException {
+        LambdaQueryWrapper<SysParam> queryWrapper = new LambdaQueryWrapper<>();
+        List<SysParam> list = sysParamMapper.selectList(queryWrapper);
+        try {
+            // 读取resource目录下的dsystemParam.json文件
+            org.springframework.core.io.Resource resource = resourceLoader
+                    .getResource("classpath:systemParam.json");
+            // 使用fastjson2转换为DeviceConfig对象
+            String jsonContent;
+            jsonContent = IoUtil.readUtf8(resource.getInputStream());
+            List<SysParam> params = JSON.parseArray(jsonContent, SysParam.class);
+            List<SysParam> saveList = new ArrayList<>();
+            if (CollectionUtils.isEmpty(list)) {
+                saveList.addAll(params);
+            } else {
+                Map<String, SysParam> map = list.stream()
+                        .collect(Collectors.toMap(
+                                SysParam::getParamKey,
+                                sysParam -> sysParam));
+                if (!CollectionUtils.isEmpty(params)) {
+                    params.forEach(x -> {
+                        if (!map.containsKey(x.getParamKey())) {
+                            saveList.add(x);
+                        }
+                    });
+                }
+            }
+            sysParamMapper.saveOrUpdateBatch(saveList);
+        } catch (Exception e) {
+            log.error("初始化系统参数失败", e);
+        }
+
+    }
 }
--- a/maibu-netty-server/src/main/java/com/maibu/netty/handler/CommandForwardHandler.java
+++ b/maibu-netty-server/src/main/java/com/maibu/netty/handler/CommandForwardHandler.java
@@ -1,11 +1,15 @@
 package com.maibu.netty.handler;

+import java.math.BigDecimal;
+import java.math.RoundingMode;
 import java.util.List;
 import java.util.Set;

 import com.maibu.memory.DeviceSessionManager;
 import com.maibu.memory.GlobalMemory;
 import com.maibu.mqtt.MqttTopic;
+import com.maibu.utils.json.JsonUtils;
+
 import org.apache.commons.codec.binary.Hex;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
@@ -15,9 +19,13 @@ import org.springframework.stereotype.Component;
 import org.springframework.util.CollectionUtils;

 import com.maibu.constant.CommandConstant;
+import com.maibu.constant.Constant;
+import com.maibu.core.business.LawnMoverProtocolEntity;
 import com.maibu.core.business.device.Connector;
 import com.maibu.core.business.device.NettyDevice;
 import com.maibu.core.enums.ConnectorType;
+import com.maibu.core.host.DeviceRemoteControlDTO;
+import com.maibu.core.host.ParamDetail;

 import io.netty.buffer.ByteBuf;
 import io.netty.channel.Channel;
@@ -29,7 +37,6 @@ import io.netty.channel.SimpleChannelInboundHandler;
@ChannelHandler.Sharable
 public class CommandForwardHandler extends SimpleChannelInboundHandler<String> {

-
    private static final Logger logger = LoggerFactory.getLogger(CommandForwardHandler.class);

    @Autowired
@@ -44,12 +51,11 @@ public class CommandForwardHandler extends SimpleChannelInboundHandler<String> {
        byte[] bytes = Hex.decodeHex(msg.toCharArray());
        if (bytes.length > 3 && (bytes[2] == CommandConstant.remoteControl
                || bytes[2] == CommandConstant.path
-                || bytes[2] == CommandConstant.status
-        )) {
+                || bytes[2] == CommandConstant.status)) {

            String senderDeviceId = deviceSessionManager.getDeviceIdByChannel(currentChannel);
-            NettyDevice senderNettyDevice =
-                    senderDeviceId != null ? deviceSessionManager.getDevice(senderDeviceId) : null;
+            NettyDevice senderNettyDevice = senderDeviceId != null ? deviceSessionManager.getDevice(senderDeviceId)
+                    : null;

            if (senderNettyDevice == null) {
                logger.debug("发送拒绝,设备:{}未发送上线指令", senderDeviceId);
@@ -76,22 +82,73 @@ public class CommandForwardHandler extends SimpleChannelInboundHandler<String> {
                    return;
                }
                for (Connector target : connectedDevices) {
-                    if (!target.isOnline()) {
-                        logger.debug("发送拒绝master:{},消息到达的salve设备:{},已离线", senderDeviceId, target.getConnectorId());
-                        continue;
-                    }
-                    if (!target.canReceive()) {
+
+                    if (target == null || !target.canReceive()) {
                        logger.debug("发送拒绝master:{},消息到达的slave设备:{},处于禁止接收状态", senderDeviceId, target.getConnectorId());
                        continue;
                    }
-                    // todo 向上位机发送控制消息
+                    NettyDevice targetDevice = deviceSessionManager.getDevice(target.getConnectorId());
+                    if (targetDevice == null)
+                        continue;
+                    // 区分有上位机的还有无上位机的 有上位机的通过上位机下发 没有上位机的按照原来的方式下发
+                    if (targetDevice.getDevice().getHasHost()) {
+                        if (bytes[2] == CommandConstant.remoteControl) {
+                            // todo 转换 原先的报文重新组装成上位机的报文格式
+                            DeviceRemoteControlDTO deviceRemoteControlDTO = new DeviceRemoteControlDTO();
+                            LawnMoverProtocolEntity pEntity = LawnMoverProtocolEntity.parseControlCommand(bytes);
+                            if (pEntity != null) {

-                    GlobalMemory.customMqttDeviceMonitor.publish(mqttClientId, String.format(MqttTopic.MOWER_CONTROL_SET, target.getConnectorId()), msg);
-//                    Channel targetChannel = target.getChannel();
-//                    if (targetChannel != null && targetChannel.isActive()) {
-//                        targetChannel.writeAndFlush(msg);
-//                        logger.debug("从master:{},向slave:{}, 转发消息:{}", senderDeviceId, target.getConnectorId(), msg);
-//                    }
+                                ParamDetail data = new ParamDetail();
+                                // data.setLeft_wheel_rpm(pEntity.getLeftWheelSpeed());
+                                // data.setRight_wheel_rpm(pEntity.getRightWheelSpeed());
+
+                                double angularSpeed = BigDecimal.valueOf(pEntity.getAngularSpeed())
+                                        .setScale(2, RoundingMode.HALF_UP)
+                                        .doubleValue();
+
+                                double linearSpeed = BigDecimal.valueOf(pEntity.getLinearSpeed())
+                                        .setScale(2, RoundingMode.HALF_UP)
+                                        .doubleValue();
+
+                                data.setLinear_x(linearSpeed);
+                                data.setAngular_z(angularSpeed);
+
+                                data.setChassis_lift(pEntity.getChassisLiftFlag());
+                                data.setCutter(pEntity.getMowerSpeedFlag());
+                                data.setIgnition(pEntity.getIgnitionFlag());
+                                data.setEmergency_stop(pEntity.getEmergencyStopFlag());
+                                data.setValid_for_ms(500);
+                                deviceRemoteControlDTO.setData(data);
+                                deviceRemoteControlDTO
+                                        .setCommand_id(Constant.remote_control_cmd_prefix + System.currentTimeMillis());
+                                deviceRemoteControlDTO.setSn(target.getConnectorId());
+                                deviceRemoteControlDTO.setTimestamp(System.currentTimeMillis());
+                                deviceRemoteControlDTO
+                                        .setMessage_id(Constant.remote_control_msg_prefix + System.currentTimeMillis());
+                                deviceRemoteControlDTO.setProtocol_version(Constant.protocol_version);
+
+                                GlobalMemory.customMqttDeviceMonitor.publish(mqttClientId,
+                                        String.format(MqttTopic.MOWER_CONTROL_SET, target.getConnectorId()),
+                                        JsonUtils.toJsonString(deviceRemoteControlDTO));
+                                logger.debug("master:{},向slave:{} 有上位机, 转发遥控指令:{}", senderDeviceId,
+                                        target.getConnectorId(),
+                                        JsonUtils.toJsonString(deviceRemoteControlDTO));
+                            }
+
+                        }
+                    } else {
+                        if (!target.isOnline()) {
+                            logger.debug("发送拒绝master:{},消息到达的salve设备:{},已离线", senderDeviceId,
+                                    target.getConnectorId());
+                            continue;
+                        }
+                        Channel targetChannel = target.getChannel();
+                        if (targetChannel != null && targetChannel.isActive()) {
+                            targetChannel.writeAndFlush(msg);
+                            logger.debug("从master:{},向slave:{} 无上位机, 转发消息:{}", senderDeviceId,
+                                    target.getConnectorId(), msg);
+                        }
+                    }
                }
            } else if (ConnectorType.SLAVE.equals(senderNettyDevice.getDeviceType())) {
                List<NettyDevice> masters = deviceSessionManager.getMastersBySlaveId(senderDeviceId);
--- a/maibu-netty-server/src/main/java/com/maibu/netty/handler/DataToDataBaseHandler.java
+++ b/maibu-netty-server/src/main/java/com/maibu/netty/handler/DataToDataBaseHandler.java
@@ -140,13 +140,13 @@ public class DataToDataBaseHandler extends SimpleChannelInboundHandler<String> {
                    nettyDevice.setLatestStatus(latestStatus);
                }
            } else if (bytes[2] == CommandConstant.readConfig) {
-                DeviceRunParam runParam = DeviceRunParam.fromBytes(bytes);
-                logger.debug("收到返回的设备运行参数: {}", JsonUtils.toJsonString(runParam));
-                CompletableFuture<DeviceRunParam> future = ctx.channel().attr(Constant.READ_CONFIG_KEY).get();
-                if (future != null) {
-                    future.complete(runParam);
-                    ctx.channel().attr(Constant.READ_CONFIG_KEY).set(null);
-                }
+                // DeviceRunParam runParam = DeviceRunParam.fromBytes(bytes);
+                // logger.debug("收到返回的设备运行参数: {}", JsonUtils.toJsonString(runParam));
+                // CompletableFuture<DeviceRunParam> future = ctx.channel().attr(Constant.READ_CONFIG_KEY).get();
+                // if (future != null) {
+                //     future.complete(runParam);
+                //     ctx.channel().attr(Constant.READ_CONFIG_KEY).set(null);
+                // }
            }
            ctx.fireChannelRead(msg);
        } catch (Exception e) {
--- a/maibu-netty-server/src/main/java/com/maibu/scheduled/ScheduledTask.java
+++ b/maibu-netty-server/src/main/java/com/maibu/scheduled/ScheduledTask.java
@@ -75,20 +75,20 @@ public class ScheduledTask {
        System.out.println("0点定时刷新状态执行完成");
    }

-    public static void main(String[] args) throws DecoderException {
-        String hex = "AB AA 05 88 4D 43 37 30 30 50 4C 55 53 2D 43 4E 2D 4A 53 2D 31 37 38 34 38 37 31 39 37 39 31 39 30 2D 30 30 30 30 30 30 30 41 2D 36 30 00 B1 FB 7F FE FE FE 00 00 00 00 00 00 00 00 00 00 00 00 00 12 01 48 95 E8 03 E8 03 28 32 91 53 24 4D 43 37 30 30 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 31 32 33 34 35 36 37 38 00 00 00 00 00 00 00 00 00 00 00 00 00 08 00 00 00 CD CC A4 41 00 00 80 3F 33 33 33 3F B8 1E 05 3F 33 33 33 3F 9A 99 19 3E 00 00 80 3F 00 00 80 3F 00 00 80 3F 32 36 2D 34 2D 32 37 00 2D 32 37 00 50 B1 BF 00 00 AA AB";
-        String cleanHex = hex.replaceAll("\\s+", "");  // 移除所有空白字符
-        byte[] bytes = Hex.decodeHex(cleanHex);
-        DeviceRunParam runParam = DeviceRunParam.fromBytes(bytes);
-        System.out.println(JsonUtils.toJsonString(runParam));
+    // public static void main(String[] args) throws DecoderException {
+    //     String hex = "AB AA 05 88 4D 43 37 30 30 50 4C 55 53 2D 43 4E 2D 4A 53 2D 31 37 38 34 38 37 31 39 37 39 31 39 30 2D 30 30 30 30 30 30 30 41 2D 36 30 00 B1 FB 7F FE FE FE 00 00 00 00 00 00 00 00 00 00 00 00 00 12 01 48 95 E8 03 E8 03 28 32 91 53 24 4D 43 37 30 30 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 31 32 33 34 35 36 37 38 00 00 00 00 00 00 00 00 00 00 00 00 00 08 00 00 00 CD CC A4 41 00 00 80 3F 33 33 33 3F B8 1E 05 3F 33 33 33 3F 9A 99 19 3E 00 00 80 3F 00 00 80 3F 00 00 80 3F 32 36 2D 34 2D 32 37 00 2D 32 37 00 50 B1 BF 00 00 AA AB";
+    //     String cleanHex = hex.replaceAll("\\s+", "");  // 移除所有空白字符
+    //     byte[] bytes = Hex.decodeHex(cleanHex);
+    //     DeviceRunParam runParam = DeviceRunParam.fromBytes(bytes);
+    //     System.out.println(JsonUtils.toJsonString(runParam));

-        runParam.setLeftBackwardGain(0.2f);
-        runParam.setLeftForwardGain(0.2f);
-        runParam.setRightForwardGain(0.2f);
-        runParam.setRightBackwardGain(0.2f);
+    //     runParam.setLeftBackwardGain(0.2f);
+    //     runParam.setLeftForwardGain(0.2f);
+    //     runParam.setRightForwardGain(0.2f);
+    //     runParam.setRightBackwardGain(0.2f);

-        byte[] newB = runParam.toWriteBytes();
-        System.out.println(Hex.encodeHexString(newB));
+    //     byte[] newB = runParam.toWriteBytes();
+    //     System.out.println(Hex.encodeHexString(newB));

-    }
+    // }
 }
--- a/maibu-netty-server/src/main/java/com/maibu/service/DeviceThreadService.java
+++ b/maibu-netty-server/src/main/java/com/maibu/service/DeviceThreadService.java
@@ -16,6 +16,7 @@ import java.util.stream.Collectors;

 import com.maibu.core.business.dto.DeviceMapPushDTO;
 import com.maibu.core.business.dto.WebMapMessageDTO;
+import com.maibu.core.business.dto.WebOlineStatusMessageDTO;
 import com.maibu.core.enums.*;
 import com.maibu.utils.json.JsonUtils;
 import org.apache.commons.lang3.StringUtils;
@@ -43,6 +44,7 @@ import com.maibu.core.host.HeartBeatDTO;
 import com.maibu.core.host.LocationMessage;
 import com.maibu.core.redis.RedisCache;
 import com.maibu.dto.DeviceErrorPushDTO;
+import com.maibu.dto.DeviceTaskStatusMessageDTO;
 import com.maibu.mapper.DeviceRunStatisticsMapper;
 import com.maibu.mapper.ErrorIdentificationStandardMapper;
 import com.maibu.mapper.HostLocationMapper;
@@ -297,7 +299,7 @@ public class DeviceThreadService {
                        }
                        if (nowTime - lastActiveTime >= Constant.hostOfflineInterval) {
                            // 超时了判断离线
-                            if (nettyDevice != null) {
+                            if (nettyDevice != null && nettyDevice.getOnlineStatus() == 1) {
                                nettyDevice.status(DeviceStatus.offline.getType());
                                // todo 推送设备离线
                                String key = NettyCacheKey.latestPositonKey + deviceId;
@@ -309,7 +311,10 @@ public class DeviceThreadService {
                                    LocationMessage existing = hostLocationMapper.selectOne(queryWrapper);
                                    if (existing != null) {
                                        locationMessage.setId(existing.getId());
+                                    } else {
+                                        locationMessage.setCreateTime(LocalDateTime.now());
                                    }
+                                    locationMessage.setUpdateTime(LocalDateTime.now());
                                    hostLocationMapper.saveOrUpdate(locationMessage);
                                }
                                Device device = deviceService.selectDeviceBySerialNumber(deviceId);
@@ -345,8 +350,10 @@ public class DeviceThreadService {
                                    }
                                    // todo 删除实时消息推送里面的数据
                                    siteMemory.removeMapPushDTO(deviceId);
+                                    siteMemory.removeVehicleMessage(deviceId);
                                }

+                                statusChangePush(deviceId, siteId, 0);
                                sessionManager.removeDevice(deviceId);
                                // TODO 统计总里程、总作业面积

@@ -380,11 +387,14 @@ public class DeviceThreadService {
                                if (slaveDevice != null) {
                                    slaveDevice.setOnlineStatus(1);
                                    slaveDevice.setDevice(device);
+                                    statusChangePush(deviceId, device.getSiteId(), 1);
                                }
                            } else {
                                // todo 推送设备上线
                                nettyDevice.status(1);
                                nettyDevice.setDevice(device);
+                                nettyDevice.setConnectorStatus(ConnectorStatus.ACTIVE);
+                                statusChangePush(deviceId, device.getSiteId(), 1);
                            }
                        }
                    });
@@ -395,8 +405,30 @@ public class DeviceThreadService {
        }, 0, 500, TimeUnit.MILLISECONDS);
    }

+    public void statusChangePush(String deviceId, Long siteId, Integer status) {
+        // todo 推送设备离线
+        WebOlineStatusMessageDTO dto = new WebOlineStatusMessageDTO();
+        dto.setDeviceId(deviceId);
+        dto.setType(MesType.device_status_changed);
+        dto.setOnlineStatus(status);
+        try {
+            // 当前控制的web端
+            websocketMesDispather.dispather(deviceId, JsonUtils.toJsonString(dto));
+            // 地图监控页面推送
+            websocketMesDispather.mapMessageDispather(siteId,
+                    JsonUtils.toJsonString(dto));
+            // 推送到mqtt服务器
+            GlobalMemory.customMqttDeviceMonitor.publish(mqttClientId,
+                    String.format(MqttTopic.DEVICE_STATUS_PUSH_TOPIC, deviceId), JsonUtils.toJsonString(dto));
+        } catch (Exception e) {
+            log.error("机器状态变化推送失败: siteId={}, error={}", siteId,
+                    e.getMessage(), e);
+        }
+
+    }
+
    /**
-     * 监控心跳
+     * 地图监控
     */
    public void mapMessagePush() {
        executor.scheduleWithFixedDelay(() -> {
--- a/maibu-netty-server/src/main/java/com/maibu/service/TransferDeviceService.java
+++ b/maibu-netty-server/src/main/java/com/maibu/service/TransferDeviceService.java
@@ -43,12 +43,11 @@ public class TransferDeviceService {
    @Autowired
    private DeviceMapper deviceMapper;

-
    public AjaxResult bind(DeviceBindDTO bindDTO, LoginUser user) {
        try {
            String deviceId = bindDTO.getDeviceId();
            String deviceAlias = bindDTO.getDeviceAlias();
-            //判断当前设备是否存
+            // 判断当前设备是否存
            Device device = iDeviceService.selectDeviceBySerialNumber(deviceId);
            if (device == null) {
                return AjaxResult.error("设备不存在");
@@ -65,7 +64,7 @@ public class TransferDeviceService {
                device.setDeviceAlias(deviceAlias);
                device.setActiveTime(new Date());
                iDeviceService.updateDeviceBySelf(device);
-//                deviceMapper.updateById(device);
+                // deviceMapper.updateById(device);
                return AjaxResult.success(true);
            }
        } catch (Exception e) {
@@ -77,7 +76,7 @@ public class TransferDeviceService {
    public AjaxResult unbind(DeviceBindDTO bindDTO, LoginUser user) {
        try {
            String deviceId = bindDTO.getDeviceId();
-            //判断当前设备是否存
+            // 判断当前设备是否存
            Device device = iDeviceService.selectDeviceBySerialNumber(deviceId);
            if (device == null) {
                return AjaxResult.error("设备不存在");
@@ -93,9 +92,9 @@ public class TransferDeviceService {
                device.setTenantName("");
                device.setUpdateTime(LocalDateTime.now());
                device.setDeviceAlias("");
-//                deviceMapper.updateById(device);
+                // deviceMapper.updateById(device);
                iDeviceService.updateDeviceBySelf(device);
-                //判断是否正在控制 如果正在控制，删除控制状态
+                // 判断是否正在控制 如果正在控制，删除控制状态
                LambdaQueryWrapper<UserClient> lambdaWrapper = new LambdaQueryWrapper<>();
                lambdaWrapper.eq(UserClient::getDeviceName, deviceId);
                List<UserClient> users = userClientMapper.selectList(lambdaWrapper);
@@ -108,12 +107,15 @@ public class TransferDeviceService {
                            NettyDevice deviceMaster = sessionManager.getDevice(masterId);
                            if (deviceMaster != null) {
                                String oldSlave = userClient.getDeviceName();
-                                //删除主的连接关系
-                                deviceMaster.getConnectedConnectors().removeIf(x -> x.getConnectorId().equals(oldSlave));
-                                //删除从的连接关系
+                                // 删除主的连接关系
+                                deviceMaster.getConnectedConnectors()
+                                        .removeIf(x -> x.getConnectorId().equals(oldSlave));
+                                // 删除从的连接关系
                                NettyDevice oldSlaveDevice = sessionManager.getDevice(oldSlave);
-                                if (oldSlaveDevice != null && !CollectionUtils.isEmpty(oldSlaveDevice.getConnectedConnectors())) {
-                                    Set<com.maibu.core.business.device.Connector> connectedDevices = oldSlaveDevice.getConnectedConnectors();
+                                if (oldSlaveDevice != null
+                                        && !CollectionUtils.isEmpty(oldSlaveDevice.getConnectedConnectors())) {
+                                    Set<com.maibu.core.business.device.Connector> connectedDevices = oldSlaveDevice
+                                            .getConnectedConnectors();
                                    connectedDevices.removeIf(x -> x.getConnectorId().equals(masterId));
                                }
                            }
@@ -130,21 +132,20 @@ public class TransferDeviceService {
        }
    }

-
    public AjaxResult updateDeviceAlias(DeviceBindDTO bindDTO, LoginUser user) {
        try {
            String deviceId = bindDTO.getDeviceId();
-            //判断当前设备是否存
+            // 判断当前设备是否存
            Device device = iDeviceService.selectDeviceBySerialNumber(deviceId);
            if (device == null) {
                return AjaxResult.error("设备不存在");
            } else {
                // Long tenantId = device.getTenantId();
                // if (tenantId == -1) {
-                //     return AjaxResult.error("设备未绑定");
+                // return AjaxResult.error("设备未绑定");
                // }
                // if (!tenantId.equals(user.getUserId())) {
-                //     return AjaxResult.error("无操作权限");
+                // return AjaxResult.error("无操作权限");
                // }
                device.setDeviceAlias(bindDTO.getDeviceAlias());
                device.setUpdateTime(LocalDateTime.now());
@@ -158,76 +159,76 @@ public class TransferDeviceService {
        }
    }

-//    public synchronized boolean switchDevice(DeviceBindDTO bindDTO, LoginUser user) {
-//        try {
-//            String slaveId = bindDTO.getDeviceId();
-//            String platform = bindDTO.getPlatform();
-//            String userName = user.getUsername();
-//            String masterId = userName + ":" + platform;
-//            //todo 判断是否有权限 正在控制才能切
-//            //todo 离线没有控制权的怎么切
-//            log.info("switchDevice:{}", masterId);
-//            NettyDevice deviceMaster = sessionManager.getDevice(masterId);
-//            log.info("deviceMaster:{}", deviceMaster);
-//            if (deviceMaster != null) {
-//                log.info("ConnectorStatus:{}", deviceMaster.getConnectorStatus());
-//                if (ConnectorStatus.RECEIVER.equals(deviceMaster.getConnectorStatus())) {
-//                    //当前账号没有控制则可以切换为控制？
-//                    NettyDevice activeDevice = sessionManager.getUserControl(userName);
-//                    deviceMaster.getConnectedConnectors().clear();
-//                    if (activeDevice == null) {
-//                        log.info("bindConnector ACTIVE :{}", masterId);
-//                        sessionManager.bindConnector(masterId, slaveId);
-//                        deviceMaster.setConnectorStatus(ConnectorStatus.ACTIVE);
-//                        deviceMaster.setCurrentSlaveId(slaveId);
-//                        sysUserClientService.updateAliveStatus(masterId, slaveId, 1);
-//                    } else {
-//                        log.info("bindConnector RECEIVER :{}", masterId);
-//                        sessionManager.bindConnector(masterId, slaveId);
-//                        deviceMaster.setConnectorStatus(ConnectorStatus.RECEIVER);
-//                        deviceMaster.setCurrentSlaveId(slaveId);
-//                        sysUserClientService.updateAliveStatus(masterId, slaveId, 2);
-//                    }
-//                } else {
-//                    //从关联其他设备切换到  当前禁言 假如有控制且不是当前更新为2
-//                    List<NettyDevice> controls = sessionManager.getSlaveControl(slaveId);
-//                    if (CollectionUtils.isEmpty(controls)) {
-//                        deviceMaster.getConnectedConnectors().clear();
-//                        log.info("bindConnector 1:{}", masterId);
-//                        sessionManager.bindConnector(masterId, slaveId);
-//                        deviceMaster.setConnectorStatus(ConnectorStatus.ACTIVE);
-//                        deviceMaster.setCurrentSlaveId(slaveId);
-//                        sysUserClientService.updateAliveStatus(masterId, slaveId, 1);
-//                    } else {
-//                        NettyDevice controlDevice = controls.get(0);
-//                        if (!masterId.equals(controlDevice.getConnectorId())) {
-//                            //当前的设备有控制 的主机
-//                            deviceMaster.getConnectedConnectors().clear();
-//                            log.info("bindConnector RECEIVER 2:{}", masterId);
-//                            sessionManager.bindConnector(masterId, slaveId);
-//                            deviceMaster.setConnectorStatus(ConnectorStatus.RECEIVER);
-//                            deviceMaster.setCurrentSlaveId(slaveId);
-//                            sysUserClientService.updateAliveStatus(masterId, slaveId, 2);
-//                        }
-//                        //当前 切当前不做操作
-//                    }
-//                }
-//                return true;
-//            }
-//        } catch (Exception e) {
-//            log.error("切换设备失败: {}", e.getMessage(), e);
-//        }
-//        return false;
-//    }
+    // public synchronized boolean switchDevice(DeviceBindDTO bindDTO, LoginUser
+    // user) {
+    // try {
+    // String slaveId = bindDTO.getDeviceId();
+    // String platform = bindDTO.getPlatform();
+    // String userName = user.getUsername();
+    // String masterId = userName + ":" + platform;
+    // //todo 判断是否有权限 正在控制才能切
+    // //todo 离线没有控制权的怎么切
+    // log.info("switchDevice:{}", masterId);
+    // NettyDevice deviceMaster = sessionManager.getDevice(masterId);
+    // log.info("deviceMaster:{}", deviceMaster);
+    // if (deviceMaster != null) {
+    // log.info("ConnectorStatus:{}", deviceMaster.getConnectorStatus());
+    // if (ConnectorStatus.RECEIVER.equals(deviceMaster.getConnectorStatus())) {
+    // //当前账号没有控制则可以切换为控制？
+    // NettyDevice activeDevice = sessionManager.getUserControl(userName);
+    // deviceMaster.getConnectedConnectors().clear();
+    // if (activeDevice == null) {
+    // log.info("bindConnector ACTIVE :{}", masterId);
+    // sessionManager.bindConnector(masterId, slaveId);
+    // deviceMaster.setConnectorStatus(ConnectorStatus.ACTIVE);
+    // deviceMaster.setCurrentSlaveId(slaveId);
+    // sysUserClientService.updateAliveStatus(masterId, slaveId, 1);
+    // } else {
+    // log.info("bindConnector RECEIVER :{}", masterId);
+    // sessionManager.bindConnector(masterId, slaveId);
+    // deviceMaster.setConnectorStatus(ConnectorStatus.RECEIVER);
+    // deviceMaster.setCurrentSlaveId(slaveId);
+    // sysUserClientService.updateAliveStatus(masterId, slaveId, 2);
+    // }
+    // } else {
+    // //从关联其他设备切换到 当前禁言 假如有控制且不是当前更新为2
+    // List<NettyDevice> controls = sessionManager.getSlaveControl(slaveId);
+    // if (CollectionUtils.isEmpty(controls)) {
+    // deviceMaster.getConnectedConnectors().clear();
+    // log.info("bindConnector 1:{}", masterId);
+    // sessionManager.bindConnector(masterId, slaveId);
+    // deviceMaster.setConnectorStatus(ConnectorStatus.ACTIVE);
+    // deviceMaster.setCurrentSlaveId(slaveId);
+    // sysUserClientService.updateAliveStatus(masterId, slaveId, 1);
+    // } else {
+    // NettyDevice controlDevice = controls.get(0);
+    // if (!masterId.equals(controlDevice.getConnectorId())) {
+    // //当前的设备有控制 的主机
+    // deviceMaster.getConnectedConnectors().clear();
+    // log.info("bindConnector RECEIVER 2:{}", masterId);
+    // sessionManager.bindConnector(masterId, slaveId);
+    // deviceMaster.setConnectorStatus(ConnectorStatus.RECEIVER);
+    // deviceMaster.setCurrentSlaveId(slaveId);
+    // sysUserClientService.updateAliveStatus(masterId, slaveId, 2);
+    // }
+    // //当前 切当前不做操作
+    // }
+    // }
+    // return true;
+    // }
+    // } catch (Exception e) {
+    // log.error("切换设备失败: {}", e.getMessage(), e);
+    // }
+    // return false;
+    // }

    public synchronized boolean switchDevice(DeviceBindDTO bindDTO) {
        try {
            String slaveId = bindDTO.getDeviceId();
-//            String platform = bindDTO.getPlatform();
-//            String userName = user.getUsername();
-
-//            String masterId = userName + ":" + platform;
+            // String platform = bindDTO.getPlatform();
+            // String userName = user.getUsername();

+            // String masterId = userName + ":" + platform;

            String token = bindDTO.getToken();

@@ -247,9 +248,10 @@ public class TransferDeviceService {
                sessionManager.lock(slaveId, token);
                log.info("switchDevice bindConnector slaveId:{},token:{}", slaveId, token);
            } else {
-                List<String> connectorIds = controls.stream().map(NettyDevice::getConnectorId).collect(Collectors.toList());
+                List<String> connectorIds = controls.stream().map(NettyDevice::getConnectorId)
+                        .collect(Collectors.toList());
                if (!connectorIds.contains(token)) {
-                    //当前的设备有控制 的主机
+                    // 当前的设备有控制 的主机
                    deviceMaster.getConnectedConnectors().clear();
                    sessionManager.bindConnector(token, slaveId);
                    deviceMaster.setConnectorStatus(ConnectorStatus.RECEIVER);
@@ -260,16 +262,15 @@ public class TransferDeviceService {
                    deviceMaster.setCurrentSlaveId(slaveId);
                    sessionManager.lock(slaveId, token);
                }
-                //当前 切当前不做操作
+                // 当前 切当前不做操作
            }
            return true;
        } catch (Exception e) {
-            log.error("切换设备失败: {}", e.getMessage(), e);
+            log.error("切换设备失败", e);
        }
        return false;
    }

-
    public DeviceControlDTO remoteControl(DeviceBindDTO bindDTO) {
        try {
            String token = bindDTO.getToken();
@@ -290,7 +291,6 @@ public class TransferDeviceService {
        return null;
    }

-
    public DeviceSwitchControlDTO switchControl(DeviceBindDTO bindDTO, LoginUser user) {
        try {
            String slaveId = bindDTO.getDeviceId();
@@ -299,11 +299,11 @@ public class TransferDeviceService {
            String masterId = userName + ":" + platform;

            DeviceSwitchControlDTO dto = new DeviceSwitchControlDTO();
-            //收到明确的切换设备请求了 从哪边切换到另一边
-            //判断当前是否有控制的设备
+            // 收到明确的切换设备请求了 从哪边切换到另一边
+            // 判断当前是否有控制的设备
            NettyDevice masterDevice = sessionManager.getDevice(masterId);
            if (masterDevice == null || !masterDevice.getChannel().isActive()) {
-                //主机已离线
+                // 主机已离线
                dto.setSwitchControl(false);
                dto.setReason("主机已离线");
                return dto;
@@ -311,8 +311,8 @@ public class TransferDeviceService {

            NettyDevice slaveDevice = sessionManager.getDevice(slaveId);
            if (slaveDevice == null || !masterDevice.getChannel().isActive()) {
-                //从机已离线
-                //主机已离线
+                // 从机已离线
+                // 主机已离线
                dto.setSwitchControl(false);
                dto.setReason("从机已离线");
                return dto;
@@ -321,7 +321,7 @@ public class TransferDeviceService {
            List<NettyDevice> controlList = sessionManager.getSlaveControl(slaveId);

            if (!CollectionUtils.isEmpty(controlList)) {
-                //如果当前设备有控制
+                // 如果当前设备有控制
                controlList.forEach(c -> {
                    if (!c.getConnectorId().equals(masterId)) {
                        c.setCurrentSlaveId(null);
@@ -333,7 +333,8 @@ 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);
--- a/maibu-netty-server/src/main/resources/systemParam.json
+++ b/maibu-netty-server/src/main/resources/systemParam.json
@@ -0,0 +1,65 @@
+[
+  {
+    "paramType": "global",
+    "paramKey": "systemName",
+    "nameTranslateKey": "system.param.systemName.name",
+    "paramValue": "光伏机器人环境感知服务平台",
+    "descTranslateKey": "system.param.systemName.desc",
+    "dataType": "String",
+    "range": ""
+  },
+  {
+    "paramType": "global",
+    "paramKey": "defaultStationName",
+    "nameTranslateKey": "system.param.defaultStationName.name",
+    "paramValue": "",
+    "descTranslateKey": "system.param.defaultStationName.desc",
+    "dataType": "String",
+    "range": ""
+  },
+  {
+    "paramType": "global",
+    "paramKey": "defaultLanguage",
+    "nameTranslateKey": "system.param.defaultLanguage.name",
+    "paramValue": "zh_CN",
+    "descTranslateKey": "system.param.defaultLanguage.desc",
+    "dataType": "String",
+    "range": ""
+  },
+  {
+    "paramType": "global",
+    "paramKey": "defaultZoneId",
+    "nameTranslateKey": "system.param.defaultZoneId.name",
+    "paramValue": "Asia/Shanghai",
+    "descTranslateKey": "system.param.defaultZoneId.desc",
+    "dataType": "String",
+    "range": ""
+  },
+  {
+    "paramType": "global",
+    "paramKey": "daylightSavingTime",
+    "nameTranslateKey": "system.param.daylightSavingTime.name",
+    "paramValue": "true",
+    "descTranslateKey": "system.param.daylightSavingTime.desc",
+    "dataType": "Boolean",
+    "range": ""
+  },
+  {
+    "paramType": "global",
+    "paramKey": "defaultUnit",
+    "nameTranslateKey": "system.param.defaultUnit.name",
+    "paramValue": "公制",
+    "descTranslateKey": "system.param.defaultUnit.desc",
+    "dataType": "String",
+    "range": ""
+  },
+  {
+    "paramType": "global",
+    "paramKey": "defaultDateFormat",
+    "nameTranslateKey": "system.param.defaultDateFormat.name",
+    "paramValue": "YYYY-MM-DD HH:mm:ss",
+    "descTranslateKey": "system.param.defaultDateFormat.desc",
+    "dataType": "String",
+    "range": ""
+  }
+]
--- a/maibu-service/maibu-iot-service/src/main/java/com/maibu/controller/DeviceRunParamController.java
+++ b/maibu-service/maibu-iot-service/src/main/java/com/maibu/controller/DeviceRunParamController.java
@@ -8,13 +8,20 @@ import com.maibu.dto.BaseQueryDTO;
 import com.maibu.service.impl.DeviceRunParamService;
 import com.maibu.utils.poi.ExcelUtil;
 import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.core.io.ClassPathResource;
 import org.springframework.web.bind.annotation.*;
 import org.springframework.web.multipart.MultipartFile;

+import java.io.IOException;
+import java.io.InputStream;
+import java.net.URLEncoder;
 import java.util.List;
 import java.util.concurrent.ExecutionException;
 import java.util.concurrent.TimeoutException;

+import javax.servlet.ServletOutputStream;
+import javax.servlet.http.HttpServletResponse;
+
@RestController
@RequestMapping("/iot/deviceRunParam")
 public class DeviceRunParamController extends BaseController {
@@ -23,7 +30,7 @@ public class DeviceRunParamController extends BaseController {
    private DeviceRunParamService service;

    @PostMapping("/save")
-    public AjaxResult save(@RequestBody DeviceRunParam deviceRunParam) throws ExecutionException, InterruptedException, TimeoutException {
+    public AjaxResult save(@RequestBody DeviceRunParam deviceRunParam) {

        return AjaxResult.success(service.save(deviceRunParam));
    }
@@ -35,7 +42,8 @@ public class DeviceRunParamController extends BaseController {
    }

    @GetMapping("/selectByDeviceId")
-    public AjaxResult selectByDeviceId(@RequestParam String deviceId) throws ExecutionException, InterruptedException, TimeoutException {
+    public AjaxResult selectByDeviceId(@RequestParam String deviceId)
+            throws ExecutionException, InterruptedException, TimeoutException {
        return AjaxResult.success(service.selectByDeviceId(deviceId));
    }

@@ -43,7 +51,7 @@ public class DeviceRunParamController extends BaseController {
    public AjaxResult delete(@RequestBody List<Long> ids) {
        return AjaxResult.success(service.delete(ids));
    }
-    
+
    @PostMapping("/importData")
    public AjaxResult importData(MultipartFile file) throws Exception {
        ExcelUtil<DeviceRunParam> util = new ExcelUtil<DeviceRunParam>(DeviceRunParam.class);
@@ -51,4 +59,31 @@ public class DeviceRunParamController extends BaseController {
        boolean message = service.importParam(paramList);
        return success(message);
    }
+
+    /**
+     * 下载机器属性导入模板
+     */
+    @GetMapping("/downloadTemplate")
+    public void downloadTemplate(HttpServletResponse response) throws IOException {
+        String fileName = "机器属性导入模板.xlsx";
+
+        try (InputStream inputStream = new ClassPathResource("机器属性导入模板.xlsx").getInputStream()) {
+
+            response.setContentType(
+                    "application/vnd.openxmlformats-officedocument.spreadsheetml.sheet");
+            response.setCharacterEncoding("UTF-8");
+            response.setHeader(
+                    "Content-Disposition",
+                    "attachment; filename*=UTF-8''" +
+                            URLEncoder.encode(fileName, "UTF-8").replace("+", "%20"));
+
+            ServletOutputStream outputStream = response.getOutputStream();
+            byte[] buffer = new byte[8192];
+            int len;
+            while ((len = inputStream.read(buffer)) != -1) {
+                outputStream.write(buffer, 0, len);
+            }
+            outputStream.flush();
+        }
+    }
 }
--- 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
@@ -11,6 +11,7 @@ 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.GetMapping;
 import org.springframework.web.bind.annotation.PostMapping;
 import org.springframework.web.bind.annotation.RequestMapping;
 import org.springframework.web.bind.annotation.RequestParam;
@@ -18,11 +19,13 @@ 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.DeviceRunParam;
 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.AjaxResult;
 import com.maibu.core.domain.R;
 import com.maibu.core.enums.MesType;
 import com.maibu.memory.DeviceSessionManager;
@@ -245,4 +248,12 @@ public class HostComputerController extends BaseController {
                String.format("%.6f", minLng), String.format("%.6f", maxLng));
    }

+
+        
+    @GetMapping("/searchDevice")
+    public AjaxResult searchDevice(@RequestParam String deviceId) throws Exception {
+        hostComputerService.searchDevice(deviceId);
+        return success();
+    }
+
 }
--- a/maibu-service/maibu-iot-service/src/main/java/com/maibu/controller/OrderModelController.java
+++ b/maibu-service/maibu-iot-service/src/main/java/com/maibu/controller/OrderModelController.java
@@ -3,14 +3,11 @@ package com.maibu.controller;
 import java.util.List;

 import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.web.bind.annotation.GetMapping;
 import org.springframework.web.bind.annotation.PostMapping;
 import org.springframework.web.bind.annotation.RequestBody;
 import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.RequestParam;
 import org.springframework.web.bind.annotation.RestController;

-import com.maibu.core.business.DeviceRunParam;
 import com.maibu.core.business.OrderModel;
 import com.maibu.core.controller.BaseController;
 import com.maibu.core.domain.AjaxResult;
--- a/maibu-service/maibu-iot-service/src/main/java/com/maibu/service/impl/DeviceRunParamService.java
+++ b/maibu-service/maibu-iot-service/src/main/java/com/maibu/service/impl/DeviceRunParamService.java
@@ -1,7 +1,10 @@
 package com.maibu.service.impl;

+import java.time.LocalDate;
+import java.time.format.DateTimeFormatter;
 import java.util.ArrayList;
 import java.util.Arrays;
+import java.util.LinkedHashMap;
 import java.util.List;
 import java.util.Map;
 import java.util.concurrent.CompletableFuture;
@@ -39,47 +42,55 @@ public class DeviceRunParamService {
    @Autowired
    private DeviceSessionManager sessionManager;

-    public boolean save(DeviceRunParam deviceRunParam)
-            throws ExecutionException, InterruptedException, TimeoutException {
+    // public boolean save(DeviceRunParam deviceRunParam)
+    // throws ExecutionException, InterruptedException, TimeoutException {

-        NettyDevice nettyDevice = sessionManager.getDevice(deviceRunParam.getDeviceId());
-        if (nettyDevice == null || !nettyDevice.getChannel().isActive()) {
-            throw new ServiceException("设备不在线,无法操作!");
-        }
+    // NettyDevice nettyDevice =
+    // sessionManager.getDevice(deviceRunParam.getDeviceId());
+    // if (nettyDevice == null || !nettyDevice.getChannel().isActive()) {
+    // throw new ServiceException("设备不在线,无法操作!");
+    // }

-        CompletableFuture<DeviceRunParam> future = new CompletableFuture<>();
-        nettyDevice.getChannel().attr(Constant.READ_CONFIG_KEY).set(future);
+    // CompletableFuture<DeviceRunParam> future = new CompletableFuture<>();
+    // nettyDevice.getChannel().attr(Constant.READ_CONFIG_KEY).set(future);

-        try {
-            nettyDevice.readConfigCommand();
+    // try {
+    // nettyDevice.readConfigCommand();

-            DeviceRunParam param = future.get(5, TimeUnit.SECONDS);
+    // DeviceRunParam param = future.get(5, TimeUnit.SECONDS);

-            if (param == null) {
-                throw new ServiceException("获取设备当前属性失败!");
-            }
+    // if (param == null) {
+    // throw new ServiceException("获取设备当前属性失败!");
+    // }

-            param.setLeftForwardGain(deviceRunParam.getLeftForwardGain());
-            param.setLeftBackwardGain(deviceRunParam.getLeftBackwardGain());
-            param.setRightForwardGain(deviceRunParam.getRightForwardGain());
-            param.setRightBackwardGain(deviceRunParam.getRightBackwardGain());
+    // param.setLeftForwardGain(deviceRunParam.getLeftForwardGain());
+    // param.setLeftBackwardGain(deviceRunParam.getLeftBackwardGain());
+    // param.setRightForwardGain(deviceRunParam.getRightForwardGain());
+    // param.setRightBackwardGain(deviceRunParam.getRightBackwardGain());

-            nettyDevice.writeConfigCommand(param);
+    // nettyDevice.writeConfigCommand(param);

-            param.setRunSpeed(deviceRunParam.getRunSpeed());
-            param.setDeviceId(deviceRunParam.getDeviceId());
-            param.setSiteId(deviceRunParam.getSiteId());
-            param.setOrgId(deviceRunParam.getOrgId());
-            param.setId(deviceRunParam.getId());
+    // param.setRunSpeed(deviceRunParam.getRunSpeed());
+    // param.setDeviceId(deviceRunParam.getDeviceId());
+    // param.setSiteId(deviceRunParam.getSiteId());
+    // param.setOrgId(deviceRunParam.getOrgId());
+    // param.setId(deviceRunParam.getId());
+
+    // SiteMemory siteMemory = GlobalMemory.getSiteMemory(deviceRunParam.getOrgId(),
+    // deviceRunParam.getSiteId());
+    // if (siteMemory != null) {
+    // siteMemory.saveDeviceRunParam(param);
+    // }
+    // return deviceRunParamMapper.saveOrUpdate(param);
+    // } finally {
+    // nettyDevice.getChannel().attr(Constant.READ_CONFIG_KEY).set(null);
+    // }
+    // }
+
+    public boolean save(DeviceRunParam deviceRunParam) {
+
+        return deviceRunParamMapper.saveOrUpdate(deviceRunParam);

-            SiteMemory siteMemory = GlobalMemory.getSiteMemory(deviceRunParam.getOrgId(), deviceRunParam.getSiteId());
-            if (siteMemory != null) {
-                siteMemory.saveDeviceRunParam(param);
-            }
-            return deviceRunParamMapper.saveOrUpdate(param);
-        } finally {
-            nettyDevice.getChannel().attr(Constant.READ_CONFIG_KEY).set(null);
-        }
    }

    public List<DeviceRunParam> list(BaseQueryDTO dto) {
@@ -127,6 +138,49 @@ public class DeviceRunParamService {
    // return null;
    // }

+    // public DeviceRunParam selectByDeviceId(String deviceId)
+    // throws ExecutionException, InterruptedException, TimeoutException {
+
+    // LambdaQueryWrapper<DeviceRunParam> queryWrapper = new LambdaQueryWrapper<>();
+    // if (!StringUtils.isEmpty(deviceId)) {
+    // queryWrapper.eq(DeviceRunParam::getDeviceId, deviceId);
+    // }
+    // DeviceRunParam result = deviceRunParamMapper.selectOne(queryWrapper);
+    // if (result != null && result.getHasHost() != null && result.getHasHost() ==
+    // 1) {
+    // return result;
+    // } else {
+    // NettyDevice nettyDevice = sessionManager.getDevice(deviceId);
+    // CompletableFuture<DeviceRunParam> future = new CompletableFuture<>();
+    // if (nettyDevice != null && nettyDevice.getChannel() != null &&
+    // nettyDevice.getChannel().isActive()) {
+    // nettyDevice.getChannel().attr(Constant.READ_CONFIG_KEY).set(future);
+    // try {
+    // nettyDevice.readConfigCommand();
+    // DeviceRunParam param = future.get(5, TimeUnit.SECONDS);
+
+    // // LambdaQueryWrapper<DeviceRunParam> queryWrapper = new
+    // LambdaQueryWrapper<>();
+    // // if (!StringUtils.isEmpty(deviceId)) {
+    // // queryWrapper.eq(DeviceRunParam::getDeviceId, deviceId);
+    // // }
+    // // DeviceRunParam result = deviceRunParamMapper.selectOne(queryWrapper);
+    // if (result != null) {
+    // param.setId(result.getId());
+    // param.setDeviceId(result.getDeviceId());
+    // param.setRunSpeed(result.getRunSpeed());
+    // param.setOrgId(nettyDevice.getDevice().getOrgId());
+    // param.setSiteId(nettyDevice.getDevice().getSiteId());
+    // }
+    // return param;
+    // } finally {
+    // nettyDevice.getChannel().attr(Constant.READ_CONFIG_KEY).set(null);
+    // }
+    // }
+    // }
+    // return null;
+    // }
+
    public DeviceRunParam selectByDeviceId(String deviceId)
            throws ExecutionException, InterruptedException, TimeoutException {

@@ -135,36 +189,7 @@ public class DeviceRunParamService {
            queryWrapper.eq(DeviceRunParam::getDeviceId, deviceId);
        }
        DeviceRunParam result = deviceRunParamMapper.selectOne(queryWrapper);
-        if (result != null && result.getHasHost() != null && result.getHasHost() == 1) {
-            return result;
-        } else {
-            NettyDevice nettyDevice = sessionManager.getDevice(deviceId);
-            CompletableFuture<DeviceRunParam> future = new CompletableFuture<>();
-            if (nettyDevice != null && nettyDevice.getChannel() != null && nettyDevice.getChannel().isActive()) {
-                nettyDevice.getChannel().attr(Constant.READ_CONFIG_KEY).set(future);
-                try {
-                    nettyDevice.readConfigCommand();
-                    DeviceRunParam param = future.get(5, TimeUnit.SECONDS);
-
-                    // LambdaQueryWrapper<DeviceRunParam> queryWrapper = new LambdaQueryWrapper<>();
-                    // if (!StringUtils.isEmpty(deviceId)) {
-                    //     queryWrapper.eq(DeviceRunParam::getDeviceId, deviceId);
-                    // }
-                    // DeviceRunParam result = deviceRunParamMapper.selectOne(queryWrapper);
-                    if (result != null) {
-                        param.setId(result.getId());
-                        param.setDeviceId(result.getDeviceId());
-                        param.setRunSpeed(result.getRunSpeed());
-                        param.setOrgId(nettyDevice.getDevice().getOrgId());
-                        param.setSiteId(nettyDevice.getDevice().getSiteId());
-                    }
-                    return param;
-                } finally {
-                    nettyDevice.getChannel().attr(Constant.READ_CONFIG_KEY).set(null);
-                }
-            }
-        }
-        return null;
+        return result;
    }

    public int delete(List<Long> ids) {
@@ -211,19 +236,51 @@ public class DeviceRunParamService {
                        }
                        if (deviceRunParam != null) {
                            deviceRunParam.setCapabilityList(x.getCapabilityList());
+
+                            deviceRunParam.setDeviceId(x.getDeviceId());
+
+                            parseSn(x.getDeviceId(), deviceRunParam);
+
                            deviceRunParam.setProductModel(x.getProductModel());
-                            deviceRunParam.setRtkMode(x.getRtkMode());
                            deviceRunParam.setDeviceType(x.getDeviceType());
-                            deviceRunParam.setPowerType(x.getPowerType());
+                            deviceRunParam.setRtkMode(x.getRtkMode());
                            deviceRunParam.setCameraNum(x.getCameraNum());
+                            deviceRunParam.setPowerType(x.getPowerType());
                            deviceRunParam.setWheelType(x.getWheelType());
                            deviceRunParam.setEngineType(x.getEngineType());
                            deviceRunParam.setHasHost(x.getHasHost());
+
+                            deviceRunParam.setBatteryType(x.getBatteryType());
+                            deviceRunParam.setWalkingDriveType(x.getWalkingDriveType());
+                            deviceRunParam.setCutterDriveType(x.getCutterDriveType());
+                            deviceRunParam.setRtkAntennasNum(x.getRtkAntennasNum());
+                            deviceRunParam.setHandleType(x.getHandleType());
+                            deviceRunParam.setPcbVersion(x.getPcbVersion());
+                            deviceRunParam.setDimensions(x.getDimensions());
+                            deviceRunParam.setBladeWidth(x.getBladeWidth());
+                            deviceRunParam.setTyreSize(x.getTyreSize());
+                            deviceRunParam.setSpeedRatio(x.getSpeedRatio());
+                            deviceRunParam.setCellularInfo(x.getCellularInfo());
+                            deviceRunParam.setWifiName(x.getWifiName());
+                            deviceRunParam.setBluetoothName(x.getBluetoothName());
+                            deviceRunParam.setHardwareIdentifiers(x.getHardwareIdentifiers());
+                            deviceRunParam.setImuModel(x.getImuModel());
+                            deviceRunParam.setTempHumiditySensor(x.getTempHumiditySensor());
+                            deviceRunParam.setBarometerPresent(x.getBarometerPresent());
+                            deviceRunParam.setUltrasonicPresent(x.getUltrasonicPresent());
+                            deviceRunParam.setDacPresent(x.getDacPresent());
+                            deviceRunParam.setOperator(x.getOperator());
+                            deviceRunParam.setInspectionNo(x.getInspectionNo());
+                            deviceRunParam.setFirmwareVersion(x.getFirmwareVersion());
+                            deviceRunParam.setDealer(x.getDealer());
+
                            saveList.add(deviceRunParam);
                        } else {
+                            parseSn(x.getDeviceId(), x);
                            saveList.add(x);
                        }
                    });
+                    // todo 增加 解析sn码的功能
                    return deviceRunParamMapper.saveOrUpdateBatch(saveList);
                }
            }
@@ -233,4 +290,21 @@ public class DeviceRunParamService {
        }
    }

+    public static void parseSn(String sn, DeviceRunParam deviceRunParam) {
+        if (sn == null || sn.length() != 21) {
+            throw new IllegalArgumentException("SN 必须是 21 位字符串");
+        }
+
+        deviceRunParam.setProductModel(sn.substring(0, 2));
+        deviceRunParam.setFactoryCode(sn.substring(2, 4));
+        deviceRunParam.setLineNum(sn.substring(4, 6));
+
+        DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyMMdd");
+        LocalDate date = LocalDate.parse(sn.substring(6, 12), formatter);
+        deviceRunParam.setProductionDate(date);
+
+        deviceRunParam.setSerialNumber(sn.substring(12, 17));
+
+    }
+
 }
--- a/maibu-service/maibu-iot-service/src/main/java/com/maibu/service/impl/HostComputerService.java
+++ b/maibu-service/maibu-iot-service/src/main/java/com/maibu/service/impl/HostComputerService.java
@@ -1,18 +1,25 @@
 package com.maibu.service.impl;

-import com.maibu.core.business.WorkRecord;
-import com.maibu.memory.GlobalMemory;
-import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;

+import com.maibu.core.business.device.NettyDevice;
+import com.maibu.memory.DeviceSessionManager;
+
+import lombok.extern.slf4j.Slf4j;
+
@Service
@Slf4j
 public class HostComputerService {

    @Autowired
-    private WorkRecordService workRecordService;
+    private DeviceSessionManager deviceSessionManager;

+    public void searchDevice(String deviceId) throws Exception {
+        NettyDevice device = deviceSessionManager.getDevice(deviceId);
+        if (device != null && device.getOnlineStatus() == 1) {
+            device.searchDevice(deviceId);
+        }
+    }

 }
-    
--- a/maibu-service/maibu-iot-service/src/main/resources/机器属性导入模板.xlsx
+++ b/maibu-service/maibu-iot-service/src/main/resources/机器属性导入模板.xlsx
--- a/maibu-service/maibu-system-service/src/main/java/com/maibu/mapper/SysParamMapper.java
+++ b/maibu-service/maibu-system-service/src/main/java/com/maibu/mapper/SysParamMapper.java
@@ -0,0 +1,14 @@
+package com.maibu.mapper;
+
+import org.springframework.stereotype.Repository;
+
+import com.maibu.core.domain.entity.SysParam;
+import com.maibu.mybatis.mapper.BaseMapperX;
+
+/**
+ * 设备历史状态
+ */
+@Repository
+public interface SysParamMapper extends BaseMapperX<SysParam> {
+
+}
--- a/maibu-service/maibu-system-service/src/main/java/com/maibu/service/SysParamService.java
+++ b/maibu-service/maibu-system-service/src/main/java/com/maibu/service/SysParamService.java
@@ -0,0 +1,46 @@
+package com.maibu.service;
+
+import java.util.List;
+import java.util.Map;
+import java.util.stream.Collectors;
+
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+import org.springframework.util.CollectionUtils;
+
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.maibu.core.domain.entity.SysParam;
+import com.maibu.core.enums.SysParamType;
+import com.maibu.mapper.SysParamMapper;
+import com.maibu.utils.MessageUtils;
+
+@Service
+public class SysParamService {
+
+    @Autowired
+    private SysParamMapper sysParamMapper;
+
+    public Map<SysParamType, List<SysParam>> list() {
+        LambdaQueryWrapper<SysParam> queryWrapper = new LambdaQueryWrapper<>();
+        List<SysParam> sysParams = sysParamMapper.selectList(queryWrapper);
+        translateSysParam(sysParams);
+        Map<SysParamType, List<SysParam>> result = sysParams.stream()
+                .collect(Collectors.groupingBy(SysParam::getParamType));
+
+        return result;
+    }
+
+    public void translateSysParam(List<SysParam> sysParams) {
+        if (!CollectionUtils.isEmpty(sysParams)) {
+            sysParams.forEach(x -> {
+                x.setNameTranslate(MessageUtils.message(x.getNameTranslateKey()));
+                x.setDescTranslate(MessageUtils.message(x.getDescTranslateKey()));
+            });
+        }
+    }
+
+    public boolean save(List<SysParam> sysParam) {
+        return sysParamMapper.saveOrUpdateBatch(sysParam);
+    }
+
+}
--- a/maibu-service/maibu-system-service/src/main/java/com/maibu/service/SysSiteService.java
+++ b/maibu-service/maibu-system-service/src/main/java/com/maibu/service/SysSiteService.java
@@ -1,15 +1,6 @@
 package com.maibu.service;

-import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
-import com.maibu.core.business.Device;
-import com.maibu.core.domain.entity.SysRole;
-import com.maibu.core.domain.entity.SysSite;
-import com.maibu.core.domain.model.LoginUser;
-import com.maibu.exception.ServiceException;
-import com.maibu.mapper.SysRegionMapper;
-import com.maibu.mapper.SysSiteMapper;
-import com.maibu.memory.GlobalMemory;
-import com.maibu.memory.SiteMemory;
+import java.util.List;

 import org.apache.commons.lang3.StringUtils;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -17,8 +8,13 @@ import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 import org.springframework.util.CollectionUtils;

-import java.util.ArrayList;
-import java.util.List;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.maibu.core.domain.entity.SysRole;
+import com.maibu.core.domain.entity.SysSite;
+import com.maibu.core.domain.model.LoginUser;
+import com.maibu.mapper.SysSiteMapper;
+import com.maibu.memory.GlobalMemory;
+import com.maibu.memory.SiteMemory;

@Service
 public class SysSiteService {
--- a/maibu-web-middleware/src/main/java/com/maibu/control/DiffSteer.java
+++ b/maibu-web-middleware/src/main/java/com/maibu/control/DiffSteer.java
@@ -1,9 +1,12 @@
 package com.maibu.control;

+import lombok.Data;
+
+@Data 
 public class DiffSteer {

-    public static final int Polarity_High = 0;  //0
-    public static final int Polarity_Low = 0;  //1
+    public static final int Polarity_High = 0; // 0
+    public static final int Polarity_Low = 0; // 1

    private float turnSpeedScale;
    private float forwardSpeedScale;
@@ -15,6 +18,9 @@ public class DiffSteer {
    private int leftWheelSpeed;
    private int rightWheelSpeed;

+    private double linearSpeed;
+    private double angularSpeed;
+
    public int getLeftWheelSpeed() {
        return leftWheelSpeed;
    }
@@ -63,6 +69,14 @@ public class DiffSteer {
        rightWheelSpeed = clamp(rightWheelSpeed, -speedAmplLimit, speedAmplLimit);
    }

+    // 计算线速度和轮速度
+    public void calcLinearAngularSpeed(int x, int y, int maxLinear, int maxAngular) {
+
+        this.linearSpeed = y * maxLinear / 1000.0;
+        this.angularSpeed = x * maxAngular / 1000.0;
+
+    }
+
    // 设置前向速比
    public void setTurnSpeedScale(int turnSpeedMax, int xMax) {
        this.turnSpeedScale = (float) turnSpeedMax / (float) xMax;
@@ -88,5 +102,4 @@ public class DiffSteer {
        return (val < min) ? min : ((val > max) ? max : val);
    }

-
 }
--- a/maibu-web-middleware/src/main/java/com/maibu/netty/handler/ClientHandler.java
+++ b/maibu-web-middleware/src/main/java/com/maibu/netty/handler/ClientHandler.java
@@ -8,6 +8,7 @@ import java.util.Objects;
 import java.util.concurrent.TimeUnit;

 import com.maibu.core.business.dto.WebDeviceTaskStatusMessageDTO;
+import com.maibu.core.business.dto.WebOlineStatusMessageDTO;
 import com.maibu.core.business.dto.WebStatusMessageDTO;
 import org.apache.commons.lang3.StringUtils;
 import org.java_websocket.WebSocket;
@@ -24,7 +25,6 @@ import com.maibu.dto.DeviceRespondDTO;
 import com.maibu.dto.NettySwitchDeviceDTO;
 import com.maibu.dto.ResultDTO;
 import com.maibu.dto.WebAuthResponseDTO;
-import com.maibu.dto.WebOlineStatusMessageDTO;
 import com.maibu.dto.WebSwitchControlResponseDTO;
 import com.maibu.memory.MiddleGlobalMemory;
 import com.maibu.netty.NettyClient;
--- a/maibu-web-middleware/src/main/java/com/maibu/utils/ControlUtils.java
+++ b/maibu-web-middleware/src/main/java/com/maibu/utils/ControlUtils.java
@@ -1,9 +1,8 @@
 package com.maibu.utils;

-
 import com.maibu.common.MiddleCommandConstant;
 import com.maibu.control.DiffSteer;
-import com.maibu.dto.LawnMoverProtocolEntity;
+import com.maibu.core.business.LawnMoverProtocolEntity;

 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
@@ -11,24 +10,29 @@ import java.util.List;

 public class ControlUtils {

-
-    public static LawnMoverProtocolEntity getCarControlMessage(DiffSteer diffSteer, int originX, int originY, List<Boolean> buttons) {
+    public static LawnMoverProtocolEntity getCarControlMessage(DiffSteer diffSteer, int originX, int originY,
+            List<Boolean> buttons, int maxLinear, int maxAngular) {
        LawnMoverProtocolEntity state = new LawnMoverProtocolEntity();
        diffSteer.calcWheelSpeed(originX, originY);
+        diffSteer.calcLinearAngularSpeed(originX, originY, maxLinear, maxAngular);
        state.setCommandType(MiddleCommandConstant.remoteControl);
        state.setLeftWheelSpeed((short) diffSteer.getLeftWheelSpeed());
        state.setRightWheelSpeed((short) diffSteer.getRightWheelSpeed());

-        //对应的  button数组  L1 button【4】   R1 button【5】   A对应的button【0】  B对应button【1】  X对应button【2】  Y对应button【3】 button[7]急停
-        //A升B降底盘   X割刀加速Y减速   L1点火 R1熄火
+        state.setLinearSpeed(diffSteer.getLinearSpeed());
+        state.setAngularSpeed(diffSteer.getAngularSpeed());
+
+        // 对应的 button数组 L1 button【4】 R1 button【5】 A对应的button【0】 B对应button【1】
+        // X对应button【2】 Y对应button【3】 button[7]急停
+        // A升B降底盘 X割刀加速Y减速 L1点火 R1熄火
        Boolean A = buttons.get(0);
        Boolean B = buttons.get(1);
        Boolean X = buttons.get(2);
        Boolean Y = buttons.get(3);
        Boolean L1 = buttons.get(4);
        Boolean R1 = buttons.get(5);
-        Boolean eStop = buttons.get(8); //急停
-        //底盘升降
+        Boolean eStop = buttons.get(8); // 急停
+        // 底盘升降
        int chassisLiftFlag = 0;
        if (A & !B) {
            chassisLiftFlag = 1;
@@ -36,7 +40,7 @@ public class ControlUtils {
            chassisLiftFlag = 2;
        }
        state.setChassisLiftFlag((byte) chassisLiftFlag);
-        //割刀加减速
+        // 割刀加减速
        int mowerSpeedFlag = 0;
        if (X & !Y) {
            mowerSpeedFlag = 1;
@@ -44,7 +48,7 @@ public class ControlUtils {
            mowerSpeedFlag = 2;
        }
        state.setMowerSpeedFlag((byte) mowerSpeedFlag);
-        //点火熄火
+        // 点火熄火
        int ignitionFlag = 0;
        if (L1 & !R1) {
            ignitionFlag = 1;
@@ -55,26 +59,29 @@ public class ControlUtils {

        int emergencyStopFlag = eStop ? 1 : 0;
        state.setEmergencyStopFlag((byte) emergencyStopFlag);
-//        val toBytes = state.toBytes()
-//        println("toBytes==" + LawnMoverProtocolEntity.printBytesToHex(toBytes))
+        // val toBytes = state.toBytes()
+        // println("toBytes==" + LawnMoverProtocolEntity.printBytesToHex(toBytes))
        return state;
    }

    public static byte[] buildControlCommand(LawnMoverProtocolEntity entity) {
-        ByteBuffer buffer = ByteBuffer.allocate(15);
+        ByteBuffer buffer = ByteBuffer.allocate(27); // 15
        buffer.order(ByteOrder.LITTLE_ENDIAN);

        buffer.put(entity.getHeader1());
        buffer.put(entity.getHeader2());
        buffer.put(entity.getCommandType());

-        buffer.putShort(entity.getLeftWheelSpeed());//左轮速度
-        buffer.putShort(entity.getRightWheelSpeed());//右轮速度
+        // buffer.putShort(entity.getLeftWheelSpeed());//左轮速度
+        // buffer.putShort(entity.getRightWheelSpeed());//右轮速度

-        buffer.put(entity.getChassisLiftFlag());//底盘升降
-        buffer.put(entity.getMowerSpeedFlag());//割刀加减速
-        buffer.put(entity.getIgnitionFlag());//点火状态
-        buffer.put(entity.getEmergencyStopFlag());//急停
+        buffer.putDouble(entity.getAngularSpeed());// 左轮速度
+        buffer.putDouble(entity.getLinearSpeed());// 右轮速度
+
+        buffer.put(entity.getChassisLiftFlag());// 底盘升降
+        buffer.put(entity.getMowerSpeedFlag());// 割刀加减速
+        buffer.put(entity.getIgnitionFlag());// 点火状态
+        buffer.put(entity.getEmergencyStopFlag());// 急停

        buffer.put((byte) 0x00);
        buffer.put((byte) 0x00);
--- a/maibu-web-middleware/src/main/java/com/maibu/websocket/WebsocketHandler.java
+++ b/maibu-web-middleware/src/main/java/com/maibu/websocket/WebsocketHandler.java
@@ -2,6 +2,7 @@ package com.maibu.websocket;

 import com.maibu.constant.CommandConstant;
 import com.maibu.common.MiddleConstant;
+import com.maibu.core.business.LawnMoverProtocolEntity;
 import com.maibu.core.enums.CommandRequestType;
 import com.maibu.core.enums.MesType;
 import com.maibu.dto.*;
@@ -36,7 +37,6 @@ import java.util.concurrent.TimeUnit;
 public class WebsocketHandler extends WebSocketServer {
    private static final Logger logger = LoggerFactory.getLogger(WebsocketHandler.class);

-
    // 存储客户端连接：key=WebSocket连接对象，value=最后一次活跃时间（毫秒）
    private final Map<WebSocket, Long> clientActiveTimeMap = new ConcurrentHashMap<>();
    // 空闲超时时间（10秒）：超过10秒无消息则判定为断开
@@ -44,17 +44,17 @@ public class WebsocketHandler extends WebSocketServer {
    // 定时检测线程池（每隔10秒检测一次空闲连接）
    private ScheduledExecutorService executor = SpringUtils.getBean("scheduledExecutorService");

-
    public WebsocketHandler(int port) {
        super(new InetSocketAddress(port));

        // 启动空闲连接检测任务
-//        startIdleCheckTask();
+        // startIdleCheckTask();
    }

    @Override
    public void onOpen(WebSocket conn, ClientHandshake handshake) {
-        logger.info("客户端连接成功:  remoteAddress={}, 当前在线数: {}", conn.getRemoteSocketAddress(), MiddleGlobalMemory.onlineSockets.size());
+        logger.info("客户端连接成功:  remoteAddress={}, 当前在线数: {}", conn.getRemoteSocketAddress(),
+                MiddleGlobalMemory.onlineSockets.size());
    }

    @Override
@@ -62,7 +62,8 @@ public class WebsocketHandler extends WebSocketServer {
        String key = MiddleGlobalMemory.findBySocket(conn);
        if (key != null) {
            releaseResource(key);
-            logger.info("客户端断开连接: remoteAddress={}, code={}, reason={}, 当前在线数: {}", conn.getRemoteSocketAddress(), code, reason, MiddleGlobalMemory.onlineSockets.size());
+            logger.info("客户端断开连接: remoteAddress={}, code={}, reason={}, 当前在线数: {}", conn.getRemoteSocketAddress(), code,
+                    reason, MiddleGlobalMemory.onlineSockets.size());
        }
        MiddleGlobalMemory.removeByWebSocket(conn);
    }
@@ -100,32 +101,34 @@ public class WebsocketHandler extends WebSocketServer {
                        client.initConnect(MiddleConstant.vertxIp, 9001);
                    }
                } else if (MesType.path.equals(type)) {
-                    //todo下发路径 预留
+                    // todo下发路径 预留
                    pathDistribute();
                } else if (MesType.remoteControl.equals(type)) {
-                    //遥控
+                    // 遥控
                    RemoteData remoteData = webMessageBaseDTO.getRemoteData();
                    if (remoteData != null) {
                        List<Double> axes = remoteData.getAxes();
                        List<Boolean> buttons = remoteData.getButtons();
-                        Double y = axes.get(1) * 1000 * -1; //前后值反了
+                        Double y = axes.get(1) * 1000 * -1; // 前后值反了
                        Double x = axes.get(2) * 1000;
                        int intX = (int) x.doubleValue();
                        int intY = (int) y.doubleValue();
+                        // todo 计算线速度和角速度 还需要根据车型来给线速度 角速度范围最大值
                        MiddleGlobalMemory.initDiff();
-                        LawnMoverProtocolEntity entity = ControlUtils.getCarControlMessage(MiddleGlobalMemory.diffSteer, intX, intY, buttons);
+                        LawnMoverProtocolEntity entity = ControlUtils.getCarControlMessage(MiddleGlobalMemory.diffSteer,
+                                intX, intY, buttons, 1, 2);
                        byte[] buf = ControlUtils.buildControlCommand(entity);
                        logger.debug("Netty客户端:{}发送遥控数据: {}", userName, JsonUtils.toJsonString(entity));
                        NettyClient nettyClient = MiddleGlobalMemory.nettyClientMap.get(key);
                        if (nettyClient != null && nettyClient.isConnected()) {
-//                            if (!nettyClient.isConnected()) nettyClient.connect();
+                            // if (!nettyClient.isConnected()) nettyClient.connect();
                            nettyClient.sendData(buf);
                        }
                    }
                }
-//                else if(MesType.heartbeat.equals(type)){
-//                    clientActiveTimeMap.put(conn,System.currentTimeMillis());
-//                }
+                // else if(MesType.heartbeat.equals(type)){
+                // clientActiveTimeMap.put(conn,System.currentTimeMillis());
+                // }
                else if (MesType.switchPermission.equals(type)) {
                    DeviceRequestDTO requestDTO = new DeviceRequestDTO();
                    requestDTO.setRequest(CommandRequestType.switch_control);
@@ -138,7 +141,7 @@ public class WebsocketHandler extends WebSocketServer {
                    ByteBuf buf = Unpooled.buffer();
                    CommandUtils.buildCommand(buf, requestDTO, CommandConstant.interaction);
                    if (nettyClient != null && nettyClient.isConnected()) {
-//                            if (!nettyClient.isConnected()) nettyClient.connect();
+                        // if (!nettyClient.isConnected()) nettyClient.connect();
                        nettyClient.sendData(buf.array());
                    }
                } else if (MesType.switchResult.equals(type)) {
@@ -156,7 +159,7 @@ public class WebsocketHandler extends WebSocketServer {
                    ByteBuf buf = Unpooled.buffer();
                    CommandUtils.buildCommand(buf, requestDTO, CommandConstant.interaction);
                    if (nettyClient != null && nettyClient.isConnected()) {
-//                            if (!nettyClient.isConnected()) nettyClient.connect();
+                        // if (!nettyClient.isConnected()) nettyClient.connect();
                        nettyClient.sendData(buf.array());
                    }
                }
@@ -186,7 +189,8 @@ public class WebsocketHandler extends WebSocketServer {
    @Override
    public void onError(WebSocket conn, Exception ex) {
        String key = MiddleGlobalMemory.findBySocket(conn);
-        logger.error("WebSocket错误: clientId={}, remoteAddress={}, error={}", key, conn != null ? conn.getRemoteSocketAddress() : null, ex.getMessage(), ex);
+        logger.error("WebSocket错误: clientId={}, remoteAddress={}, error={}", key,
+                conn != null ? conn.getRemoteSocketAddress() : null, ex.getMessage(), ex);
        // 发生错误时清理连接
        if (key != null) {
            releaseResource(key);
@@ -222,7 +226,6 @@ public class WebsocketHandler extends WebSocketServer {
        logger.debug("广播消息给所有客户端: message={}, 客户端数量: {}", message, connections.size());
    }

-
    // 核心：定时检测空闲连接（每隔10秒执行一次）
    private void startIdleCheckTask() {
        executor.scheduleAtFixedRate(() -> {
@@ -261,21 +264,21 @@ public class WebsocketHandler extends WebSocketServer {
                }
            }
        }
-//        clientActiveTimeMap.clear(); // 清空空闲记录
-//
-//        // 2. 关闭定时检测线程池（核心：终止非守护线程）
-//        if (!idleCheckExecutor.isShutdown()) {
-//            idleCheckExecutor.shutdownNow(); // 立即关闭线程池
-//            try {
-//                // 等待线程池终止，最多等3秒
-//                if (!idleCheckExecutor.awaitTermination(3, TimeUnit.SECONDS)) {
-//                    logger.warn("空闲检测线程池未正常终止");
-//                }
-//            } catch (InterruptedException e) {
-//                idleCheckExecutor.shutdownNow();
-//                Thread.currentThread().interrupt();
-//            }
-//        }
+        // clientActiveTimeMap.clear(); // 清空空闲记录
+        //
+        // // 2. 关闭定时检测线程池（核心：终止非守护线程）
+        // if (!idleCheckExecutor.isShutdown()) {
+        // idleCheckExecutor.shutdownNow(); // 立即关闭线程池
+        // try {
+        // // 等待线程池终止，最多等3秒
+        // if (!idleCheckExecutor.awaitTermination(3, TimeUnit.SECONDS)) {
+        // logger.warn("空闲检测线程池未正常终止");
+        // }
+        // } catch (InterruptedException e) {
+        // idleCheckExecutor.shutdownNow();
+        // Thread.currentThread().interrupt();
+        // }
+        // }

        // 3. 批量关闭所有Netty客户端连接
        for (NettyClient client : MiddleGlobalMemory.nettyClientMap.values()) {
@@ -300,5 +303,3 @@ public class WebsocketHandler extends WebSocketServer {
        }
    }
 }
-
-
Author	SHA1	Message	Date
rqian	372b1a2d11	#实时消息和参数	2026-10-23 09:12:53 +08:00
rqian	e57699dbdf	#更新实时消息具体字段	2026-10-20 09:04:57 +08:00
rqian	9e3ec6a1dd	#修改远程遥控控制方式将左右轮速改成线速度和角速度	2026-10-16 09:19:31 +08:00
rqian	11984316d4	#一键寻车接口预留	2026-10-14 09:08:33 +08:00
rqian	11e209bcb3	#任务下发状态推送	2026-10-13 12:57:29 +08:00
rqian	bde6b89965	#增加系统参数配置模块	2026-10-12 15:40:23 +08:00