#更新

# Conflicts:
#	maibu-common/src/main/java/com/maibu/mqtt/HostMessageHandler.java
#	maibu-netty-server/src/main/java/com/maibu/service/DeviceThreadService.java

.idea/workspace.xml

@@ -6,21 +6,14 @@
   <component name="ChangeListManager">
     <list default="true" id="84ac1b15-3cfa-4375-9957-45b7b581d04e" name="Changes" comment="# commit">
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/maibu-admin/src/main/resources/application-dev.yml" beforeDir="false" afterPath="$PROJECT_DIR$/maibu-admin/src/main/resources/application-dev.yml" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/maibu-common/src/main/java/com/maibu/core/business/Device.java" beforeDir="false" afterPath="$PROJECT_DIR$/maibu-common/src/main/java/com/maibu/core/business/Device.java" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/maibu-external/src/main/java/com/maibu/uav/controller/UAVController.java" beforeDir="false" afterPath="$PROJECT_DIR$/maibu-external/src/main/java/com/maibu/uav/controller/UAVController.java" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/maibu-external/src/main/java/com/maibu/uav/dto/UavDeviceStateResponseDetailDTO.java" beforeDir="false" afterPath="$PROJECT_DIR$/maibu-external/src/main/java/com/maibu/uav/dto/UavDeviceStateResponseDetailDTO.java" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/maibu-external/src/main/java/com/maibu/uav/service/UAVService.java" beforeDir="false" afterPath="$PROJECT_DIR$/maibu-external/src/main/java/com/maibu/uav/service/UAVService.java" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/maibu-framework/src/main/java/com/maibu/config/SecurityConfig.java" beforeDir="false" afterPath="$PROJECT_DIR$/maibu-framework/src/main/java/com/maibu/config/SecurityConfig.java" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/maibu-netty-server/src/main/java/com/maibu/netty/NettyServer.java" beforeDir="false" afterPath="$PROJECT_DIR$/maibu-netty-server/src/main/java/com/maibu/netty/NettyServer.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/maibu-common/src/main/java/com/maibu/core/business/device/NettyDevice.java" beforeDir="false" afterPath="$PROJECT_DIR$/maibu-common/src/main/java/com/maibu/core/business/device/NettyDevice.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/maibu-common/src/main/java/com/maibu/memory/DeviceSessionManager.java" beforeDir="false" afterPath="$PROJECT_DIR$/maibu-common/src/main/java/com/maibu/memory/DeviceSessionManager.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/maibu-netty-server/src/main/java/com/maibu/dto/DeviceBindDTO.java" beforeDir="false" afterPath="$PROJECT_DIR$/maibu-netty-server/src/main/java/com/maibu/dto/DeviceBindDTO.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/maibu-netty-server/src/main/java/com/maibu/netty/handler/CommandForwardHandler.java" beforeDir="false" afterPath="$PROJECT_DIR$/maibu-netty-server/src/main/java/com/maibu/netty/handler/CommandForwardHandler.java" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/maibu-netty-server/src/main/java/com/maibu/netty/handler/DeviceConnectHandler.java" beforeDir="false" afterPath="$PROJECT_DIR$/maibu-netty-server/src/main/java/com/maibu/netty/handler/DeviceConnectHandler.java" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/maibu-netty-server/src/main/java/com/maibu/netty/handler/HeaderFooterDecoder.java" beforeDir="false" afterPath="$PROJECT_DIR$/maibu-netty-server/src/main/java/com/maibu/netty/handler/HeaderFooterDecoder.java" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/maibu-netty-server/src/main/java/com/maibu/netty/handler/HexEncoder.java" beforeDir="false" afterPath="$PROJECT_DIR$/maibu-netty-server/src/main/java/com/maibu/netty/handler/HexEncoder.java" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/maibu-service/maibu-iot-service/src/main/java/com/maibu/controller/DeviceController.java" beforeDir="false" afterPath="$PROJECT_DIR$/maibu-service/maibu-iot-service/src/main/java/com/maibu/controller/DeviceController.java" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/maibu-service/maibu-iot-service/src/main/java/com/maibu/service/IDeviceService.java" beforeDir="false" afterPath="$PROJECT_DIR$/maibu-service/maibu-iot-service/src/main/java/com/maibu/service/IDeviceService.java" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/maibu-service/maibu-iot-service/src/main/java/com/maibu/service/impl/DeviceServiceImpl.java" beforeDir="false" afterPath="$PROJECT_DIR$/maibu-service/maibu-iot-service/src/main/java/com/maibu/service/impl/DeviceServiceImpl.java" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/maibu-service/maibu-iot-service/src/main/resources/mapper/iot/DeviceMapper.xml" beforeDir="false" afterPath="$PROJECT_DIR$/maibu-service/maibu-iot-service/src/main/resources/mapper/iot/DeviceMapper.xml" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/maibu-web-middleware/src/main/java/com/maibu/common/MiddleConstant.java" beforeDir="false" afterPath="$PROJECT_DIR$/maibu-web-middleware/src/main/java/com/maibu/common/MiddleConstant.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/maibu-netty-server/src/main/java/com/maibu/service/TransferDeviceService.java" beforeDir="false" afterPath="$PROJECT_DIR$/maibu-netty-server/src/main/java/com/maibu/service/TransferDeviceService.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/maibu-web-middleware/src/main/java/com/maibu/dto/NettySwitchDeviceDTO.java" beforeDir="false" afterPath="$PROJECT_DIR$/maibu-web-middleware/src/main/java/com/maibu/dto/NettySwitchDeviceDTO.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/maibu-web-middleware/src/main/java/com/maibu/netty/handler/ClientHandler.java" beforeDir="false" afterPath="$PROJECT_DIR$/maibu-web-middleware/src/main/java/com/maibu/netty/handler/ClientHandler.java" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -40,6 +33,11 @@
     </option>
   </component>
   <component name="Git.Settings">
+    <option name="RECENT_BRANCH_BY_REPOSITORY">
+      <map>
+        <entry key="$PROJECT_DIR$" value="main" />
+      </map>
+    </option>
     <option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$" />
   </component>
   <component name="HttpClientEndpointsTabState">
@@ -79,40 +77,40 @@
     <option name="hideEmptyMiddlePackages" value="true" />
     <option name="showLibraryContents" value="true" />
   </component>
-  <component name="PropertiesComponent">{
-  &quot;keyToString&quot;: {
-    &quot;ASKED_SHARE_PROJECT_CONFIGURATION_FILES&quot;: &quot;true&quot;,
-    &quot;Application.test.executor&quot;: &quot;Debug&quot;,
-    &quot;HTTP Request.MiddlePlatformApplication | #1.executor&quot;: &quot;Run&quot;,
-    &quot;HTTP Request.MiddlePlatformApplication | #2.executor&quot;: &quot;Run&quot;,
-    &quot;HTTP Request.MiddlePlatformApplication | #3.executor&quot;: &quot;Run&quot;,
-    &quot;Maven.MiddlePlatform [clean].executor&quot;: &quot;Run&quot;,
-    &quot;Maven.MiddlePlatform [install].executor&quot;: &quot;Run&quot;,
-    &quot;Maven.maibu-netty-server [clean].executor&quot;: &quot;Run&quot;,
-    &quot;ModuleVcsDetector.initialDetectionPerformed&quot;: &quot;true&quot;,
-    &quot;RequestMappingsPanelOrder0&quot;: &quot;0&quot;,
-    &quot;RequestMappingsPanelOrder1&quot;: &quot;1&quot;,
-    &quot;RequestMappingsPanelWidth0&quot;: &quot;75&quot;,
-    &quot;RequestMappingsPanelWidth1&quot;: &quot;75&quot;,
-    &quot;RunOnceActivity.MCP Project settings loaded&quot;: &quot;true&quot;,
-    &quot;RunOnceActivity.ShowReadmeOnStart&quot;: &quot;true&quot;,
-    &quot;RunOnceActivity.TerminalTabsStorage.copyFrom.TerminalArrangementManager.252&quot;: &quot;true&quot;,
-    &quot;RunOnceActivity.git.unshallow&quot;: &quot;true&quot;,
-    &quot;RunOnceActivity.typescript.service.memoryLimit.init&quot;: &quot;true&quot;,
-    &quot;Spring Boot.MiddlePlatformApplication.executor&quot;: &quot;Debug&quot;,
-    &quot;git-widget-placeholder&quot;: &quot;main&quot;,
-    &quot;kotlin-language-version-configured&quot;: &quot;true&quot;,
-    &quot;last_opened_file_path&quot;: &quot;/home/maibu/Test/MiddlePlatform/maibu-external/src/main/java/com/maibu/uav&quot;,
-    &quot;node.js.detected.package.eslint&quot;: &quot;true&quot;,
-    &quot;node.js.detected.package.tslint&quot;: &quot;true&quot;,
-    &quot;node.js.selected.package.eslint&quot;: &quot;(autodetect)&quot;,
-    &quot;node.js.selected.package.tslint&quot;: &quot;(autodetect)&quot;,
-    &quot;nodejs_package_manager_path&quot;: &quot;npm&quot;,
-    &quot;onboarding.tips.debug.path&quot;: &quot;D:/code/MiddlePlatform/maibu-service/maibu-system-service/src/main/java/com/maibu/Main.java&quot;,
-    &quot;settings.editor.selected.configurable&quot;: &quot;project.propVCSSupport.CommitDialog&quot;,
-    &quot;vue.rearranger.settings.migration&quot;: &quot;true&quot;
+  <component name="PropertiesComponent"><![CDATA[{
+  "keyToString": {
+    "ASKED_SHARE_PROJECT_CONFIGURATION_FILES": "true",
+    "Application.test.executor": "Debug",
+    "HTTP Request.MiddlePlatformApplication | #1.executor": "Run",
+    "HTTP Request.MiddlePlatformApplication | #2.executor": "Run",
+    "HTTP Request.MiddlePlatformApplication | #3.executor": "Run",
+    "Maven.MiddlePlatform [clean].executor": "Run",
+    "Maven.MiddlePlatform [install].executor": "Run",
+    "Maven.maibu-netty-server [clean].executor": "Run",
+    "ModuleVcsDetector.initialDetectionPerformed": "true",
+    "RequestMappingsPanelOrder0": "0",
+    "RequestMappingsPanelOrder1": "1",
+    "RequestMappingsPanelWidth0": "75",
+    "RequestMappingsPanelWidth1": "75",
+    "RunOnceActivity.MCP Project settings loaded": "true",
+    "RunOnceActivity.ShowReadmeOnStart": "true",
+    "RunOnceActivity.TerminalTabsStorage.copyFrom.TerminalArrangementManager.252": "true",
+    "RunOnceActivity.git.unshallow": "true",
+    "RunOnceActivity.typescript.service.memoryLimit.init": "true",
+    "Spring Boot.MiddlePlatformApplication.executor": "Debug",
+    "git-widget-placeholder": "dev__control",
+    "kotlin-language-version-configured": "true",
+    "last_opened_file_path": "/home/maibu/Test/MiddlePlatform/maibu-external/src/main/java/com/maibu/uav",
+    "node.js.detected.package.eslint": "true",
+    "node.js.detected.package.tslint": "true",
+    "node.js.selected.package.eslint": "(autodetect)",
+    "node.js.selected.package.tslint": "(autodetect)",
+    "nodejs_package_manager_path": "npm",
+    "onboarding.tips.debug.path": "D:/code/MiddlePlatform/maibu-service/maibu-system-service/src/main/java/com/maibu/Main.java",
+    "settings.editor.selected.configurable": "project.propVCSSupport.CommitDialog",
+    "vue.rearranger.settings.migration": "true"
   }
-}</component>
+}]]></component>
   <component name="RdControllerToolWindowsLayoutState" isNewUi="true">
     <layout>
       <window_info id="Bookmarks" side_tool="true" />
@@ -190,17 +188,6 @@
     <configuration name="MiddlePlatformApplication | #3" type="HttpClient.HttpRequestRunConfigurationType" factoryName="HTTP Request" temporary="true" nameIsGenerated="true" path="$APPLICATION_CONFIG_DIR$/scratches/MiddlePlatformApplication.http" executionIdentifier="#3" index="3" runType="Run single request">
       <method v="2" />
     </configuration>
-    <configuration default="true" type="JetRunConfigurationType">
-      <module name="maibu-iot-service" />
-      <method v="2">
-        <option name="Make" enabled="true" />
-      </method>
-    </configuration>
-    <configuration default="true" type="KotlinStandaloneScriptRunConfigurationType">
-      <module name="maibu-iot-service" />
-      <option name="filePath" />
-      <method v="2" />
-    </configuration>
     <configuration name="MiddlePlatformApplication" type="SpringBootApplicationConfigurationType" factoryName="Spring Boot" temporary="true" nameIsGenerated="true">
       <option name="FRAME_DEACTIVATION_UPDATE_POLICY" value="UpdateClassesAndResources" />
       <module name="maibu-admin" />
@@ -725,7 +712,7 @@
         <line-breakpoint enabled="true" type="java-method">
           <url>file://$PROJECT_DIR$/maibu-service/maibu-iot-service/src/main/java/com/maibu/controller/IOTWorkOrderController.java</url>
           <line>58</line>
-          <properties class="com.maibu.controller.IOTWorkOrderController" method="edit">
+          <properties class="com.maibu.controller.IOTWorkOrderController" method="list">
             <option name="EMULATED" value="true" />
             <option name="WATCH_EXIT" value="false" />
           </properties>

maibu-admin/src/main/java/com/maibu/web/controller/system/SiteMapInfoController.java

@@ -0,0 +1,68 @@
+package com.maibu.web.controller.system;
+
+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.controller.BaseController;
+import com.maibu.core.domain.AjaxResult;
+import com.maibu.core.domain.map.SiteMapInfo;
+import com.maibu.service.SiteMapInfoService;
+
+/**
+ * 区域/场站
+ *
+ * @author ruoyi
+ */
+@RestController
+@RequestMapping("/system/siteMapInfo")
+public class SiteMapInfoController extends BaseController {
+    @Autowired
+    private SiteMapInfoService siteMapInfoService;
+
+    /**
+     * 新增或者修改组织
+     */
+
+    @PostMapping("/save")
+    public AjaxResult save(@RequestBody SiteMapInfo siteMapInfo) {
+        try {
+            return AjaxResult.success(siteMapInfoService.save(siteMapInfo));
+        } catch (Exception e) {
+            return AjaxResult.error("新增修改场站出错", e.getMessage());
+        }
+    }
+
+
+    /**
+     * 查询场站详情
+     */
+
+    @GetMapping("/selectById")
+    public AjaxResult selectById(@RequestParam Long id) {
+        try {
+            return AjaxResult.success(siteMapInfoService.selectById(id));
+        } catch (Exception e) {
+            return AjaxResult.error("查询场站详情出错", e.getMessage());
+        }
+    }
+
+    /**
+     * 查询组织下所有的区域场站
+     */
+
+    @GetMapping("/selectBySiteId")
+    public AjaxResult selectBySiteId(@RequestParam Long siteId) {
+        try {
+            return AjaxResult.success(siteMapInfoService.selectBySiteId(siteId));
+        } catch (Exception e) {
+            return AjaxResult.error("查询组织下所有场站出错", e.getMessage());
+        }
+    }
+    
+
+}

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());
+        }
+    }
+
+}

maibu-admin/src/main/java/com/maibu/web/controller/system/SysRegionController.java

@@ -1,16 +1,19 @@
 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.RequestParam;
+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.SysRegion;
-import com.maibu.core.domain.entity.SysSite;
-import com.maibu.core.page.TableDataInfo;
 import com.maibu.service.SysRegionService;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.web.bind.annotation.*;
-
-import java.util.List;
-
 
 /**
  * 区域/场站
@@ -23,20 +26,6 @@ public class SysRegionController extends BaseController {
     @Autowired
     private SysRegionService sysRegionService;
 
-
-    /**
-     * 查询组织列表
-     */
-    @GetMapping("/list")
-    public TableDataInfo list(SysRegion region) {
-        try {
-            startPage();
-            return getDataTable(sysRegionService.list(region));
-        } catch (Exception e) {
-            throw new RuntimeException(e);
-        }
-    }
-
     /**
      * 新增或者修改组织
      */
@@ -81,9 +70,9 @@ public class SysRegionController extends BaseController {
      */
 
     @GetMapping("/selectBySiteId")
-    public AjaxResult selectBySiteId(@RequestParam Long id) {
+    public AjaxResult selectBySiteId(@RequestParam Long siteId) {
         try {
-            return AjaxResult.success(sysRegionService.selectBySiteId(id));
+            return AjaxResult.success(sysRegionService.selectBySiteId(siteId));
         } catch (Exception e) {
             return AjaxResult.error("保存组织出错", e.getMessage());
         }

maibu-admin/src/main/resources/application-dev.yml

@@ -84,3 +84,6 @@ influxdb:
   org: maibu
   token: maibu-token
   url: http://localhost:8086
+
+minio:
+  endpoint : https://oss.satabot.com 

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

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

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

maibu-common/src/main/java/com/maibu/config/DeviceTask.java

@@ -30,37 +30,37 @@ public class DeviceTask {
 
     private int keepAlive;
 
-    /*设备状态池*/
+    /* 设备状态池 */
     @Bean(FastBeeConstant.TASK.DEVICE_STATUS_TASK)
     public Executor deviceStatusTaskExecutor() {
         return builder(FastBeeConstant.TASK.DEVICE_STATUS_TASK);
     }
 
-    /*平台自动获取线程池(例如定时获取设备信息)*/
+    /* 平台自动获取线程池(例如定时获取设备信息) */
     @Bean(FastBeeConstant.TASK.DEVICE_FETCH_PROP_TASK)
     public Executor deviceFetchTaskExecutor() {
         return builder(FastBeeConstant.TASK.DEVICE_FETCH_PROP_TASK);
     }
 
-    /*设备回调信息(下发指令(服务)设备应答信息)*/
+    /* 设备回调信息(下发指令(服务)设备应答信息) */
     @Bean(FastBeeConstant.TASK.DEVICE_REPLY_MESSAGE_TASK)
     public Executor deviceReplyTaskExecutor() {
         return builder(FastBeeConstant.TASK.DEVICE_REPLY_MESSAGE_TASK);
     }
 
-    /*设备主动上报(设备数据有变化主动上报)*/
+    /* 设备主动上报(设备数据有变化主动上报) */
     @Bean(FastBeeConstant.TASK.DEVICE_UP_MESSAGE_TASK)
     public Executor deviceUpMessageTaskExecutor() {
         return builder(FastBeeConstant.TASK.DEVICE_UP_MESSAGE_TASK);
     }
 
-    /*指令下发(服务下发)*/
+    /* 指令下发(服务下发) */
     @Bean(FastBeeConstant.TASK.FUNCTION_INVOKE_TASK)
     public Executor functionInvokeTaskExecutor() {
         return builder(FastBeeConstant.TASK.FUNCTION_INVOKE_TASK);
     }
 
-    /*内部消费线程*/
+    /* 内部消费线程 */
     @Bean(FastBeeConstant.TASK.MESSAGE_CONSUME_TASK)
     public Executor messageConsumeTaskExecutor() {
         return builder(FastBeeConstant.TASK.MESSAGE_CONSUME_TASK);
@@ -81,7 +81,7 @@ public class DeviceTask {
         return builder(FastBeeConstant.TASK.DELAY_UPGRADE_TASK);
     }
 
-    /*设备其他消息处理*/
+    /* 设备其他消息处理 */
     @Bean(FastBeeConstant.TASK.DEVICE_OTHER_TASK)
     public Executor deviceOtherTaskExecutor() {
         return builder(FastBeeConstant.TASK.DEVICE_OTHER_TASK);
@@ -97,6 +97,26 @@ public class DeviceTask {
         return builder(FastBeeConstant.TASK.DEVICE_ERROR_MONITOR);
     }
 
+    @Bean(FastBeeConstant.TASK.DEVICE_HEARTBEAT_MONITOR)
+    public Executor deviceHeartBeatMonitor() {
+        return builder(FastBeeConstant.TASK.DEVICE_HEARTBEAT_MONITOR);
+    }
+
+    @Bean(FastBeeConstant.TASK.AUTO_RULE)
+    public Executor autoRule() {
+        return builder(FastBeeConstant.TASK.AUTO_RULE);
+    }
+
+    @Bean(FastBeeConstant.TASK.REGION_CONSECUTIVE_TASK)
+    public Executor regionConsecutiveTask() {
+        return builder(FastBeeConstant.TASK.REGION_CONSECUTIVE_TASK);
+    }
+
+    @Bean(FastBeeConstant.TASK.MAP_MESSAGE_PUSH)
+    public Executor mapMessagePush() {
+        return builder(FastBeeConstant.TASK.MAP_MESSAGE_PUSH);
+    }
+
     @Bean(FastBeeConstant.TASK.DEVICE_TASK_HANDLER)
     public Executor deviceTaskHandler() {
         return builder(FastBeeConstant.TASK.DEVICE_TASK_HANDLER);
@@ -107,8 +127,7 @@ public class DeviceTask {
         return builder(FastBeeConstant.TASK.COMMON_DEVICE_MONITOR);
     }
 
-
-    /*组装线程池*/
+    /* 组装线程池 */
     private ThreadPoolTaskExecutor builder(String threadNamePrefix) {
         ThreadPoolTaskExecutor executor = new ThreadPoolTaskExecutor();
         executor.setCorePoolSize(coreSize);
@@ -117,7 +136,7 @@ public class DeviceTask {
         executor.setQueueCapacity(queueCapacity);
         // 线程池对拒绝任务的处理策略
         executor.setRejectedExecutionHandler(new ThreadPoolExecutor.DiscardOldestPolicy());
-        //线程池名的前缀
+        // 线程池名的前缀
         executor.setThreadNamePrefix(threadNamePrefix);
         executor.initialize();
         return executor;

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");
 
@@ -21,7 +21,16 @@ public class Constant {
 
     public static final AttributeKey<String> ATT_SITE_ID = AttributeKey.valueOf("siteId");
 
-    public static final String  WheelGainCoefficients =  "WheelGainCoefficients";
+    public static final String WheelGainCoefficients = "WheelGainCoefficients";
 
-    public static final String  mqttClientPrefix =  "common-device-client-";
+    public static final String mqttClientPrefix = "common-device-client-";
+
+    public static final String mqttHandleKey = "hostHandle";
+
+    public static final Long hostOfflineInterval = 10000L; // 单位毫秒
+
+    // ==================== 远程控制 ====================
+    public static final String protocol_version = "1.4.5";
+    public static final String remote_control_msg_prefix = "remote-msg";
+    public static final String remote_control_cmd_prefix = "remote-cmd";
 }

maibu-common/src/main/java/com/maibu/constant/FastBeeConstant.java

@@ -11,7 +11,6 @@ public interface FastBeeConstant {
         String UFT8 = "UTF-8";
         String GB2312 = "GB2312";
 
-
         String MQTT = "mqtt";
         String PORT = "port";
         String ADAPTER = "adapter";
@@ -27,16 +26,16 @@ public interface FastBeeConstant {
         String WM_PREFIX = "server-";
         String FAST_PHONE = "phone-";
 
-        /*MQTT平台判定离线时间 keepAlive*1.5 */
+        /* MQTT平台判定离线时间 keepAlive*1.5 */
         Long DEVICE_PING_EXPIRED = 90000L;
     }
 
     interface CLIENT {
-        //加盐
+        // 加盐
         String TOKEN = "fastbee-smart!@#$123";
     }
 
-    /*webSocket配置*/
+    /* webSocket配置 */
     interface WS {
         String HEART_BEAT = "heartbeat";
         String HTTP_SERVER_CODEC = "httpServerCodec";
@@ -87,19 +86,40 @@ public interface FastBeeConstant {
          * 消息消费线程
          */
         String MESSAGE_CONSUME_TASK = "messageConsumeTask";
-        /*内部消费线程publish*/
+        /* 内部消费线程publish */
         String MESSAGE_CONSUME_TASK_PUB = "messageConsumeTaskPub";
-        /*内部消费线程Fetch*/
+        /* 内部消费线程Fetch */
         String MESSAGE_CONSUME_TASK_FETCH = "messageConsumeTaskFetch";
-        /*OTA升级延迟队列*/
+        /* OTA升级延迟队列 */
         String DELAY_UPGRADE_TASK = "delayUpgradeTask";
-        /*OTA升级线程池*/
+        /* OTA升级线程池 */
         String OTA_THREAD_POOL = "otaThreadPoolTaskExecutor";
 
         /**
          * 设备错误
          */
         String DEVICE_ERROR_MONITOR = "deviceErrorMonitor";
+
+        /**
+         * 设备错误
+         */
+        String DEVICE_HEARTBEAT_MONITOR = "deviceHeartBeatMonitor";
+
+        /**
+         * 设备错误
+         */
+        String MAP_MESSAGE_PUSH = "mapMessagePush";
+
+        /**
+         * 规则触发任务
+         */
+        String AUTO_RULE = "autoRule";
+
+        /**
+         * 区域连续任务处理
+         */
+        String REGION_CONSECUTIVE_TASK = "regionConsecutiveTaskHandler";
+
         /**
          * 设备任务处理线程
          */
@@ -116,67 +136,66 @@ public interface FastBeeConstant {
 
         String PREDIX = "/+/+";
 
-        /*OTA消息回复*/
+        /* OTA消息回复 */
         String OTA_REPLY = "upgrade/reply";
 
     }
 
-    /*集群，全局发布的消息类型*/
+    /* 集群，全局发布的消息类型 */
     interface CHANNEL {
-        /*设备状态*/
+        /* 设备状态 */
         String DEVICE_STATUS = "device_status";
-        /*平台读取属性*/
+        /* 平台读取属性 */
         String PROP_READ = "prop_read";
-        /*推送消息*/
+        /* 推送消息 */
         String PUBLISH = "publish";
-        /*服务下发*/
+        /* 服务下发 */
         String FUNCTION_INVOKE = "function_invoke";
-        /*事件*/
+        /* 事件 */
         String EVENT = "event";
-        /*other*/
+        /* other */
         String OTHER = "other";
-        /*Qos1 推送应答*/
+        /* Qos1 推送应答 */
         String PUBLISH_ACK = "publish_ack";
-        /*Qos2 发布消息收到*/
+        /* Qos2 发布消息收到 */
         String PUB_REC = "pub_rec";
-        /*Qos 发布消息释放*/
+        /* Qos 发布消息释放 */
         String PUB_REL = "pub_rel";
-        /*Qos2 发布消息完成*/
+        /* Qos2 发布消息完成 */
         String PUB_COMP = "pub_comp";
 
         String UPGRADE = "upgrade";
 
         /*-------------------------ROCKETMQ-------------------------*/
         String SUFFIX = "group";
-        /*设备状态*/
+        /* 设备状态 */
         String DEVICE_STATUS_GROUP = DEVICE_STATUS + SUFFIX;
         String PROP_READ_GROUP = PROP_READ + SUFFIX;
-        /*服务下发*/
+        /* 服务下发 */
         String FUNCTION_INVOKE_GROUP = FUNCTION_INVOKE + SUFFIX;
-        /*推送消息*/
+        /* 推送消息 */
         String PUBLISH_GROUP = PUBLISH + SUFFIX;
-        /*Qos1 推送应答*/
+        /* Qos1 推送应答 */
         String PUBLISH_ACK_GROUP = PUBLISH_ACK + SUFFIX;
-        /*Qos2 发布消息收到*/
+        /* Qos2 发布消息收到 */
         String PUB_REC_GROUP = PUB_REC + SUFFIX;
-        /*Qos 发布消息释放*/
+        /* Qos 发布消息释放 */
         String PUB_REL_GROUP = PUB_REL + SUFFIX;
-        /*Qos2 发布消息完成*/
+        /* Qos2 发布消息完成 */
         String PUB_COMP_GROUP = PUB_COMP + SUFFIX;
-        /*OTA升级*/
+        /* OTA升级 */
         String UPGRADE_GROUP = UPGRADE + SUFFIX;
     }
 
-
     /**
      * redisKey 定义
      */
     interface REDIS {
-        /*在线设备列表*/
+        /* 在线设备列表 */
         String DEVICE_ONLINE_LIST = "device:online:list";
-        /*设备实时状态key*/
+        /* 设备实时状态key */
         String DEVICE_RUNTIME_DATA = "device:runtime:";
-        /*通讯协议参数*/
+        /* 通讯协议参数 */
         String DEVICE_PROTOCOL_PARAM = "device:param:";
         /**
          * 设备消息id缓存key
@@ -215,11 +234,11 @@ public interface FastBeeConstant {
          */
         String MESSAGE_RETAIN_TOTAL = "message:retain:total";
 
-        /*发送消息数*/
+        /* 发送消息数 */
         String MESSAGE_SEND_TOTAL = "message:send:total";
-        /*接收消息数*/
+        /* 接收消息数 */
         String MESSAGE_RECEIVE_TOTAL = "message:receive:total";
-        /*连接次数*/
+        /* 连接次数 */
         String MESSAGE_CONNECT_TOTAL = "message:connect:total";
         /**
          * 认证次数
@@ -304,7 +323,6 @@ public interface FastBeeConstant {
         String CH = "CH";
         String ModbusTcp = "MODBUS-TCP";
 
-
     }
 
     interface URL {

maibu-common/src/main/java/com/maibu/constant/NettyCacheKey.java

@@ -1,9 +1,9 @@
-package com.maibu.common;
-
-import lombok.Data;
+package com.maibu.constant;
 
 public class NettyCacheKey {
 
     public static final String deviceRunningStatusKey = "running_status:";
 
+    public static final String latestPositonKey = "latest_position:";
+
 }

maibu-common/src/main/java/com/maibu/core/business/Device.java

@@ -13,6 +13,8 @@ import com.fasterxml.jackson.annotation.JsonFormat;
 import com.fasterxml.jackson.annotation.JsonInclude;
 import com.maibu.annotation.Excel;
 import com.maibu.core.domain.BaseDO;
+import com.maibu.core.host.LocationMessage;
+import com.maibu.core.host.VehicleMessage;
 import com.maibu.influxdb.MowerRealTimeData;
 
 import io.swagger.annotations.ApiModel;
@@ -72,7 +74,6 @@ public class Device extends BaseDO {
     @Excel(name = "产品名称")
     private String productName;
 
-
     /**
      * 租户名称
      */
@@ -85,8 +86,7 @@ public class Device extends BaseDO {
      */
     @ApiModelProperty("固件版本")
     @Excel(name = "固件版本")
-    private BigDecimal firmwareVersion;
-
+    private String firmwareVersion;
 
     /**
      * WIFI固件版本
@@ -95,7 +95,6 @@ public class Device extends BaseDO {
     @Excel(name = "HTTP推送固件版本")
     private BigDecimal wirelessVersion;
 
-
     /**
      * 设备状态（1-未激活，2-禁用，3-在线，4-离线）
      */
@@ -106,12 +105,12 @@ public class Device extends BaseDO {
     /**
      * 设备在线状态（1-在线，2-离线）
      */
-    @ApiModelProperty("设备状态（1-在线，2-离线）")
+    @ApiModelProperty("设备状态（1-在线，0-离线）")
     @Excel(name = "设备在线状态")
     private Integer onlineStatus;
 
     @TableField(exist = false)
-    private Integer feStatus; //前端大屏显示 1任务中/2空闲
+    private Integer feStatus; // 前端大屏显示 1任务中/2空闲
 
     /**
      * wifi信号强度（信号极好4格[-55— 0]，信号好3格[-70— -55]，信号一般2格[-85— -70]，信号差1格[-100— -85]）
@@ -194,7 +193,6 @@ public class Device extends BaseDO {
     @ApiModelProperty("设备摘要")
     private String summary;
 
-
     /**
      * 是否是模拟设备
      */
@@ -206,12 +204,12 @@ public class Device extends BaseDO {
     @ApiModelProperty("子设备地址")
     private Integer slaveId;
 
-
     @TableField(updateStrategy = FieldStrategy.IGNORED)
     private Long siteId;
 
     @TableField(updateStrategy = FieldStrategy.IGNORED)
     private Long orgId;
+
     /**
      * 租户ID
      */
@@ -220,7 +218,6 @@ public class Device extends BaseDO {
     @TableField(updateStrategy = FieldStrategy.IGNORED)
     private Long tenantId;
 
-
     @TableField(exist = false)
     private DeviceRunningStatusHistory lastRunningStatus;
 
@@ -228,12 +225,25 @@ public class Device extends BaseDO {
     private MowerRealTimeData lastMowerRealTimeData;
 
     @TableField(exist = false)
-    private Map<Integer,Integer> statusStatistics;
+    private Map<Integer, Integer> statusStatistics;
 
     @TableField(exist = false)
     private DeviceRunParam runParam;
 
+    private Boolean hasRegistered;
 
-    private boolean hasRegistered = false;
+    private Boolean hasHost;
+
+    @TableField(exist = false)
+    private String productModel;// 产品型号
+
+    @TableField(exist = false)
+    private String deviceType;
+
+    @TableField(exist = false)
+    private LocationMessage locationMessage;
+
+    @TableField(exist = false)
+    private VehicleMessage vehicleMessage;
 
 }

maibu-common/src/main/java/com/maibu/core/business/DeviceModelPropertyMapping.java

@@ -1,18 +1,14 @@
 package com.maibu.core.business;
 
 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.fasterxml.jackson.annotation.JsonInclude;
 import com.maibu.core.domain.BaseDO;
-import com.maibu.core.enums.ConnectType;
-import io.swagger.annotations.ApiModel;
+
 import lombok.Data;
 import lombok.EqualsAndHashCode;
 
-import java.util.List;
-
 
 @EqualsAndHashCode(callSuper = true)
 @JsonInclude(JsonInclude.Include.NON_NULL)

maibu-common/src/main/java/com/maibu/core/business/DevicePlanTask.java

@@ -1,17 +1,19 @@
 package com.maibu.core.business;
 
+import java.time.LocalDateTime;
+
 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.BaseDO;
 import com.maibu.core.domain.OrgBaseDO;
+import com.maibu.core.domain.map.RestPoint;
 import com.maibu.core.enums.DeviceTaskStaus;
+import com.maibu.core.enums.RouteType;
+
 import lombok.Data;
 import lombok.EqualsAndHashCode;
 
-import java.time.LocalDateTime;
-
 @EqualsAndHashCode(callSuper = true)
 @Data
 @TableName("iot_device_task")
@@ -24,6 +26,12 @@ public class DevicePlanTask extends OrgBaseDO {
 
     private String deviceId;
 
+    @TableField(exist = false)
+    private String deviceAlias; // 别名
+
+    @TableField(exist = false)
+    private String workName; // 路径规划名称
+
     private DeviceTaskStaus taskStaus; // 任务状态
 
     @TableField(exist = false)
@@ -39,4 +47,12 @@ public class DevicePlanTask extends OrgBaseDO {
 
     private LocalDateTime canExecuteTime; // 这个时间之前都不能执行
 
+    @TableField(exist = false)
+    private volatile boolean taskAccepted = false; // 任务被上位机接收
+
+    private RouteType routeType;
+
+    @TableField(exist = false)
+    private RestPoint backTaskPoint;
+
 }

maibu-common/src/main/java/com/maibu/core/business/DeviceRunParam.java

@@ -1,19 +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.maibu.constant.CommandConstant;
+import com.baomidou.mybatisplus.extension.handlers.JacksonTypeHandler;
+import com.maibu.annotation.Excel;
 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;
-
 @EqualsAndHashCode(callSuper = true)
 @Data
 @TableName(value = "iot_device_run_param", autoResultMap = true)
@@ -22,438 +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
 
+    @Excel(name = "产品型号", cellType = Excel.ColumnType.STRING, prompt = "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
+
+    @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
+
+    @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
+
+    @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
+
+    @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
+
+    @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
+
+    @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)
-    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 static byte[] toWriteBytes(DeviceRunParam p) {
-//
-//        ByteBuffer buffer = ByteBuffer.allocate(178);
-//        buffer.order(ByteOrder.LITTLE_ENDIAN);
-//
-//        // 包头
-//        buffer.put((byte) 0xAB);
-//        buffer.put((byte) 0xAA);
-//
-//        // 指令
-//        buffer.put(CommandConstant.writeConfig);
-//
-//        // UID固化标志
-//        buffer.put(p.getChipUidSign());
-//
-//        // UID
-//        putFixedString(buffer, p.getChipUid(), 45);
-//
-//        // Byte68
-//        byte remote = 0;
-//        remote |= (p.getKnifeMotorMode() & 0x03);
-//        remote |= (p.getWalkMotorMode() & 0x03) << 2;
-//        remote |= (p.getLeftMotorReverse() & 0x01) << 4;
-//        remote |= (p.getRightMotorReverse() & 0x01) << 5;
-//        remote |= (p.getSwapChannel() & 0x01) << 6;
-//        remote |= (p.getUse4G() & 0x01) << 7;
-//        buffer.put(remote);
-//
-//        // 69~72
-//        buffer.putShort((short) p.getForwardSpeedLimit());
-//        buffer.putShort((short) p.getTurnSpeedLimit());
-//
-//        //73
-//        byte b73 = 0;
-//        b73 |= (p.getKnifePolarity() & 1);
-//        b73 |= (p.getFanPolarity() & 1) << 1;
-//        b73 |= (p.getThrottlePolarity() & 1) << 2;
-//        b73 |= (p.getLiftProtectTime() & 0x0F) << 3;
-//        b73 |= (p.getDualRtk() & 1) << 7;
-//        buffer.put(b73);
-//
-//        //74
-//        byte b74 = 0;
-//        b74 |= (p.getKnifeChannel() & 0x0F);
-//        b74 |= (p.getFanChannel() & 0x0F) << 4;
-//        buffer.put(b74);
-//
-//        //75
-//        byte b75 = 0;
-//        b75 |= (p.getThrottleChannel() & 0x0F);
-//        b75 |= (p.getRemoteType() & 0x07) << 4;
-//        if (p.isRelayBoard()) {
-//            b75 |= 1 << 7;
-//        }
-//        buffer.put(b75);
-//
-//        //76
-//        byte b76 = 0;
-//        b76 |= (p.getLiftChannel() & 0x0F);
-//        b76 |= (p.getChassisChannel() & 0x0F) << 4;
-//        buffer.put(b76);
-//
-//        //77
-//        byte b77 = 0;
-//        b77 |= (p.getArmChannel() & 0x0F);
-//        b77 |= (p.getFuelPumpChannel() & 0x0F) << 4;
-//        buffer.put(b77);
-//
-//        //wifi
-//        putFixedString(buffer, p.getWifiName(), 20);
-//        putFixedString(buffer, p.getWifiPassword(), 20);
-//
-//        //118
-//        byte b118 = 0;
-//        b118 |= (p.getBatteryType() & 0x03);
-//        b118 |= (p.getDriveType() & 0x03) << 2;
-//        buffer.put(b118);
-//
-//        //119~158 float
-//        buffer.putFloat(p.getGearRatio());
-//        buffer.putFloat(p.getRobotLength());
-//        buffer.putFloat(p.getRobotWidth());
-//        buffer.putFloat(p.getRobotHeight());
-//        buffer.putFloat(p.getKnifeWidth());
-//        buffer.putFloat(p.getTyreSize());
-//        buffer.putFloat(p.getLeftForwardGain());
-//        buffer.putFloat(p.getLeftBackwardGain());
-//        buffer.putFloat(p.getRightForwardGain());
-//        buffer.putFloat(p.getRightBackwardGain());
-//
-//        //159~173
-//        putFixedString(buffer, p.getFirmwareVersion(), 15);
-//
-//        //CRC
-//
-//    / /        byte[] bytes = buffer.array();
-//    / /        int crc = CRC16Util.crc16(bytes, 0, 174);
-//        buffer.putShort((short) 0);
-//
-//        //Tail
-//        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();
+    private String capabilities;
 
-        p.setOriginalData(data);
+    private String factoryCode; // 工厂码
 
-        p.setHeader1(buffer.get());
-        p.setHeader2(buffer.get());
+    private String lineNum;// 产线号
 
-        p.setCmd(buffer.get());
+    private LocalDate productionDate;// 生产日期
 
-        p.setChipUidSign(buffer.get());
+    private String serialNumber;// 流水号
 
-        p.setChipUid(readString(buffer, 45));
+    @Excel(name = "电池类型", cellType = Excel.ColumnType.STRING, prompt = "电池类型")
+    private String batteryType;// 电池类型
 
-        // 跳过字节49-67（共19字节，预留不用）
-        buffer.position(buffer.position() + 19);
+    @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
 
-        byte remote = buffer.get();
+    @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
 
-//        p.setRemoteConfig(remote);
+    @Excel(name = "RTK天线数", cellType = Excel.ColumnType.STRING, prompt = "RTK天线数")
+    private String rtkAntennasNum;// RTK天线数
 
-        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);
+    @Excel(name = "手柄类型", cellType = Excel.ColumnType.STRING, prompt = "手柄类型")
+    private String handleType;// 手柄类型
 
-        p.setForwardSpeedLimit(buffer.getShort());
-        p.setTurnSpeedLimit(buffer.getShort());
+    @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
 
-        byte b73 = buffer.get();
+    @Excel(name = "长宽高", cellType = Excel.ColumnType.STRING, prompt = "长宽高")
+    private String dimensions;// 长宽高
 
-        p.setKnifePolarity(b73 & 1);
-        p.setFanPolarity((b73 >> 1) & 1);
-        p.setThrottlePolarity((b73 >> 2) & 1);
-        p.setLiftProtectTime((b73 >> 3) & 0x0F);
-        p.setDualRtk((b73 >> 7) & 1);
+    @Excel(name = "割刀宽度", cellType = Excel.ColumnType.STRING, prompt = "割刀宽度")
+    private String bladeWidth;// 割刀宽度
 
-        byte b74 = buffer.get();
+    @Excel(name = "轮胎尺寸", cellType = Excel.ColumnType.STRING, prompt = "轮胎尺寸")
+    private String tyreSize;// 轮胎尺寸
 
-        p.setKnifeChannel(b74 & 0x0F);
-        p.setFanChannel((b74 >> 4) & 0x0F);
+    @Excel(name = "转速比", cellType = Excel.ColumnType.STRING, prompt = "转速比")
+    private String speedRatio;// 转速比
 
-        byte b75 = buffer.get();
+    @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
 
-        p.setThrottleChannel(b75 & 0x0F);
-        p.setRemoteType((b75 >> 4) & 0x07);
-        p.setRelayBoard(((b75 >> 7) & 1) == 1);
+    @Excel(name = "wifi名称", cellType = Excel.ColumnType.STRING, prompt = "wifi名称")
+    private String wifiName;// wifi名称
 
-        byte b76 = buffer.get();
+    @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
 
-        p.setLiftChannel(b76 & 0x0F);
-        p.setChassisChannel((b76 >> 4) & 0x0F);
+    @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
 
-        byte b77 = buffer.get();
+    @Excel(name = "IMU型号", cellType = Excel.ColumnType.STRING, prompt = "IMU型号")
+    private String imuModel;// IMU型号
 
-        p.setArmChannel(b77 & 0x0F);
-        p.setFuelPumpChannel((b77 >> 4) & 0x0F);
+    @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
 
-        p.setWifiName(readString(buffer, 20));
-        p.setWifiPassword(readString(buffer, 20));
+    @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
 
-        byte b118 = buffer.get();
+    @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
 
-        p.setBatteryType(b118 & 0x03);
-        p.setDriveType((b118 >> 2) & 0x03);
+    @Excel(name = "DAC在位", cellType = Excel.ColumnType.STRING, prompt = "DAC在位")
+    private String dacPresent;// DAC在位
 
-        // 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());
+    @Excel(name = "质检员", cellType = Excel.ColumnType.STRING, prompt = "质检员")
+    private String operator;// 质检员
 
-        p.setFirmwareVersion(readString(buffer, 15));
+    @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
 
-        p.setCrc16(Short.toUnsignedInt(buffer.getShort()));
+    @Excel(name = "固件版本", cellType = Excel.ColumnType.STRING, prompt = "固件版本")
+    private String firmwareVersion;// 固件版本
 
-        p.setTail1(buffer.get());
-        p.setTail2(buffer.get());
+    @Excel(name = "经销商", cellType = Excel.ColumnType.STRING, prompt = "经销商")
+    private String dealer;// DAC在位
 
-        return p;
-    }
+    @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
 
-    public static String readString(ByteBuffer buffer, int len) {
-        byte[] bytes = new byte[len];
-        buffer.get(bytes);
+    // @TableField(exist = false)
+    // public byte header1;
+    // @TableField(exist = false)
+    // public byte header2;
+    // @TableField(exist = false)
+    // public byte cmd;
 
-        int end = 0;
-        while (end < bytes.length && bytes[end] != 0) {
-            end++;
-        }
+    // public byte chipUidSign;// 芯片UID固化标志位
+    // public String chipUid;// 芯片UID
 
-        return new String(bytes, 0, end, StandardCharsets.UTF_8);
-    }
+    // 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);
+
+    // p.setHeader1(buffer.get());
+    // p.setHeader2(buffer.get());
+
+    // p.setCmd(buffer.get());
+
+    // p.setChipUidSign(buffer.get());
+
+    // p.setChipUid(readString(buffer, 45));
+
+    // // 跳过字节49-67（共19字节，预留不用）
+    // buffer.position(buffer.position() + 19);
+
+    // byte remote = buffer.get();
+
+    // // p.setRemoteConfig(remote);
+
+    // 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.setForwardSpeedLimit(buffer.getShort());
+    // p.setTurnSpeedLimit(buffer.getShort());
+
+    // byte b73 = 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);
+
+    // byte b74 = buffer.get();
+
+    // p.setKnifeChannel(b74 & 0x0F);
+    // p.setFanChannel((b74 >> 4) & 0x0F);
+
+    // byte b75 = buffer.get();
+
+    // p.setThrottleChannel(b75 & 0x0F);
+    // p.setRemoteType((b75 >> 4) & 0x07);
+    // p.setRelayBoard(((b75 >> 7) & 1) == 1);
+
+    // byte b76 = buffer.get();
+
+    // p.setLiftChannel(b76 & 0x0F);
+    // p.setChassisChannel((b76 >> 4) & 0x0F);
+
+    // byte b77 = buffer.get();
+
+    // p.setArmChannel(b77 & 0x0F);
+    // p.setFuelPumpChannel((b77 >> 4) & 0x0F);
+
+    // p.setWifiName(readString(buffer, 20));
+    // p.setWifiPassword(readString(buffer, 20));
+
+    // byte b118 = buffer.get();
+
+    // p.setBatteryType(b118 & 0x03);
+    // p.setDriveType((b118 >> 2) & 0x03);
+
+    // // 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.setFirmwareVersion(readString(buffer, 15));
+
+    // p.setCrc16(Short.toUnsignedInt(buffer.getShort()));
+
+    // p.setTail1(buffer.get());
+    // p.setTail2(buffer.get());
+
+    // return p;
+    // }
+
+    // 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);
+    // }
 
 }

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

maibu-common/src/main/java/com/maibu/core/business/RegionConsecutiveTaskRecord.java

@@ -0,0 +1,41 @@
+package com.maibu.core.business;
+
+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.maibu.core.domain.OrgNoUserDO;
+import com.maibu.core.enums.DeviceTaskStaus;
+import com.maibu.utils.LongListTypeHandler;
+
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@EqualsAndHashCode(callSuper = true)
+@Data
+@TableName("iot_region_consecutive_task_record")
+public class RegionConsecutiveTaskRecord extends OrgNoUserDO {
+
+    @TableId(type = IdType.AUTO)
+    private Long id;
+
+    private String deviceId;
+
+    private Long regionId;
+
+    @TableField(exist = false)
+    private String deviceAlias; // 别名
+
+    @TableField(typeHandler = LongListTypeHandler.class)
+    private List<Long> routeIds; // 线路id
+
+    @TableField(typeHandler = LongListTypeHandler.class)
+    private List<Long> taskIds; // 线路id
+
+    private DeviceTaskStaus taskStatus; // 任务状态
+
+    private int currentIndex; // 当前执行到哪一个
+
+}

maibu-common/src/main/java/com/maibu/core/business/WorkRecord.java

@@ -6,6 +6,7 @@ import com.baomidou.mybatisplus.annotation.TableId;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.handlers.JacksonTypeHandler;
 import com.maibu.core.domain.OrgBaseDO;
+import com.maibu.core.enums.RouteType;
 
 import lombok.Data;
 import lombok.EqualsAndHashCode;
@@ -20,10 +21,16 @@ public class WorkRecord extends OrgBaseDO {
     private String workName;
     private Long userId;
 
-//    private String jsonData;
+    private String mode;// 导航任务模式 single_point|coverage |predefined_path
+
+    // private String jsonData;
+
+    private RouteType routeType;
 
     @TableField(typeHandler = JacksonTypeHandler.class)
-    private PlanPath jsonData;  //计划
+    private PlanPath jsonData; // 计划
 
     private String imgUrl;
+
+    private String fileUrl; // 存放的 路径规划的id
 }

maibu-common/src/main/java/com/maibu/core/business/device/NettyDevice.java

@@ -1,35 +1,41 @@
 package com.maibu.core.business.device;
 
-import java.nio.ByteBuffer;
-import java.nio.ByteOrder;
-import java.time.LocalDateTime;
-import java.util.LinkedList;
-import java.util.Queue;
-
-import com.maibu.utils.json.JsonUtils;
-import org.springframework.util.CollectionUtils;
-
 import com.fasterxml.jackson.annotation.JsonIgnore;
-import com.maibu.core.business.Device;
-import com.maibu.core.business.DevicePlanTask;
-import com.maibu.core.business.DeviceRunParam;
-import com.maibu.core.business.DeviceRunStatistics;
-import com.maibu.core.business.PlanPath;
-import com.maibu.core.business.WorkRecord;
+import com.maibu.constant.Constant;
+import com.maibu.core.business.*;
 import com.maibu.core.business.path.LatAndLngEntity;
 import com.maibu.core.business.path.RoutePlanSendEntity;
 import com.maibu.core.enums.ConnectorType;
 import com.maibu.core.enums.DeviceTaskStaus;
+import com.maibu.core.enums.RouteType;
+import com.maibu.core.host.HostModeChangeDTO;
+import com.maibu.core.host.HostWorkRecordCreateDTO;
+import com.maibu.core.host.MutiPointEntity;
+import com.maibu.core.host.PointEntity;
+import com.maibu.core.ota.DeviceOtaFirmware;
 import com.maibu.mapper.DevicePlanTaskMapper;
+import com.maibu.mapper.RegionConsecutiveTaskRecordMapper;
 import com.maibu.mapper.WorkRecordMapper;
 import com.maibu.memory.GlobalMemory;
 import com.maibu.memory.SiteMemory;
+import com.maibu.mqtt.MqttTopic;
+import com.maibu.utils.StringUtils;
+import com.maibu.utils.json.JsonUtils;
 import com.maibu.utils.spring.SpringUtils;
-
 import io.netty.buffer.Unpooled;
 import lombok.Data;
 import lombok.EqualsAndHashCode;
 import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttException;
+
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+import java.time.LocalDateTime;
+import java.util.*;
+import java.util.concurrent.ScheduledExecutorService;
+import java.util.concurrent.ScheduledFuture;
+import java.util.concurrent.TimeUnit;
+import java.util.concurrent.atomic.AtomicInteger;
 
 @Slf4j
 @EqualsAndHashCode(callSuper = true)
@@ -58,15 +64,24 @@ public class NettyDevice extends Connector {
     // todo 注册的时候更新 siteId
     private Device device;
 
-    //todo 假如设置一个当前控制的token
-    private String currentControlToken;
+    // todo 当前登录的账号的token 以token为控制的权限
+    private String token;
 
     @JsonIgnore
     private DevicePlanTaskMapper devicePlanTaskMapper = SpringUtils.getBean(DevicePlanTaskMapper.class);
 
+    @JsonIgnore
+    private RegionConsecutiveTaskRecordMapper regionConsecutiveTaskRecordMapper = SpringUtils
+            .getBean(RegionConsecutiveTaskRecordMapper.class);
+
     @JsonIgnore
     private WorkRecordMapper workRecordMapper = SpringUtils.getBean(WorkRecordMapper.class);
 
+    @JsonIgnore
+    private ScheduledExecutorService executor = SpringUtils.getBean("scheduledExecutorService");
+
+    private static final String mqttClientId = "maibu-mqtt-client";
+
     public NettyDevice(String connectorId) {
         super(connectorId);
         this.deviceType = ConnectorType.MASTER; // 默认上位机角色
@@ -77,6 +92,10 @@ public class NettyDevice extends Connector {
         this.deviceType = deviceType;
     }
 
+    public void status(Integer onlineStatus) {
+        this.onlineStatus = onlineStatus;
+    }
+
     // todo 如何确定命令已收到？
     public void sendNextPoint() {
         if (task.getTaskStaus().equals(DeviceTaskStaus.PAUSE))
@@ -109,13 +128,30 @@ public class NettyDevice extends Connector {
     }
 
     public synchronized Long finishTask() {
-        sendPathCommand((byte) 0x01, (short) 0, 0.00d, 0.00d, (short) 0);
+        // sendPathCommand((byte) 0x01, (short) 0, 0.00d, 0.00d, (short) 0);
         long finishId = task.getId();
         task.setTaskStaus(DeviceTaskStaus.FINISH);
         task.setFinishTime(LocalDateTime.now());
         devicePlanTaskMapper.saveOrUpdate(task);
         SiteMemory siteMemory = GlobalMemory.getSiteMemory(task.getOrgId(), task.getSiteId());
+
+        // 更新当前任务的执行索引
+        RegionConsecutiveTaskRecord record = siteMemory.getRegionConsecutiveTask(device.getSerialNumber());
+        if (record != null && DeviceTaskStaus.EXECUTING.equals(record.getTaskStatus())) {
+            int maxIndex = record.getRouteIds().size() - 1;
+            int currentIndex = record.getCurrentIndex();
+            record.setUpdateTime(LocalDateTime.now());
+            if (currentIndex >= maxIndex) {
+                record.setTaskStatus(DeviceTaskStaus.FINISH);
+                siteMemory.removeRegionConsecutiveTask(device.getSerialNumber());
+            } else {
+                record.setCurrentIndex(currentIndex + 1);
+            }
+            regionConsecutiveTaskRecordMapper.saveOrUpdate(record);
+        }
+
         siteMemory.removeDevicePlanExecute(task.getDeviceId());
+        GlobalMemory.taskPathMap.remove(task.getId());
         task = null;
         currentTaskId = null;
         currentPoint = null;
@@ -124,22 +160,69 @@ public class NettyDevice extends Connector {
         return finishId;
     }
 
-    public synchronized boolean cancelTask() {
+    public synchronized boolean cancelingTask() throws MqttException {
         if (task != null) {
-            sendPathCommand((byte) 0x01, (short) 0, 0.00d, 0.00d, (short) 0);
+            WorkRecord workRecord = workRecordMapper.selectById(task.getRouteId());
+            if (workRecord != null) {
+                HostWorkRecordCreateDTO dto = new HostWorkRecordCreateDTO();
+                dto.setAction("cancel");
+                dto.setCommand_id(task.getId() + "_" + System.currentTimeMillis());
+                dto.setTask_id(String.valueOf(task.getId()));
+                dto.setSn(task.getDeviceId());
+                dto.setMode(workRecord.getMode());
+                dto.setTimestamp(System.currentTimeMillis());
+                dto.setMessage_id(task.getId() + "_" + System.currentTimeMillis());
+                dto.setProtocol_version(Constant.protocol_version);
+
+                GlobalMemory.customMqttDeviceMonitor.publish(mqttClientId,
+                        String.format(MqttTopic.MOWER_TASK_ROUTE_SET, task.getDeviceId()),
+                        JsonUtils.toJsonString(dto));
+                task.setTaskStaus(DeviceTaskStaus.CANCELING);
+                task.setUpdateTime(LocalDateTime.now());
+                devicePlanTaskMapper.saveOrUpdate(task);
+            }
+        }
+        return true;
+    }
+
+    public synchronized Long canceledTask() {
+        if (task != null) {
+            Long taskId = task.getId();
             task.setTaskStaus(DeviceTaskStaus.CANCELED);
             task.setUpdateTime(LocalDateTime.now());
             devicePlanTaskMapper.saveOrUpdate(task);
             SiteMemory siteMemory = GlobalMemory.getSiteMemory(task.getOrgId(), task.getSiteId());
             siteMemory.removeDevicePlanPrepare(task);
             siteMemory.removeDevicePlanExecute(task.getDeviceId());
+            GlobalMemory.taskPathMap.remove(task.getId());
             task = null;
             currentTaskId = null;
             currentPoint = null;
             locationQueue.clear();
             executingTask = false;
+            return taskId;
         }
-        return true;
+        return null;
+    }
+
+    public synchronized Long failedTask() {
+        if (task != null) {
+            Long taskId = task.getId();
+            task.setTaskStaus(DeviceTaskStaus.FAILED);
+            task.setUpdateTime(LocalDateTime.now());
+            devicePlanTaskMapper.saveOrUpdate(task);
+            SiteMemory siteMemory = GlobalMemory.getSiteMemory(task.getOrgId(), task.getSiteId());
+            siteMemory.removeDevicePlanPrepare(task);
+            siteMemory.removeDevicePlanExecute(task.getDeviceId());
+            GlobalMemory.taskPathMap.remove(task.getId());
+            task = null;
+            currentTaskId = null;
+            currentPoint = null;
+            locationQueue.clear();
+            executingTask = false;
+            return taskId;
+        }
+        return null;
     }
 
     public void sendPathCommand(byte commandType, short pointCounts, double lat, double lng, short speed) {
@@ -156,8 +239,9 @@ 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) {
+    // 配置左右轮增益系数
+    public void sendWheelGainCoefficientsCommand(double leftForwardGain, double leftBackwardGain,
+            double rightForwardGain, double rightBackwardGain) {
         ByteBuffer buffer = ByteBuffer.allocate(39);
         buffer.order(ByteOrder.LITTLE_ENDIAN);
 
@@ -189,32 +273,46 @@ 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() {
+    public synchronized boolean pauseTask() throws MqttException {
         if (executingTask) {
             task.setTaskStaus(DeviceTaskStaus.PAUSE);
-            sendPathCommand((byte) 0x01, (short) 2, 0.00d, 0.00d, (short) 0);
-            // executingTask = false;
+            HostWorkRecordCreateDTO dto = new HostWorkRecordCreateDTO();
+            dto.setAction("pause");
+            dto.setCommand_id(task.getId() + "_" + System.currentTimeMillis());
+            dto.setTask_id(String.valueOf(task.getId()));
+            dto.setSn(task.getDeviceId());
+            // TODO 存内存
+            WorkRecord workRecord = workRecordMapper.selectById(task.getRouteId());
+            log.debug("发送开始任务 workRecord {}", workRecord);
+            if (workRecord != null) {
+                dto.setMode(workRecord.getMode());
+            }
+            dto.setTimestamp(System.currentTimeMillis());
+            dto.setMessage_id(task.getId() + "_" + System.currentTimeMillis());
+            dto.setProtocol_version(Constant.protocol_version);
+            GlobalMemory.customMqttDeviceMonitor.publish(mqttClientId,
+                    String.format(MqttTopic.MOWER_TASK_ROUTE_SET, task.getDeviceId()),
+                    JsonUtils.toJsonString(dto));
             return true;
         } else {
             return false;
@@ -223,15 +321,26 @@ public class NettyDevice extends Connector {
     }
 
     // todo 优化
-    public synchronized boolean recoveryTask() throws InterruptedException {
+    public synchronized boolean recoveryTask() throws InterruptedException, MqttException {
         if (task.getTaskStaus().equals(DeviceTaskStaus.PAUSE)) {
-            task.setTaskStaus(DeviceTaskStaus.EXECUTING);
-            executingTask = true;
-            sendPathCommand((byte) 0x01, (short) 3, 0.00d, 0.00d, (short) 0);
-            // Thread.sleep(1000);
-            // sendPathCommand((byte) 0x01, (short) 1, currentPoint.getLat(),
-            // currentPoint.getLng(), (short) 0);
-            // sendNextPoint();
+            task.setTaskStaus(DeviceTaskStaus.PAUSE);
+            HostWorkRecordCreateDTO dto = new HostWorkRecordCreateDTO();
+            dto.setAction("resume");
+            dto.setCommand_id(task.getId() + "_" + System.currentTimeMillis());
+            dto.setTask_id(String.valueOf(task.getId()));
+            dto.setSn(task.getDeviceId());
+            // TODO 存内存
+            WorkRecord workRecord = workRecordMapper.selectById(task.getRouteId());
+            log.debug("发送开始任务 workRecord {}", workRecord);
+            if (workRecord != null) {
+                dto.setMode(workRecord.getMode());
+            }
+            dto.setTimestamp(System.currentTimeMillis());
+            dto.setMessage_id(task.getId() + "_" + System.currentTimeMillis());
+            dto.setProtocol_version(Constant.protocol_version);
+            GlobalMemory.customMqttDeviceMonitor.publish(mqttClientId,
+                    String.format(MqttTopic.MOWER_TASK_ROUTE_SET, task.getDeviceId()),
+                    JsonUtils.toJsonString(dto));
             return true;
         } else {
             return false;
@@ -242,24 +351,208 @@ public class NettyDevice extends Connector {
         try {
             if (executingTask)
                 return;
-            if (task != null) {
-                Long routeId = task.getRouteId();
-                WorkRecord workRecord = workRecordMapper.selectById(routeId);
-                if (workRecord != null) {
-                    PlanPath planPath = workRecord.getJsonData();
-                    if (planPath != null && !CollectionUtils.isEmpty(planPath.getPath())) {
-                        planPath.getPath().forEach(x -> {
-                            locationQueue.offer(x);
-                        });
-                    }
-                }
-                task.setStartTime(LocalDateTime.now());
-            }
             executingTask = true;
-            sendNextPoint();
+            if (task != null) {
+                // startTime 在启动前记录
+                task.setStartTime(LocalDateTime.now());
+
+                AtomicInteger count = new AtomicInteger(0);
+                ScheduledFuture<?>[] futureHolder = new ScheduledFuture<?>[1];
+                futureHolder[0] = executor.scheduleWithFixedDelay(() -> {
+                    int current = count.incrementAndGet();
+                    try {
+                        if (task.isTaskAccepted()) {
+                            // 成功，停止后续执行
+                            futureHolder[0].cancel(false);
+                            log.info("任务执行成功，停止重试，执行次数={}", current);
+                            return;
+                        }
+                        sendNavigationCommand();
+                        // 达到最大次数
+                        if (current >= 10) {
+                            futureHolder[0].cancel(false);
+                            log.warn("任务执行达到最大次数，停止执行");
+                            executingTask = false;
+                            task.setTaskStaus(DeviceTaskStaus.FAILED);
+                            devicePlanTaskMapper.saveOrUpdate(task);
+                            task = null;
+                        }
+
+                    } catch (Exception e) {
+                        log.error("任务执行异常，次数={}", current, e);
+
+                        // 异常是否算一次，可以根据你的业务决定
+                        if (current >= 10) {
+                            futureHolder[0].cancel(false);
+                        }
+                        executingTask = false;
+                        task.setTaskStaus(DeviceTaskStaus.FAILED);
+                        devicePlanTaskMapper.saveOrUpdate(task);
+                        task = null;
+                    }
+
+                }, 0, 5, TimeUnit.SECONDS);
+            }
         } catch (Exception e) {
-            throw new RuntimeException(e);
+            log.error("发送开始任务：error {} ", e.getMessage());
         }
     }
 
+    public synchronized void sendNavigationCommand() throws MqttException {
+
+        log.debug("发送开始任务 taskStatus:{},routeId:{}", task.getTaskStaus(), task.getRouteId());
+        if (!task.getTaskStaus().equals(DeviceTaskStaus.EXECUTING))
+            return;
+
+        WorkRecord workRecord = workRecordMapper.selectById(task.getRouteId());
+        log.debug("发送开始任务 workRecord {}", workRecord);
+        if (workRecord != null) {
+            HostWorkRecordCreateDTO dto = new HostWorkRecordCreateDTO();
+            dto.setAction("start");
+            dto.setCommand_id(task.getId() + "_" + System.currentTimeMillis());
+            dto.setTask_id(String.valueOf(task.getId()));
+            dto.setSn(task.getDeviceId());
+            dto.setMode(workRecord.getMode());
+            dto.setTimestamp(System.currentTimeMillis());
+            dto.setMessage_id(task.getId() + "_" + System.currentTimeMillis());
+            dto.setProtocol_version(Constant.protocol_version);
+
+            PointEntity point = new PointEntity();
+            // TODO 增加其他系统任务类型 写死的code
+            if (RouteType.BACK_TO_REST_POINT.equals(task.getRouteType())) {
+                point.setLongitude(task.getBackTaskPoint().getPosition().getLng());
+                point.setLatitude(task.getBackTaskPoint().getPosition().getLat());
+            } else {
+                if (!StringUtils.isEmpty(workRecord.getMode())) {
+                    if (workRecord.getMode().equals("single_point")) {
+                        point.setLongitude(workRecord.getJsonData().getPath().get(0).getLng());
+                        point.setLatitude(workRecord.getJsonData().getPath().get(0).getLat());
+                    }
+                    if (workRecord.getMode().equals("coverage")) {
+                        List<MutiPointEntity> boundary_points = new ArrayList<>();
+                        List<LatAndLngEntity> path = workRecord.getJsonData().getPath();
+
+                        for (int i = 0; i < path.size(); i++) {
+                            LatAndLngEntity x = path.get(i);
+
+                            MutiPointEntity mutiPoint = new MutiPointEntity();
+                            mutiPoint.setLongitude(x.getLng());
+                            mutiPoint.setLatitude(x.getLat());
+                            mutiPoint.setIndex(i);
+                            boundary_points.add(mutiPoint);
+                        }
+                        point.setBoundary_points(boundary_points);
+                    }
+                    if (workRecord.getMode().equals("predefined_path")) {
+                        point.setPath_id(workRecord.getId());
+                        point.setUrl(workRecord.getFileUrl());
+                        point.setVersion("v2");
+                    }
+                }
+            }
+            point.setExecute(true);
+            dto.setData(point);
+            GlobalMemory.customMqttDeviceMonitor.publish(mqttClientId,
+                    String.format(MqttTopic.MOWER_TASK_ROUTE_SET, task.getDeviceId()),
+                    JsonUtils.toJsonString(dto));
+        }
+    }
+
+    public synchronized void sendPredefined(WorkRecord workRecord) throws MqttException {
+
+        log.debug("发送开始任务 taskStatus:{},routeId:{}", task.getTaskStaus(), task.getRouteId());
+        if (task != null)
+            return;
+
+        if (workRecord != null) {
+            HostWorkRecordCreateDTO dto = new HostWorkRecordCreateDTO();
+            dto.setAction("start");
+            dto.setCommand_id(task.getId() + "_" + System.currentTimeMillis());
+            dto.setTask_id(String.valueOf(task.getId()));
+            dto.setSn(task.getDeviceId());
+
+            dto.setMode(workRecord.getMode());
+
+            dto.setTimestamp(System.currentTimeMillis());
+            dto.setMessage_id("predefined" + "_" + System.currentTimeMillis());
+            dto.setProtocol_version(Constant.protocol_version);
+
+            PointEntity point = new PointEntity();
+
+            List<MutiPointEntity> boundary_points = new ArrayList<>();
+            List<LatAndLngEntity> path = workRecord.getJsonData().getPath();
+
+            for (int i = 0; i < path.size(); i++) {
+                LatAndLngEntity x = path.get(i);
+
+                MutiPointEntity mutiPoint = new MutiPointEntity();
+                mutiPoint.setLongitude(x.getLng());
+                mutiPoint.setLatitude(x.getLat());
+                mutiPoint.setIndex(i);
+                boundary_points.add(mutiPoint);
+            }
+            point.setBoundary_points(boundary_points);
+            point.setPath_id(workRecord.getId());
+            point.setVersion("v2");
+            point.setExecute(false);
+
+            dto.setData(point);
+            GlobalMemory.customMqttDeviceMonitor.publish(mqttClientId,
+                    String.format(MqttTopic.MOWER_TASK_ROUTE_SET, task.getDeviceId()),
+                    JsonUtils.toJsonString(dto));
+        }
+    }
+
+    public void upgrade(String deviceId, DeviceOtaFirmware firmware) throws MqttException {
+        Map<String, Object> payload = new HashMap<>();
+        payload.put("action", "ota_upgrade");
+        payload.put("version", firmware.getVersion());
+        payload.put("file_url", firmware.getFileUrl());
+        payload.put("firmware_id", firmware.getId());
+        payload.put("sn", deviceId);
+        payload.put("timestamp", System.currentTimeMillis());
+        payload.put("message_id", firmware.getId() + "_" + System.currentTimeMillis());
+
+        GlobalMemory.customMqttDeviceMonitor.publish(
+                mqttClientId,
+                String.format(MqttTopic.MOWER_OTA_UPGRADE_SET, deviceId),
+                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));
+    }
+
+    /**
+     * 下发模式切换指令
+     * 
+     * @param deviceId
+     * @param controlMode
+     * @throws MqttException
+     */
+    public void modeChage(String deviceId, Integer controlMode) throws MqttException {
+        HostModeChangeDTO payload = new HostModeChangeDTO();
+        payload.setSn(deviceId);
+        payload.setTimestamp(System.currentTimeMillis());
+        payload.setMessage_id("modeChange_" + System.currentTimeMillis());
+        payload.setCommand_id("modeChangeCommand_ " + System.currentTimeMillis());
+        payload.setProtocol_version(Constant.protocol_version);
+        Map<String, Object> data = new HashMap<>();
+        data.put("control_mode", controlMode);
+        payload.setData(data);
+
+        GlobalMemory.customMqttDeviceMonitor.publish(
+                mqttClientId,
+                String.format(MqttTopic.MOWER_MODE_CHANGE_SET, deviceId),
+                JsonUtils.toJsonString(payload));
+    }
+
 }

maibu-common/src/main/java/com/maibu/core/business/dto/ConsecutiveTaskDTO.java

@@ -0,0 +1,20 @@
+package com.maibu.core.business.dto;
+
+import java.util.List;
+
+import lombok.Data;
+
+@Data
+public class ConsecutiveTaskDTO {
+
+    private String deviceId;
+
+    private List<Long> routeIds; // 线路id
+
+    private Long orgId;
+
+    private Long siteId;
+
+    private Long regionId;
+
+}

maibu-common/src/main/java/com/maibu/core/business/dto/ConsecutiveTaskQueryDTO.java

@@ -0,0 +1,29 @@
+package com.maibu.core.business.dto;
+
+import java.time.LocalDateTime;
+
+import org.springframework.format.annotation.DateTimeFormat;
+
+import com.fasterxml.jackson.annotation.JsonFormat;
+import com.maibu.core.enums.DeviceTaskStaus;
+
+import lombok.Data;
+
+@Data
+public class ConsecutiveTaskQueryDTO {
+
+    private Long siteId;
+
+    @DateTimeFormat(pattern = "yyyy-MM-dd HH:mm:ss")
+    @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss", timezone = "GMT+8")
+    private LocalDateTime startTime;
+
+    @DateTimeFormat(pattern = "yyyy-MM-dd HH:mm:ss")
+    @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss", timezone = "GMT+8")
+    private LocalDateTime endTime;
+
+    private String deviceId;
+
+    private DeviceTaskStaus taskStatus;
+
+}

maibu-common/src/main/java/com/maibu/core/business/dto/DeviceMapPushDTO.java

@@ -0,0 +1,24 @@
+package com.maibu.core.business.dto;
+
+import lombok.Data;
+
+@Data
+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 p; // 任务进度
+    private String wk; // 任务进度
+    private double b; // 电量
+    private boolean ha = false;// hasAlarm 有无告警
+
+    private Integer cm;// 控制模式 manual_remote|auto
+
+    private String ms; // 运动状态 moving|stopped|blocked
+
+}

maibu-common/src/main/java/com/maibu/core/business/dto/DeviceTaskCommandDTO.java

@@ -20,4 +20,8 @@ public class DeviceTaskCommandDTO {
 
     private Long taskId;
 
+    private Long regionId;
+
+    private boolean forceCancel = false; //强制取消 不等回复
+
 }

maibu-common/src/main/java/com/maibu/core/business/dto/WebDeviceTaskStatusMessageDTO.java

@@ -1,4 +1,4 @@
-package com.maibu.dto;
+package com.maibu.core.business.dto;
 
 import com.maibu.core.business.path.LatAndLngEntity;
 import com.maibu.core.enums.MesType;

maibu-common/src/main/java/com/maibu/core/business/dto/WebMapMessageDTO.java

@@ -0,0 +1,12 @@
+package com.maibu.core.business.dto;
+
+import com.maibu.core.enums.MesType;
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class WebMapMessageDTO {
+    private List<DeviceMapPushDTO> data;
+    private MesType type;
+}

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;
 }

maibu-common/src/main/java/com/maibu/core/business/dto/WebRouteStatusMessageDTO.java

@@ -0,0 +1,16 @@
+package com.maibu.core.business.dto;
+
+import java.util.List;
+
+import com.maibu.core.business.path.LatAndLngEntity;
+import com.maibu.core.enums.MesType;
+
+import lombok.Data;
+
+@Data
+public class WebRouteStatusMessageDTO {
+    private List<LatAndLngEntity> data;
+    private String deviceId;
+    private Long taskId;
+    private MesType type;
+}

maibu-common/src/main/java/com/maibu/core/business/dto/WebStatusMessageDTO.java

@@ -1,4 +1,4 @@
-package com.maibu.dto;
+package com.maibu.core.business.dto;
 
 import lombok.Data;
 

maibu-common/src/main/java/com/maibu/core/business/inter/DeviceWebSocketInterace.java

@@ -1,7 +0,0 @@
-package com.maibu.core.business.inter;
-
-public interface DeviceWebSocketInterace {
-
-    void sendWebsoketMes(String key, String data);
-
-}

maibu-common/src/main/java/com/maibu/core/business/inter/DeviceWebSocketInterface.java

@@ -0,0 +1,10 @@
+package com.maibu.core.business.inter;
+
+public interface DeviceWebSocketInterface {
+
+    void sendWebsocketMes(String key, String data);
+
+
+    void sendMapWebsocketMes(Long siteId,String data);
+
+}

maibu-common/src/main/java/com/maibu/core/business/inter/WebsocketMesDispather.java

@@ -14,10 +14,19 @@ public class WebsocketMesDispather {
     private ApplicationContext applicationContext;
 
     public void dispather(String key, String data) {
-        Map<String, DeviceWebSocketInterace> beanMap = applicationContext.getBeansOfType(DeviceWebSocketInterace.class);
+        Map<String, DeviceWebSocketInterface> beanMap = applicationContext.getBeansOfType(DeviceWebSocketInterface.class);
         // 遍历
         beanMap.values().forEach(x -> {
-            x.sendWebsoketMes(key, data);
+            x.sendWebsocketMes(key, data);
+        });
+    }
+
+
+    public void mapMessageDispather(Long siteId, String data) {
+        Map<String, DeviceWebSocketInterface> beanMap = applicationContext.getBeansOfType(DeviceWebSocketInterface.class);
+        // 遍历
+        beanMap.values().forEach(x -> {
+            x.sendMapWebsocketMes(siteId, data);
         });
     }
 

maibu-common/src/main/java/com/maibu/core/business/inter/mower/MowerCommandDispather.java

@@ -15,7 +15,7 @@ public class MowerCommandDispather {
     @Resource
     private ApplicationContext applicationContext;
 
-    public Long dispathDeviceTask(DeviceTaskCommandDTO dto) {
+    public Long dispathDeviceTask(DeviceTaskCommandDTO dto) throws Exception {
         Map<String, MowerCommandInter> beanMap = applicationContext.getBeansOfType(MowerCommandInter.class);
         // 遍历
         Long id = null;

maibu-common/src/main/java/com/maibu/core/business/inter/mower/MowerCommandInter.java

@@ -4,6 +4,6 @@ import com.maibu.core.business.dto.DeviceTaskCommandDTO;
 
 public interface MowerCommandInter {
 
-    Long createDeviceTask(DeviceTaskCommandDTO dto);
+    Long createDeviceTask(DeviceTaskCommandDTO dto) throws Exception;
 
 }

maibu-common/src/main/java/com/maibu/core/domain/BaseDO.java

@@ -1,5 +1,6 @@
 package com.maibu.core.domain;
 
+import com.baomidou.mybatisplus.annotation.FieldFill;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableLogic;
 import com.fasterxml.jackson.annotation.JsonFormat;
@@ -14,6 +15,7 @@ import java.util.Map;
 
 /**
  * 基类，时间类型改为LocalDateTime
+ * 
  * @author fastb
  * @date 2023-08-22 9:11
  */
@@ -23,20 +25,24 @@ public class BaseDO implements Serializable {
 
     /** 创建者 */
     @ApiModelProperty("创建者")
+    @TableField(fill = FieldFill.INSERT)
     private String createBy;
 
     /** 创建时间 */
     @ApiModelProperty("创建时间")
+    @TableField(fill = FieldFill.INSERT)
     @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss")
     private LocalDateTime createTime;
 
     /** 更新者 */
     @ApiModelProperty("更新者")
+    @TableField(fill = FieldFill.INSERT_UPDATE)
     private String updateBy;
 
     /** 更新时间 */
     @ApiModelProperty("更新时间")
     @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss")
+    @TableField(fill = FieldFill.INSERT_UPDATE)
     private LocalDateTime updateTime;
 
     /** 逻辑删除 */

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;
+
+}

maibu-common/src/main/java/com/maibu/core/domain/entity/SysRegion.java

@@ -1,17 +1,22 @@
 package com.maibu.core.domain.entity;
 
+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.core.business.path.LatAndLngEntity;
 import com.maibu.core.domain.BaseDO;
+import com.maibu.utils.LongListTypeHandler;
+
 import lombok.Data;
 import lombok.EqualsAndHashCode;
 
-import java.math.BigDecimal;
-
 @EqualsAndHashCode(callSuper = true)
 @Data
-@TableName(value = "sys_region")
+@TableName(value = "sys_region", autoResultMap = true)
 public class SysRegion extends BaseDO {
 
     @TableId(type = IdType.AUTO)
@@ -27,6 +32,14 @@ public class SysRegion extends BaseDO {
 
     private String remark;
 
+    @TableField(typeHandler = JacksonTypeHandler.class)
+    private List<LatAndLngEntity> scope; // 区域范围
+
     private Integer status;
 
+    private Long defaultRoute;// 绑定的线路id
+
+    @TableField(typeHandler = LongListTypeHandler.class)
+    private List<Long> bindRoutes;// 绑定的线路id
+
 }

maibu-common/src/main/java/com/maibu/core/domain/entity/SysSite.java

@@ -1,17 +1,20 @@
 package com.maibu.core.domain.entity;
 
-import com.baomidou.mybatisplus.annotation.IdType;
-import com.baomidou.mybatisplus.annotation.TableId;
-import com.baomidou.mybatisplus.annotation.TableName;
-import com.maibu.core.domain.BaseDO;
-import lombok.Data;
-import lombok.EqualsAndHashCode;
-
 import java.math.BigDecimal;
 
+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.BaseDO;
+import com.maibu.core.domain.map.SiteMapInfo;
+
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
 @EqualsAndHashCode(callSuper = true)
 @Data
-@TableName(value = "sys_site")
+@TableName(value = "sys_site", autoResultMap = true)
 public class SysSite extends BaseDO {
 
     @TableId(type = IdType.AUTO)
@@ -43,4 +46,12 @@ public class SysSite extends BaseDO {
 
     private boolean dingTalkOrderPush = false;// 工单是否推送
 
+    private String siteMapName; // geoserver 地图名称
+
+    /**
+     * 场站相关的地图信息 比如停车点，充电点，临时不可走点 等等 待拓展
+     */
+    @TableField(exist = false)
+    private SiteMapInfo siteMapInfo;
+
 }

maibu-common/src/main/java/com/maibu/core/domain/map/RestPoint.java

@@ -0,0 +1,16 @@
+package com.maibu.core.domain.map;
+
+import com.maibu.core.business.path.LatAndLngEntity;
+
+import lombok.Data;
+
+@Data
+public class RestPoint {
+
+    private LatAndLngEntity position;
+
+    private String bindDeviceId;
+
+    private String alias;
+
+}

maibu-common/src/main/java/com/maibu/core/domain/map/SiteMapInfo.java

@@ -0,0 +1,31 @@
+package com.maibu.core.domain.map;
+
+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.core.domain.OrgNoUserDO;
+
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@EqualsAndHashCode(callSuper = true)
+@Data
+@TableName(value = "sys_site_map_info", autoResultMap = true)
+public class SiteMapInfo extends OrgNoUserDO {
+
+    @TableId(type = IdType.AUTO)
+    private Long id;
+
+    @TableField(typeHandler = JacksonTypeHandler.class)
+    private List<RestPoint> restPoints; // 休息点
+
+    @TableField(typeHandler = JacksonTypeHandler.class)
+    private List<TempObstaclePoint> tempObstaclePoints; // 临时不可走点
+
+    // todo 拓展 安全区 充电区？
+
+}

maibu-common/src/main/java/com/maibu/core/domain/map/TempObstaclePoint.java

@@ -0,0 +1,22 @@
+package com.maibu.core.domain.map;
+
+import com.maibu.core.business.path.LatAndLngEntity;
+
+import lombok.Data;
+
+@Data
+public class TempObstaclePoint {
+
+    private LatAndLngEntity center;
+
+    private String alias;
+
+    private double radius; // 半径
+
+    private double size_x; // x方向的长度
+
+    private double size_y; // y方向的长度
+
+    private String source = "platform"; // 数据来源 默认给平台
+
+}

maibu-common/src/main/java/com/maibu/core/domain/model/LoginUser.java

@@ -48,6 +48,12 @@ public class LoginUser implements UserDetails {
      */
     private String token;
 
+
+    /**
+     * 用户唯一标识   用户控制设备
+     */
+    private String realToken;
+
     /**
      * 登录时间
      */
@@ -108,7 +114,7 @@ public class LoginUser implements UserDetails {
         this.permissions = permissions;
     }
 
-    public LoginUser(Long userId, Long deptId, Long orgId, Long siteId, Long roleId,String language, SysUser user, Set<String> permissions) {
+    public LoginUser(Long userId, Long deptId, Long orgId, Long siteId, Long roleId, String language, SysUser user, Set<String> permissions) {
         this.userId = userId;
         this.deptId = deptId;
         this.orgId = orgId;

maibu-common/src/main/java/com/maibu/core/domain/rule/ActionConfig.java

@@ -0,0 +1,25 @@
+package com.maibu.core.domain.rule;
+
+import java.util.Map;
+
+import com.maibu.core.enums.ActionType;
+
+import lombok.Data;
+
+@Data
+
+public class ActionConfig {
+
+    /**
+     * 触发任务类型
+     */
+    private ActionType actionType;
+
+    /**
+     * 参数值
+     */
+    private Map<String, Object> args;
+
+    private Long routeId;
+
+}

maibu-common/src/main/java/com/maibu/core/domain/rule/IotAutoRule.java

@@ -0,0 +1,64 @@
+package com.maibu.core.domain.rule;
+
+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.core.domain.OrgNoUserDO;
+import com.maibu.core.enums.DeviceScope;
+import com.maibu.core.enums.RuleType;
+
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+/**
+ * 自动化规则配置
+ */
+@EqualsAndHashCode(callSuper = true)
+@Data
+@TableName(value = "iot_auto_rule", autoResultMap = true)
+public class IotAutoRule extends OrgNoUserDO {
+
+    /**
+     * 主键
+     */
+    @TableId(type = IdType.AUTO)
+    private Long id;
+
+    /**
+     * 规则名称
+     */
+    private String ruleName;
+
+    /**
+     * 规则类型，如 LOW_BATTERY_RETURN
+     */
+    private RuleType ruleType;
+
+    /**
+     * 适用设备、分组、全部
+     */
+    private DeviceScope deviceScope;
+
+    /**
+     * 触发条件
+     */
+    @TableField(typeHandler = JacksonTypeHandler.class)
+    private TriggerConditions conditions;
+
+    /**
+     * 执行动作及参数
+     */
+    @TableField(typeHandler = JacksonTypeHandler.class)
+    private ActionConfig actionConfig;
+
+    /**
+     * 是否启用：0-禁用，1-启用
+     */
+    private Boolean enabled = false;
+
+    // 是否强制执行 比如车子当前有任务
+    private Boolean ForceExecute = false;
+
+}

maibu-common/src/main/java/com/maibu/core/domain/rule/IotAutoRuleRecord.java

@@ -0,0 +1,59 @@
+package com.maibu.core.domain.rule;
+
+import java.time.LocalDateTime;
+import java.util.Date;
+
+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.core.domain.OrgNoUserDO;
+import com.maibu.core.enums.RuleType;
+
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+/**
+ * 自动化规则触发记录
+ */
+@EqualsAndHashCode(callSuper = true)
+@Data
+@TableName(value = "iot_auto_rule_record", autoResultMap = true)
+public class IotAutoRuleRecord extends OrgNoUserDO {
+
+    /**
+     * 主键
+     */
+    @TableId(type = IdType.AUTO)
+    private Long id;
+
+    /**
+     * 规则 ID
+     */
+    private Long ruleId;
+
+    private RuleType ruleType;
+
+    /**
+     * 触发设备 ID
+     */
+    private String deviceId;
+
+    private String triggerValue;
+
+    /**
+     * 触发时间
+     */
+    private LocalDateTime triggerTime;
+
+    /**
+     * 关联的返航任务 ID
+     */
+    private String taskId;
+
+    /**
+     * 执行失败原因
+     */
+    private String errorMessage;
+}

maibu-common/src/main/java/com/maibu/core/domain/rule/TriggerConditions.java

@@ -0,0 +1,28 @@
+package com.maibu.core.domain.rule;
+
+import java.math.BigDecimal;
+
+import com.maibu.core.enums.CompareEnum;
+
+import lombok.Data;
+
+@Data
+
+public class TriggerConditions {
+
+    /**
+     * 触发条件判断的字段key 电量 battery /temperature/offline_duration/voltage
+     */
+    private String key;
+
+    /**
+     * 比较运算符：GT、GTE、LT、LTE、EQ、NE
+     */
+    private CompareEnum operator;
+
+    /**
+     * 比较阈值
+     */
+    private String value;
+
+}

maibu-common/src/main/java/com/maibu/core/enums/ActionType.java

@@ -0,0 +1,26 @@
+package com.maibu.core.enums;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+@Getter
+@AllArgsConstructor
+public enum ActionType {
+
+    AUTO_TASK("AUTO_TASK", "路径规划任务"),
+
+    BACK_TO_REST("BACK_TO_REST", "回休息区"),
+
+    SEND_COMMAND("SEND_COMMAND", "下发指令"),
+
+    ALARM("ALARM", "告警"),
+
+    WORK_ORDER("WORK_ORDER", "工单下发");
+
+    /** 订单类型值（存储在数据库中） */
+    private final String value;
+
+    /** 订单类型名称（用于前端显示） */
+    private final String name;
+
+}

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;
+
+}

maibu-common/src/main/java/com/maibu/core/enums/DeviceScope.java

@@ -0,0 +1,22 @@
+package com.maibu.core.enums;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+@Getter
+@AllArgsConstructor
+public enum DeviceScope {
+
+    ALL("ALL", "所有设备"),
+
+    GROUP("GROUP", "设备组"),
+
+    SOME("SOME", "特定的");
+
+    /** 订单类型值（存储在数据库中） */
+    private final String value;
+
+    /** 订单类型名称（用于前端显示） */
+    private final String name;
+
+}

maibu-common/src/main/java/com/maibu/core/enums/DeviceTaskStaus.java

@@ -7,12 +7,13 @@ import lombok.Getter;
 @AllArgsConstructor
 public enum DeviceTaskStaus {
 
-    NEW("NEW","新建"),
-    EXECUTING("EXECUTING","执行中"),
-    PAUSE("PAUSE","暂停中"),
-    CANCELED("CANCELED","已取消"),
-    FINISH("FINISH","执行成功"),
-    FAILED("FAILED","执行失败");
+    NEW("NEW", "新建"),
+    EXECUTING("EXECUTING", "执行中"),
+    PAUSE("PAUSE", "暂停中"),
+    CANCELED("CANCELED", "已取消"),
+    CANCELING("CANCELING", "取消中"),
+    FINISH("FINISH", "执行成功"),
+    FAILED("FAILED", "执行失败");
 
 
     private final String code;

maibu-common/src/main/java/com/maibu/core/enums/MesType.java

@@ -3,6 +3,7 @@ package com.maibu.core.enums;
 public enum MesType {
     AUTH, // 登录连接权限web->be
     deviceInfo, // 设备状态 be->web
+    locationInfo,
     path, // 路径下发 web->be
     have_logged_in, // 消息
     device_status_changed, // 上下线状态变化
@@ -13,5 +14,7 @@ public enum MesType {
     remoteControl,
     detectionReport, // 障碍物消息
     switchPermission, // 切换控制申请
-    switchResult;// 切换结果
+    switchResult,// 切换结果
+    route_post,// 路径规划 点位推送
+    mapPush;
 }

maibu-common/src/main/java/com/maibu/core/enums/OtaOperate.java

@@ -0,0 +1,18 @@
+package com.maibu.core.enums;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+@Getter
+@AllArgsConstructor
+public enum OtaOperate {
+
+    upload("upload", "上传"),
+    upgrade("upgrade", "升级"),
+    rollback("rollback", "回滚"),
+    reboot("reboot", "重启");
+
+    private final String name;
+    private final String value;
+
+}

maibu-common/src/main/java/com/maibu/core/enums/RouteType.java

@@ -0,0 +1,24 @@
+package com.maibu.core.enums;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+@Getter
+@AllArgsConstructor
+public enum RouteType {
+
+    MOWING_TASK("MOWING_TASK", "割草任务"),
+
+    INSPECTION_TASK("INSPECTION_TASK", "巡检任务"),
+
+    BACK_TO_REST_POINT("BACK_TO_REST_POINT", "返航任务"),
+
+    OTHER("OTHER", "其他类型");
+
+    /** 订单类型值（存储在数据库中） */
+    private final String value;
+
+    /** 订单类型名称（用于前端显示） */
+    private final String name;
+
+}

maibu-common/src/main/java/com/maibu/core/enums/RuleType.java

@@ -0,0 +1,18 @@
+package com.maibu.core.enums;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+@Getter
+@AllArgsConstructor
+public enum RuleType {
+
+    LOW_BATTERY_RETURN("LOW_BATTERY_RETURN", "低电量返航");
+
+    /** 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;
+
+}

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;
+
+}

maibu-common/src/main/java/com/maibu/core/host/DetectionStamp.java

@@ -0,0 +1,10 @@
+package com.maibu.core.host;
+
+import lombok.Data;
+
+@Data
+public class DetectionStamp {
+
+    private Long sec;
+    private Long nanosec;
+}

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;
+}

maibu-common/src/main/java/com/maibu/core/host/HeartBeatDTO.java

@@ -0,0 +1,12 @@
+package com.maibu.core.host;
+
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@EqualsAndHashCode(callSuper = true)
+@Data
+public class HeartBeatDTO extends HostBase {
+    private String status;
+
+    private Long sysTimestamp; //服务器的时间
+}

maibu-common/src/main/java/com/maibu/core/host/HostBase.java

@@ -0,0 +1,13 @@
+package com.maibu.core.host;
+
+import lombok.Data;
+
+@Data
+public class HostBase {
+
+    private String protocol_version;
+    private String message_id;
+    private String sn;
+    private Long timestamp; //上位机的时间
+
+}

maibu-common/src/main/java/com/maibu/core/host/HostLocationRelTimeDTO.java

@@ -0,0 +1,13 @@
+package com.maibu.core.host;
+
+
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@EqualsAndHashCode(callSuper = true)
+@Data
+public class HostLocationRelTimeDTO extends HostBase {
+
+    private LocationMessage data;
+
+}

maibu-common/src/main/java/com/maibu/core/host/HostModeChangeDTO.java

@@ -0,0 +1,16 @@
+package com.maibu.core.host;
+
+import java.util.Map;
+
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@EqualsAndHashCode(callSuper = true)
+@Data
+public class HostModeChangeDTO extends HostBase {
+
+    private String command_id;
+
+    private Map<String, Object> data; // map key control_mode 2=自动任务，3=远程遥控
+
+}

maibu-common/src/main/java/com/maibu/core/host/HostModeChangeReplyDTO.java

@@ -0,0 +1,16 @@
+package com.maibu.core.host;
+
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@EqualsAndHashCode(callSuper = true)
+@Data
+public class HostModeChangeReplyDTO extends HostBase {
+
+    private Boolean accepted; 
+
+    private String code;
+
+    private String message;
+
+}

maibu-common/src/main/java/com/maibu/core/host/HostNavigationReplyDTO.java

@@ -0,0 +1,18 @@
+package com.maibu.core.host;
+
+
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@EqualsAndHashCode(callSuper = true)
+@Data
+public class HostNavigationReplyDTO extends HostBase {
+
+    private String task_id; //任务唯一编号
+    private String command_id;//指令唯一编号
+    private boolean accepted;//是否接收
+    private String code;//任务动作 OK|INVALID|BUSY|ERROR
+
+    private String message;
+    
+}

maibu-common/src/main/java/com/maibu/core/host/HostTaskStatusDTO.java

@@ -0,0 +1,19 @@
+package com.maibu.core.host;
+
+
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@EqualsAndHashCode(callSuper = true)
+@Data
+public class HostTaskStatusDTO  extends HostBase{
+
+    private String task_id; //任务唯一编号
+    private String command_id;//指令唯一编号
+    private String mode;//导航任务模式  single_point|coverage
+    private String status;//任务动作 accepted|running|paused|completed|cancelled|failed
+
+    private HostTaskStatusDetailDTO data;
+
+
+}

maibu-common/src/main/java/com/maibu/core/host/HostTaskStatusDetailDTO.java

@@ -0,0 +1,25 @@
+package com.maibu.core.host;
+
+import lombok.Data;
+
+@Data
+public class HostTaskStatusDetailDTO {
+    private double progress;// 已完成作业路径比例，转移段持平且任务内不回退。规划完成前的 0 不代表已开始覆盖。
+
+    private double distance_remaining; // 整任务剩余作业路径
+    private Integer number_of_recoveries;// 恢复行为次数，不代表障碍数量。
+    private double elapsed_s;
+    private double eta_s;
+    private Integer current_cell_index;
+    private Integer total_cells;
+    private double distance_traveled;
+    private double speed;
+    private Integer task_phase;
+
+    private String error_code;
+    private String error_message;
+    private double total_distance_m;
+    private double distance_traveled_m;
+    private double execution_time_s;
+    private Integer cells_completed;
+}

maibu-common/src/main/java/com/maibu/core/host/HostVehicleRelTimeDTO.java

@@ -0,0 +1,13 @@
+package com.maibu.core.host;
+
+
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@EqualsAndHashCode(callSuper = true)
+@Data
+public class HostVehicleRelTimeDTO  extends HostBase {
+
+    private VehicleMessage data;
+
+}

maibu-common/src/main/java/com/maibu/core/host/HostWorkRecordCreateDTO.java

@@ -0,0 +1,20 @@
+package com.maibu.core.host;
+
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@EqualsAndHashCode(callSuper = true)
+@Data
+public class HostWorkRecordCreateDTO extends HostBase {
+
+    private String task_id; // 任务唯一编号
+    private String command_id;// 指令唯一编号
+    private String mode;// 导航任务模式 single_point|coverage
+    private String action;// 任务动作 start/pause/resume/cancel
+    // private String frame_id; //WGS84
+
+    private PointEntity data;
+
+
+
+}

maibu-common/src/main/java/com/maibu/core/host/LocationMessage.java

@@ -0,0 +1,27 @@
+package com.maibu.core.host;
+
+import com.baomidou.mybatisplus.annotation.IdType;
+import com.baomidou.mybatisplus.annotation.TableId;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.maibu.core.domain.OrgNoUserDO;
+
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@Data
+@EqualsAndHashCode(callSuper = true)
+@TableName("iot_host_location_message")
+public class LocationMessage extends OrgNoUserDO {
+
+    @TableId(type = IdType.AUTO)
+    private Long id;
+
+    private String deviceId;
+
+    private double latitude;
+    private double longitude;
+    private double yaw;// 目标航向，正北0°、顺时针正、0-360°
+    private String fix_status;
+    private double altitude;
+
+}

maibu-common/src/main/java/com/maibu/core/host/MutiPointEntity.java

@@ -0,0 +1,14 @@
+package com.maibu.core.host;
+
+import lombok.Data;
+
+@Data
+public class MutiPointEntity {
+
+    private int index;
+    private double latitude;
+    private double longitude;
+    private double yaw;//目标航向，正北0°、顺时针正、0-360°
+
+
+}

maibu-common/src/main/java/com/maibu/core/host/ObstacleDetectionData.java

@@ -0,0 +1,37 @@
+package com.maibu.core.host;
+
+import java.util.List;
+
+import com.maibu.core.enums.MesType;
+
+import lombok.Data;
+
+@Data
+public class ObstacleDetectionData {
+
+    private MesType type;
+
+    /**
+     * 融合状态
+     */
+    private String fusion_status;
+
+    private String fusion_status_code;
+
+    private String fusion_status_reason;
+
+    /**
+     * 障碍物检测状态
+     */
+    private String obstacle_status;
+
+    /**
+     * 检测目标数量
+     */
+    private Integer object_count;
+
+    /**
+     * 检测目标列表
+     */
+    private List<ObstacleObject> objects;
+}

maibu-common/src/main/java/com/maibu/core/host/ObstacleObject.java

@@ -0,0 +1,34 @@
+package com.maibu.core.host;
+
+import lombok.Data;
+
+@Data
+public class ObstacleObject {
+
+    private Integer class_id;
+    private String class_name;
+    private Double confidence;
+
+    private Integer x1;
+    private Integer y1;
+    private Integer x2;
+    private Integer y2;
+
+    private Double x;
+    private Double y;
+    private Double z;
+
+    private Double distance;
+    private Double angle;
+
+    private Double latitude;
+    private Double longitude;
+
+    private Integer track_id;
+
+    private Double size_x;
+    private Double size_y;
+    private Double size_z;
+
+    private DetectionStamp det_stamp;
+}

maibu-common/src/main/java/com/maibu/core/host/ObstaclePostDTO.java

@@ -0,0 +1,13 @@
+package com.maibu.core.host;
+
+
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@EqualsAndHashCode(callSuper = true)
+@Data
+public class ObstaclePostDTO extends HostBase {
+
+    private ObstacleDetectionData fusion_obstacle;
+    
+}

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
+}

maibu-common/src/main/java/com/maibu/core/host/PointEntity.java

@@ -0,0 +1,24 @@
+package com.maibu.core.host;
+
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class PointEntity {
+
+    private double latitude;
+    private double longitude;
+    private double yaw;// 目标航向，正北0°、顺时针正、0-360°
+
+    private List<MutiPointEntity> boundary_points;
+
+    private double cell_size;// 覆盖分辨率，单位m
+
+    private double angle;// 覆盖作业方向，单位度
+
+    private String url; // minio 存放文件的地址
+    private Long path_id; // 路径id 系统保存用的routeId；
+    private String version;
+    private boolean execute = true; // 是直接执行还是创建自定义任务
+}

maibu-common/src/main/java/com/maibu/core/host/VehicleMessage.java

@@ -0,0 +1,44 @@
+package com.maibu.core.host;
+
+import lombok.Data;
+
+@Data
+public class VehicleMessage {
+
+    private String deviceId;
+
+    private double cutter_speed;// 割刀实际转速
+
+    private double battery_percentage;// 实时电量百分比
+    private double battery_voltage;// 实时电压
+
+    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 String mcu_time; // 下位机状态中的 MCU 时间
+    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 Integer control_mode;// 遥控器拨杆对应的当前控制模式 0=无控制|1=本地遥控|2=自动任务|3=远程遥控
+
+    private double linear_speed; // 实时线速度
+    private double angular_speed; // 实时角速度
+
+}

maibu-common/src/main/java/com/maibu/core/mq/message/DeviceData.java

@@ -1,43 +0,0 @@
-package com.maibu.core.mq.message;
-
-import com.maibu.core.ota.OtaPackageCode;
-import com.maibu.core.protocol.Message;
-import com.maibu.core.protocol.modbus.ModbusCode;
-import io.netty.buffer.ByteBuf;
-import lombok.Builder;
-import lombok.Data;
-import lombok.EqualsAndHashCode;
-
-/**
- * 消息解析model
- * @author gsb
- * @date 2022/10/10 15:53
- */
-@EqualsAndHashCode(callSuper = true)
-@Data
-@Builder
-public class DeviceData extends Message {
-
-    /*topic*/
-    private String topicName;
-
-    /*设备编号*/
-    private String serialNumber;
-
-    /*原数据*/
-    private byte[] data;
-
-    private ByteBuf buf;
-
-    private Object body;
-    /*MQTT OR 其他*/
-    private int type;
-    /*Modbus*/
-    private ModbusCode code;
-    /**产品id*/
-    private Long productId;
-
-    private OtaPackageCode netModbusCode;
-
-    private int bitCount;
-}

maibu-common/src/main/java/com/maibu/core/mq/message/DeviceDownMessage.java

@@ -1,59 +0,0 @@
-package com.maibu.core.mq.message;
-
-import com.maibu.core.protocol.modbus.ModbusCode;
-import com.maibu.enums.ServerType;
-import lombok.AllArgsConstructor;
-import lombok.Builder;
-import lombok.Data;
-import lombok.NoArgsConstructor;
-
-import java.util.List;
-
-/**
- * 设备下发指令model
- *
- * @author gsb
- * @date 2022/10/10 16:18
- */
-@Data
-@Builder
-@NoArgsConstructor
-@AllArgsConstructor
-public class DeviceDownMessage {
-
-    private String messageId;
-    /**
-     * 时间戳，单位毫秒
-     */
-    private Long timestamp;
-    /**
-     * 消息体
-     */
-    private Object body;
-    /*下发的指令,服务调用的时候就是服务标识符*/
-    private String identifier;
-    /*产品id*/
-    private Long productId;
-    /**
-     * 设备编码
-     */
-    private String serialNumber;
-    /**
-     * 从机编号
-     */
-    private Integer slaveId;
-    private ModbusCode code;
-    private String protocolCode;
-
-    private List<PropRead> values;
-    private String topic;
-    private String subCode;
-    private ServerType serverType;
-
-    public DeviceDownMessage(List<PropRead> values, String topic, String subCode,String transport) {
-        this.values = values;
-        this.topic = topic;
-        this.subCode = subCode;
-        this.serverType = ServerType.explain(transport);
-    }
-}

maibu-common/src/main/java/com/maibu/core/mq/message/DeviceFunctionMessage.java

@@ -1,33 +0,0 @@
-package com.maibu.core.mq.message;
-
-import lombok.Data;
-
-/**
- * 平台下发指令数据model
- * @author bill
- */
-@Data
-public class DeviceFunctionMessage {
-
-    /*流水号，兼容modbus标准协议没有消息流水号*/
-    private String seqNo;
-    /*平台时间*/
-    private Long pfTimestamp;
-    /*下发的消息体*/
-    private Object body;
-    /*下发的指令物模型标识符*/
-    private String identifier;
-    /*下发的数据寄存器地址*/
-    private String hexAddress;
-    /*产品ID*/
-    private Long productId;
-    /*设备编号*/
-    private String serialNumber;
-    /*网关设备编号*/
-    private String protocolCode;
-
-    /*是否有子设备 0-否，1-是*/
-    private Integer hasSub;
-    /*子设备从机编号 例如 02 编号从机。通过主机集控下发的指定从机编号*/
-    private String subDeviceCode;
-}

maibu-common/src/main/java/com/maibu/core/mq/message/DeviceMessage.java

@@ -1,31 +0,0 @@
-package com.maibu.core.mq.message;
-
-import com.fasterxml.jackson.annotation.JsonFormat;
-import com.fasterxml.jackson.annotation.JsonInclude;
-import lombok.Data;
-
-import java.util.Date;
-
-/**
- * 设备消息
- * @author bill
- */
-@Data
-@JsonInclude(JsonInclude.Include.NON_NULL)
-public class DeviceMessage {
-
-    /** 下发的数据*/
-    private Object message;
-
-    /** 下发的topic*/
-    private String topicName;
-
-    /** 设备编号*/
-    private String serialNumber;
-
-    private String dataType;
-
-    /** 时间 */
-    @JsonFormat(pattern ="yyyy-MM-dd HH:mm:ss:SSS")
-    private Date time;
-}

maibu-common/src/main/java/com/maibu/core/mq/message/FunctionCallBackBo.java

@@ -1,24 +0,0 @@
-package com.maibu.core.mq.message;
-
-import lombok.Data;
-
-/**
- * 指令下发组将的model
- * @author bill
- */
-@Data
-public class FunctionCallBackBo {
-
-    /*下发的数据*/
-    private byte[] message;
-
-    /*MQTt-下发的topic*/
-    private String topicName;
-
-    /*设备编号*/
-    private String serialNumber;
-    /**
-     * 原数据包
-     */
-    private String sources;
-}

maibu-common/src/main/java/com/maibu/core/mq/message/InstructionsMessage.java

@@ -1,20 +0,0 @@
-package com.maibu.core.mq.message;
-
-import lombok.Data;
-
-/**
- * 指令下发组将的model
- * @author bill
- */
-@Data
-public class InstructionsMessage {
-
-    /*下发的数据*/
-    private byte[] message;
-
-    /*MQTt-下发的topic*/
-    private String topicName;
-
-    /*设备编号*/
-    private String serialNumber;
-}

maibu-common/src/main/java/com/maibu/core/mq/message/ModbusPollMsg.java

@@ -1,32 +0,0 @@
-package com.maibu.core.mq.message;
-
-import lombok.Data;
-
-import java.util.List;
-
-/**
- * @author gsb
- * @date 2024/6/20 10:53
- */
-@Data
-public class ModbusPollMsg {
-
-    /**
-     * 下发指令
-     */
-    private List<String> commandList;
-    /**
-     * 服务端类型
-     */
-    private Integer serverType;
-    /**
-     * 产品id
-     */
-    private Long productId;
-    /**
-     * 设备编码
-     */
-    private String serialNumber;
-
-    private String transport;
-}

maibu-common/src/main/java/com/maibu/core/mq/message/MqttBo.java

@@ -1,26 +0,0 @@
-package com.maibu.core.mq.message;
-
-import com.fasterxml.jackson.annotation.JsonFormat;
-import lombok.Data;
-
-import java.util.Date;
-
-/**
- * @author bill
- */
-@Data
-public class MqttBo {
-
-    /*主题*/
-    private String topic;
-    /*数据*/
-    private String data;
-    /*消息质量*/
-    private int qos = 1;
-    /*发送方向*/
-    private String direction;
-    /*时间*/
-    @JsonFormat(shape = JsonFormat.Shape.STRING, pattern = "yyyy-MM-dd HH:mm:ss", timezone = "GMT+8")
-    private Date ts;
-}
-

maibu-common/src/main/java/com/maibu/core/mq/message/PropRead.java

@@ -1,39 +0,0 @@
-package com.maibu.core.mq.message;
-
-import com.maibu.core.protocol.modbus.ModbusCode;
-import lombok.Data;
-
-/**
- * @author gsb
- * @date 2022/12/9 10:15
- */
-@Data
-public class PropRead {
-
-    /**设备编号*/
-    private String serialNumber;
-    /**寄存器起始地址*/
-    private int address;
-    /**
-     * 读取寄存器个数
-     */
-    private int count;
-    /**数据结果长度计算值*/
-    private int length;
-    /**
-     * 从机地址
-     */
-    private int slaveId;
-    /**
-     * 读取个数
-     */
-    private int quantity;
-    /**
-     * 数据
-     */
-    private String data;
-    /**
-     * 功能码
-     */
-    private ModbusCode code;
-}

maibu-common/src/main/java/com/maibu/core/mq/message/ProtocolDto.java

@@ -1,21 +0,0 @@
-package com.maibu.core.mq.message;
-
-import lombok.Data;
-
-/**
- * 协议bean
- * @author gsb
- * @date 2022/10/25 14:54
- */
-@Data
-public class ProtocolDto {
-
-    /**协议编号*/
-    private String code;
-    private String name;
-    /*外部协议url*/
-    private String protocolUrl;
-    private String description;
-    /**协议类型 协议类型 0:系统协议 1:jar，2.js,3.c*/
-    private Integer protocolType;
-}

maibu-common/src/main/java/com/maibu/core/mq/message/SubDeviceMessage.java

@@ -1,18 +0,0 @@
-package com.maibu.core.mq.message;
-
-import lombok.Data;
-
-/**
- * 网关子设备model
- * @author gsb
- * @date 2022/10/10 10:18
- */
-@Data
-public class SubDeviceMessage {
-    /*子设备编号或编码*/
-    private String serialNumber;
-    /*数据*/
-    private byte[] data;
-    /*消息id*/
-    private String messageId;
-}

maibu-common/src/main/java/com/maibu/core/mq/ota/OtaReplyMessage.java

@@ -1,21 +0,0 @@
-package com.maibu.core.mq.ota;
-
-import com.fasterxml.jackson.annotation.JsonInclude;
-import lombok.Data;
-
-import java.math.BigDecimal;
-
-/**
- * OTA升级回复model
- * @author gsb
- * @date 2022/10/24 17:20
- */
-@Data
-@JsonInclude(JsonInclude.Include.NON_EMPTY)
-public class OtaReplyMessage {
-
-    private Long taskId;
-    private BigDecimal version;
-    private int status;
-    private int progress;
-}

maibu-common/src/main/java/com/maibu/core/mq/ota/OtaUpgradeBo.java

@@ -1,40 +0,0 @@
-package com.maibu.core.mq.ota;
-
-import com.fasterxml.jackson.annotation.JsonInclude;
-import lombok.Builder;
-import lombok.Data;
-
-import java.math.BigDecimal;
-
-/**
- * OTA远程升级
- * @author gsb
- * @date 2022/10/10 10:22
- */
-@Data
-@Builder
-@JsonInclude(JsonInclude.Include.NON_EMPTY)
-public class OtaUpgradeBo {
-
-    // 设备编码
-    private String serialNumber;
-    // 升级任务ID
-    private Long taskId;
-    // 消息内容
-    private byte[] msg;
-    // 设备状态
-    private int status;
-    // topic
-    private String topicName;
-    // 固件包版本
-    private BigDecimal version;
-    // 固件包http地址
-    private String url;
-    // 固件包分包传输大小
-    private int packageSize;
-    // 固件包传输偏移量
-    private int offset;
-    // 升级进度
-    private int progress;
-
-}

maibu-common/src/main/java/com/maibu/core/mq/ota/OtaUpgradeDelayTask.java

@@ -1,63 +0,0 @@
-package com.maibu.core.mq.ota;
-
-import com.fasterxml.jackson.annotation.JsonFormat;
-import com.maibu.utils.DateUtils;
-import lombok.Data;
-
-import java.util.Date;
-import java.util.List;
-import java.util.concurrent.Delayed;
-import java.util.concurrent.TimeUnit;
-
-/**
- * ota升级发送,实现Delayed延时接口
- *
- * @author bill
- */
-@Data
-public class OtaUpgradeDelayTask implements Delayed {
-
-    /**
-     * 固件id
-     */
-    private Long firmwareId;
-    /**
-     * 1:指定产品 2:指定设备
-     */
-    private Long upgradeType;
-
-    private List<String> devices;
-    /**
-     * 任务id
-     */
-    private Long taskId;
-    /**
-     * 开始升级时间
-     */
-    @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss", timezone = "GMT+8")
-    private Date startTime;
-
-
-    /**
-     * 设置延迟执行时间 开始升级时间 -当前时间
-     *
-     * @param unit
-     * @return
-     */
-    @Override
-    public long getDelay(TimeUnit unit) {
-        return startTime.getTime() - DateUtils.getTimestamp();
-    }
-
-    @Override
-    public int compareTo(Delayed o) {
-        OtaUpgradeDelayTask delayTask = (OtaUpgradeDelayTask) o;
-        //比较
-        long diff = this.startTime.getTime() - delayTask.startTime.getTime();
-        if (diff <= 0) {
-            return -1;
-        } else {
-            return 1;
-        }
-    }
-}

maibu-common/src/main/java/com/maibu/core/ota/DeviceOtaFirmware.java

@@ -0,0 +1,36 @@
+package com.maibu.core.ota;
+
+import com.baomidou.mybatisplus.annotation.IdType;
+import com.baomidou.mybatisplus.annotation.TableId;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.fasterxml.jackson.annotation.JsonInclude;
+import com.maibu.core.domain.BaseDO;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+
+@EqualsAndHashCode(callSuper = true)
+@JsonInclude(JsonInclude.Include.NON_NULL)
+@Data
+@TableName("iot_ota_firmware")
+public class DeviceOtaFirmware extends BaseDO {
+    private static final long serialVersionUID = 1L;
+
+    @TableId(type = IdType.AUTO)
+    private Long id;
+    
+    private String version; //版本号
+
+    private String fileName; //文件名
+
+    private String minioObjectName; //服务器文件名
+
+    private String fileUrl; //存放地址
+
+    private String deviceType;
+
+    private String fileSize;
+
+    private String description;
+
+}

maibu-common/src/main/java/com/maibu/core/ota/DeviceOtaOperateRecord.java

@@ -0,0 +1,37 @@
+package com.maibu.core.ota;
+
+import com.baomidou.mybatisplus.annotation.IdType;
+import com.baomidou.mybatisplus.annotation.TableId;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.fasterxml.jackson.annotation.JsonInclude;
+import com.maibu.core.domain.BaseDO;
+import com.maibu.core.enums.OtaOperate;
+
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@EqualsAndHashCode(callSuper = true)
+@JsonInclude(JsonInclude.Include.NON_NULL)
+@Data
+@TableName(value = "iot_ota_operate_record", autoResultMap = true)
+public class DeviceOtaOperateRecord extends BaseDO {
+    private static final long serialVersionUID = 1L;
+
+    @TableId(type = IdType.AUTO)
+    private Long id;
+
+    private OtaOperate operateType; // 操作类型
+
+    private String fileName; // 名称
+
+    private Long firmwareId; // id
+
+    private String deviceId; // 名称
+
+    private String deviceType;
+
+    private String preVersion;
+
+    private String nowVersion;
+
+}

maibu-common/src/main/java/com/maibu/core/ota/OtaPackageCode.java

@@ -1,45 +0,0 @@
-package com.maibu.core.ota;
-
-import com.maibu.exception.ServiceException;
-import lombok.AllArgsConstructor;
-import lombok.Getter;
-
-@Getter
-@AllArgsConstructor
-public enum OtaPackageCode {
-
-    OTA_01("查询产品工装号",(byte) 0x01),
-    OTA_0A("OTA升级启动",(byte) 0x0A),
-    OTA_0B("OTA升级包传输",(byte) 0x0B)
-    ;
-
-    private String desc;
-    private byte code;
-
-    public static OtaPackageCode getInstance(int code) {
-        switch ((byte)code) {
-            case 0x01:
-                return OTA_01;
-            case 0x0A:
-                return OTA_0A;
-            case 0x0B:
-                return OTA_0B;
-            default:
-                throw new ServiceException("功能码[" + code + "],未定义");
-        }
-    }
-
-    public static String getDes(int code){
-        switch ((byte)code) {
-            case 0x01:
-                return OTA_01.desc;
-            case 0x0A:
-                return OTA_0A.desc;
-            case 0x0B:
-                return OTA_0B.desc;
-            default:
-                return "UNKOWN";
-        }
-    }
-
-}

maibu-common/src/main/java/com/maibu/enums/DeviceStatusEnum.java

@@ -0,0 +1,24 @@
+package com.maibu.enums;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+/**
+ * 设备回调状态
+ * 
+ * @author bill
+ */
+@Getter
+@AllArgsConstructor
+public enum DeviceStatusEnum {
+    
+    working("1", "工作中"),
+    idle("2", "空闲中"),
+    offline("3", "离线"),
+    charging("4", "充电中"),
+    error("5", "故障");
+
+    String code;
+    String message;
+
+}

maibu-common/src/main/java/com/maibu/influxdb/MowerRealTimeData.java

@@ -6,8 +6,6 @@ import java.util.List;
 import java.util.Map;
 import java.util.stream.Collectors;
 
-import org.springframework.util.CollectionUtils;
-
 import com.influxdb.query.FluxRecord;
 import com.influxdb.query.FluxTable;
 import com.maibu.influxdb.inter.InfluxField;

maibu-common/src/main/java/com/maibu/mapper/DeviceOtaFirmwareMapper.java

@@ -0,0 +1,11 @@
+package com.maibu.mapper;
+
+import com.maibu.core.ota.DeviceOtaFirmware;
+import com.maibu.mybatis.mapper.BaseMapperX;
+import org.springframework.stereotype.Repository;
+
+
+@Repository
+public interface DeviceOtaFirmwareMapper extends BaseMapperX<DeviceOtaFirmware> {
+
+}

maibu-common/src/main/java/com/maibu/mapper/DeviceOtaOperateRecordMapper.java

@@ -0,0 +1,11 @@
+package com.maibu.mapper;
+
+import com.maibu.core.ota.DeviceOtaOperateRecord;
+import com.maibu.mybatis.mapper.BaseMapperX;
+import org.springframework.stereotype.Repository;
+
+
+@Repository
+public interface DeviceOtaOperateRecordMapper extends BaseMapperX<DeviceOtaOperateRecord> {
+
+}

maibu-common/src/main/java/com/maibu/mapper/DevicePlanTaskMapper.java

@@ -1,8 +1,15 @@
 package com.maibu.mapper;
 
+import java.util.List;
+
+import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
+import org.springframework.stereotype.Repository;
+
+import com.baomidou.mybatisplus.core.conditions.Wrapper;
+import com.baomidou.mybatisplus.core.toolkit.Constants;
 import com.maibu.core.business.DevicePlanTask;
 import com.maibu.mybatis.mapper.BaseMapperX;
-import org.springframework.stereotype.Repository;
 
 /**
  * 设备历史状态
@@ -10,4 +17,12 @@ import org.springframework.stereotype.Repository;
 @Repository
 public interface DevicePlanTaskMapper extends BaseMapperX<DevicePlanTask> {
 
+    @Select("SELECT t.*, iwr.work_name,d.device_alias " +
+            "FROM iot_device_task t " +
+            "LEFT JOIN iot_device d ON d.serial_number = t.device_id " +
+            "left join iot_work_record iwr on t.route_id = iwr.id " +
+            "${ew.customSqlSegment}")
+    List<DevicePlanTask> selectTaskHistoryWithDeviceAlias(
+            @Param(Constants.WRAPPER) Wrapper<DevicePlanTask> wrapper);
+
 }

maibu-common/src/main/java/com/maibu/mapper/HostLocationMapper.java

@@ -0,0 +1,14 @@
+package com.maibu.mapper;
+
+import org.springframework.stereotype.Repository;
+
+import com.maibu.core.host.LocationMessage;
+import com.maibu.mybatis.mapper.BaseMapperX;
+
+/**
+ * 设备历史状态
+ */
+@Repository
+public interface HostLocationMapper extends BaseMapperX<LocationMessage> {
+
+}

maibu-common/src/main/java/com/maibu/mapper/RegionConsecutiveTaskRecordMapper.java

@@ -0,0 +1,14 @@
+package com.maibu.mapper;
+
+import org.springframework.stereotype.Repository;
+
+import com.maibu.core.business.RegionConsecutiveTaskRecord;
+import com.maibu.mybatis.mapper.BaseMapperX;
+
+/**
+ * 区域连续任务下发记录
+ */
+@Repository
+public interface RegionConsecutiveTaskRecordMapper extends BaseMapperX<RegionConsecutiveTaskRecord> {
+
+}

maibu-common/src/main/java/com/maibu/memory/DeviceSessionManager.java

@@ -1,13 +1,16 @@
 package com.maibu.memory;
 
-
 import cn.hutool.core.util.ObjectUtil;
 import com.maibu.core.business.device.Connector;
 import com.maibu.core.business.device.NettyDevice;
 import com.maibu.core.enums.ConnectorStatus;
 import com.maibu.core.enums.ConnectorType;
+import com.maibu.utils.json.JsonUtils;
+
 import io.netty.channel.Channel;
 import lombok.Data;
+import lombok.extern.slf4j.Slf4j;
+
 import org.apache.commons.lang3.StringUtils;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
@@ -24,19 +27,22 @@ import java.util.stream.Collectors;
  */
 @Component
 @Data
+@Slf4j
 public class DeviceSessionManager {
 
     private static final Logger logger = LoggerFactory.getLogger(DeviceSessionManager.class);
     // 设备ID -> 设备对象（业务实体）
     private final ConcurrentHashMap<String, NettyDevice> deviceMap = new ConcurrentHashMap<>();
 
+    // 当前设备的控制权在哪 登录的账号 deviceId(下位机) -> token key 唯一保证一个deviceId 只有一个控制权
+    private final ConcurrentHashMap<String, String> controllerMap = new ConcurrentHashMap<>();
+
     // 设备ID -> Channel（通信通道）
     private final ConcurrentHashMap<String, Channel> channelMap = new ConcurrentHashMap<>();
 
     // Channel -> 设备ID（反查）
     private final ConcurrentHashMap<Channel, String> channelToDeviceIdMap = new ConcurrentHashMap<>();
 
-
     public void clearChannelToDeviceIdMap(String deviceId) {
         if (StringUtils.isEmpty(deviceId) || CollectionUtils.isEmpty(channelToDeviceIdMap)) {
             return;
@@ -64,7 +70,6 @@ public class DeviceSessionManager {
         }
     }
 
-
     /**
      * 注册设备连接（设备上线）
      *
@@ -72,7 +77,8 @@ public class DeviceSessionManager {
      * @param channel    通信通道
      * @param deviceType 设备类型（MASTER/SLAVE）
      */
-    public void registerDevice(String deviceId, Channel channel, ConnectorType deviceType, ConnectorStatus status, String slaveId) {
+    public void registerDevice(String deviceId, Channel channel, ConnectorType deviceType, ConnectorStatus status,
+            String slaveId) {
         NettyDevice nettyDevice = deviceMap.computeIfAbsent(deviceId, id -> new NettyDevice(id, deviceType));
         nettyDevice.setChannel(channel);
         nettyDevice.setConnectorStatus(status); // 默认上线即ACTIVE
@@ -84,6 +90,20 @@ public class DeviceSessionManager {
         System.out.println("Registered device: " + deviceId + " type: " + deviceType);
     }
 
+    /**
+     * 注册下位机设备
+     *
+     * @param deviceId 设备ID
+     */
+    public void registerSlaveDevice(String deviceId, ConnectorStatus status, String slaveId) {
+        NettyDevice nettyDevice = deviceMap.computeIfAbsent(deviceId, id -> new NettyDevice(id, ConnectorType.SLAVE));
+        nettyDevice.setConnectorStatus(status); // 默认上线即ACTIVE
+        nettyDevice.setCurrentSlaveId(slaveId);
+        nettyDevice.setLatestLoginTime(System.currentTimeMillis());
+        deviceMap.put(deviceId, nettyDevice);
+        logger.debug("Registered slave device:{},type:{}", deviceId, ConnectorType.SLAVE);
+    }
+
     /**
      * 上位机绑定下位机，建立双向绑定关系
      *
@@ -92,7 +112,8 @@ public class DeviceSessionManager {
      */
     public void bindConnector(String masterId, String slaveId) {
         NettyDevice master = deviceMap.get(masterId);
-        if (master == null) return;
+        if (master == null)
+            return;
         NettyDevice slave = deviceMap.computeIfAbsent(slaveId, id -> new NettyDevice(id, ConnectorType.SLAVE));
         master.addConnectedDevice(slave);
         System.out.println("Bind connectors for master " + masterId + " and slave " + slaveId);
@@ -105,6 +126,62 @@ public class DeviceSessionManager {
         return deviceMap.get(deviceId);
     }
 
+    /**
+     * 获取有控制权的 客户端
+     */
+    public String getMaster(String deviceId) {
+        return controllerMap.get(deviceId);
+    }
+
+    /**
+     * 获取客户端当前 控制的设备
+     */
+    public String getControl(String token) {
+        for (String key : controllerMap.keySet()) {
+            if (controllerMap.get(key).equals(token)) {
+                return controllerMap.get(token);
+            }
+        }
+        return null;
+    }
+
+    public void lock(String deviceId, String token) {
+        if (!StringUtils.isEmpty(deviceId) && !StringUtils.isEmpty(token)) {
+            controllerMap.put(deviceId, token);
+        }
+    }
+
+    public boolean unLock(String token) {
+        if (!StringUtils.isEmpty(token)) {
+            Iterator<String> iterator = controllerMap.keySet().iterator();
+            while (iterator.hasNext()) {
+                String key = iterator.next();
+                if (controllerMap.get(key).equals(token)) {
+                    iterator.remove();
+                }
+            }
+        }
+        return true;
+    }
+
+    public boolean unLock(String deviceId, String token, boolean force) {
+        if (!StringUtils.isEmpty(deviceId)) {
+            if (force) {
+                controllerMap.remove(deviceId);
+                return true;
+            } else {
+                String nowToken = controllerMap.get(deviceId);
+                if (!StringUtils.isEmpty(token) && nowToken.equals(token)) {
+                    controllerMap.remove(deviceId);
+                    return true;
+                }
+
+            }
+        }
+        return false;
+
+    }
+
     // 模糊匹配
     public List<NettyDevice> getDevicesLike(String query) {
         return deviceMap.values().stream()
@@ -112,32 +189,31 @@ public class DeviceSessionManager {
                 .collect(Collectors.toList());
     }
 
-
     public List<NettyDevice> getSlaveControl(String slaveId) {
         // 获取所有连接的主机 且是active状态的
         return deviceMap.values().stream()
-                .filter(device -> ObjectUtil.equals(device.getCurrentSlaveId(), slaveId)
+                .filter(device -> Objects.equals(device.getCurrentSlaveId(), slaveId)
                         && ConnectorStatus.ACTIVE.equals(device.getConnectorStatus()))
                 .collect(Collectors.toList());
     }
 
-
     public List<NettyDevice> getAllSlaveControl(String slaveId) {
         // 获取所有连接的主机 不区分状态
         return deviceMap.values().stream()
-                .filter(device -> ObjectUtil.equals(device.getCurrentSlaveId(), slaveId))
+                .filter(device -> !StringUtils.isEmpty(device.getCurrentSlaveId())
+                        && Objects.equals(device.getCurrentSlaveId(), slaveId)
+                        && device.getDeviceType().equals(ConnectorType.MASTER))
                 .collect(Collectors.toList());
     }
 
     public NettyDevice getCurrentControl(String slaveId) {
         // 获取所有连接的主机 不区分状态
         return deviceMap.values().stream()
-                .filter(device -> ObjectUtil.equals(device.getCurrentSlaveId(), slaveId)
+                .filter(device -> Objects.equals(device.getCurrentSlaveId(), slaveId)
                         && ConnectorStatus.ACTIVE.equals(device.getConnectorStatus()))
                 .findFirst().orElse(null);
     }
 
-
     /// 模糊匹配
     public NettyDevice getUserControl(String userName) {
         return deviceMap.values().stream()
@@ -146,7 +222,6 @@ public class DeviceSessionManager {
                 .findFirst().orElse(null);
     }
 
-
     /**
      * 根据设备ID获取Channel
      */
@@ -161,7 +236,6 @@ public class DeviceSessionManager {
         return channelToDeviceIdMap.get(channel);
     }
 
-
     /**
      * 根据从机查控制的主机
      */
@@ -174,7 +248,8 @@ public class DeviceSessionManager {
      * 根据从机查所有主机
      */
     public List<NettyDevice> getMastersBySlaveId(String slaveId) {
-        return deviceMap.values().stream().filter(x -> Objects.equals(x.getCurrentSlaveId(), slaveId)).collect(Collectors.toList());
+        return deviceMap.values().stream().filter(x -> Objects.equals(x.getCurrentSlaveId(), slaveId))
+                .collect(Collectors.toList());
     }
 
     /**
@@ -182,18 +257,25 @@ public class DeviceSessionManager {
      */
     public void removeDevice(String deviceId) {
         NettyDevice nettyDevice = deviceMap.remove(deviceId);
-//        Channel channel = channelMap.remove(deviceId);
+        // Channel channel = channelMap.remove(deviceId);
         clearChannelToDeviceIdMap(deviceId);
-//        if (channel != null) {
-//            channelToDeviceIdMap.remove(channel);
-//            channel.close();
-//        }
+        // if (channel != null) {
+        // channelToDeviceIdMap.remove(channel);
+        // channel.close();
+        // }
         if (nettyDevice != null) {
             // 仅当设备是上位机时，才解绑绑定关系
             if (nettyDevice.getDeviceType() == ConnectorType.MASTER) {
                 for (Connector connected : new HashSet<>(nettyDevice.getConnectedConnectors())) {
                     nettyDevice.removeConnectedDevice(connected);
                 }
+                // 清理channel和状态
+                nettyDevice.setChannel(null);
+                Channel channel = channelMap.remove(deviceId);
+                if (channel != null) {
+                    channelToDeviceIdMap.remove(channel);
+                    channel.close();
+                }
             } else {
                 // 如果是下位机，则保留绑定关系，只清理channel和状态
                 nettyDevice.setChannel(null);
@@ -206,7 +288,6 @@ public class DeviceSessionManager {
         }
     }
 
-
     /**
      * 判断设备是否在线
      */
@@ -231,5 +312,23 @@ public class DeviceSessionManager {
         return nettyDevice != null && nettyDevice.canReceive();
     }
 
+    /**
+     * 获取客户端当前 控制的设备
+     */
+    public String getDeviceByTaskId(Long taskId) {
+        if (taskId == null) {
+            return null;
+        }
+        log.debug("sendMessage deviceMap：{},taskId={}", JsonUtils.toJsonString(deviceMap), taskId);
+        for (String key : deviceMap.keySet()) {
+            NettyDevice nettyDevice = deviceMap.get(key);
+            log.debug("sendMessage currentTaskId:{}，equal {}", JsonUtils.toJsonString(nettyDevice.getCurrentTaskId()),
+                    Objects.equals(nettyDevice.getCurrentTaskId(), taskId));
+            if (nettyDevice != null && Objects.equals(nettyDevice.getCurrentTaskId(), taskId)) {
+                return nettyDevice.getConnectorId();
+            }
+        }
+        return null;
+    }
 
 }