#注释调整

# 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/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/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-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-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-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-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-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-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-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/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-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-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-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-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" />
-      <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" />
     </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">{
+  <component name="PropertiesComponent"><![CDATA[{
-  &quot;keyToString&quot;: {
+  "keyToString": {
-    &quot;ASKED_SHARE_PROJECT_CONFIGURATION_FILES&quot;: &quot;true&quot;,
+    "ASKED_SHARE_PROJECT_CONFIGURATION_FILES": "true",
-    &quot;Application.test.executor&quot;: &quot;Debug&quot;,
+    "Application.test.executor": "Debug",
-    &quot;HTTP Request.MiddlePlatformApplication | #1.executor&quot;: &quot;Run&quot;,
+    "HTTP Request.MiddlePlatformApplication | #1.executor": "Run",
-    &quot;HTTP Request.MiddlePlatformApplication | #2.executor&quot;: &quot;Run&quot;,
+    "HTTP Request.MiddlePlatformApplication | #2.executor": "Run",
-    &quot;HTTP Request.MiddlePlatformApplication | #3.executor&quot;: &quot;Run&quot;,
+    "HTTP Request.MiddlePlatformApplication | #3.executor": "Run",
-    &quot;Maven.MiddlePlatform [clean].executor&quot;: &quot;Run&quot;,
+    "Maven.MiddlePlatform [clean].executor": "Run",
-    &quot;Maven.MiddlePlatform [install].executor&quot;: &quot;Run&quot;,
+    "Maven.MiddlePlatform [install].executor": "Run",
-    &quot;Maven.maibu-netty-server [clean].executor&quot;: &quot;Run&quot;,
+    "Maven.maibu-netty-server [clean].executor": "Run",
-    &quot;ModuleVcsDetector.initialDetectionPerformed&quot;: &quot;true&quot;,
+    "ModuleVcsDetector.initialDetectionPerformed": "true",
-    &quot;RequestMappingsPanelOrder0&quot;: &quot;0&quot;,
+    "RequestMappingsPanelOrder0": "0",
-    &quot;RequestMappingsPanelOrder1&quot;: &quot;1&quot;,
+    "RequestMappingsPanelOrder1": "1",
-    &quot;RequestMappingsPanelWidth0&quot;: &quot;75&quot;,
+    "RequestMappingsPanelWidth0": "75",
-    &quot;RequestMappingsPanelWidth1&quot;: &quot;75&quot;,
+    "RequestMappingsPanelWidth1": "75",
-    &quot;RunOnceActivity.MCP Project settings loaded&quot;: &quot;true&quot;,
+    "RunOnceActivity.MCP Project settings loaded": "true",
-    &quot;RunOnceActivity.ShowReadmeOnStart&quot;: &quot;true&quot;,
+    "RunOnceActivity.ShowReadmeOnStart": "true",
-    &quot;RunOnceActivity.TerminalTabsStorage.copyFrom.TerminalArrangementManager.252&quot;: &quot;true&quot;,
+    "RunOnceActivity.TerminalTabsStorage.copyFrom.TerminalArrangementManager.252": "true",
-    &quot;RunOnceActivity.git.unshallow&quot;: &quot;true&quot;,
+    "RunOnceActivity.git.unshallow": "true",
-    &quot;RunOnceActivity.typescript.service.memoryLimit.init&quot;: &quot;true&quot;,
+    "RunOnceActivity.typescript.service.memoryLimit.init": "true",
-    &quot;Spring Boot.MiddlePlatformApplication.executor&quot;: &quot;Debug&quot;,
+    "Spring Boot.MiddlePlatformApplication.executor": "Debug",
-    &quot;git-widget-placeholder&quot;: &quot;main&quot;,
+    "git-widget-placeholder": "dev__control",
-    &quot;kotlin-language-version-configured&quot;: &quot;true&quot;,
+    "kotlin-language-version-configured": "true",
-    &quot;last_opened_file_path&quot;: &quot;/home/maibu/Test/MiddlePlatform/maibu-external/src/main/java/com/maibu/uav&quot;,
+    "last_opened_file_path": "/home/maibu/Test/MiddlePlatform/maibu-external/src/main/java/com/maibu/uav",
-    &quot;node.js.detected.package.eslint&quot;: &quot;true&quot;,
+    "node.js.detected.package.eslint": "true",
-    &quot;node.js.detected.package.tslint&quot;: &quot;true&quot;,
+    "node.js.detected.package.tslint": "true",
-    &quot;node.js.selected.package.eslint&quot;: &quot;(autodetect)&quot;,
+    "node.js.selected.package.eslint": "(autodetect)",
-    &quot;node.js.selected.package.tslint&quot;: &quot;(autodetect)&quot;,
+    "node.js.selected.package.tslint": "(autodetect)",
-    &quot;nodejs_package_manager_path&quot;: &quot;npm&quot;,
+    "nodejs_package_manager_path": "npm",
-    &quot;onboarding.tips.debug.path&quot;: &quot;D:/code/MiddlePlatform/maibu-service/maibu-system-service/src/main/java/com/maibu/Main.java&quot;,
+    "onboarding.tips.debug.path": "D:/code/MiddlePlatform/maibu-service/maibu-system-service/src/main/java/com/maibu/Main.java",
-    &quot;settings.editor.selected.configurable&quot;: &quot;project.propVCSSupport.CommitDialog&quot;,
+    "settings.editor.selected.configurable": "project.propVCSSupport.CommitDialog",
-    &quot;vue.rearranger.settings.migration&quot;: &quot;true&quot;
+    "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/resources/application-dev.yml

@@ -3,7 +3,7 @@ spring:
   datasource:
     type: com.alibaba.druid.pool.DruidDataSource
     driver-class-name: com.mysql.cj.jdbc.Driver
-    url: jdbc:mysql://localhost:3306/maibu?useUnicode=true&characterEncoding=utf8&zeroDateTimeBehavior=convertToNull&useSSL=true&serverTimezone=GMT%2B8
+    url: jdbc:mysql://1.95.137.212:3306/maibu?useUnicode=true&characterEncoding=utf8&zeroDateTimeBehavior=convertToNull&useSSL=true&serverTimezone=GMT%2B8
     username: satabot
     password: satabot
 
@@ -31,7 +31,7 @@ spring:
 mqtt:
   username: maibu                       # 账号
   password: jsmbzn520                       # 密码
-  host-url: tcp://localhost:1883          # mqtt连接tcp地址
+  host-url: tcp://1.95.137.212:1883          # mqtt连接tcp地址
   client-id: maibu-mqtt-client               # 客户端Id，不能相同，采用随机数 ${random.value}
   default-topic: test                     # 默认主题
   timeout: 30                             # 超时时间

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

@@ -97,6 +97,16 @@ 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.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);

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

@@ -21,7 +21,11 @@ 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
 }

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

@@ -100,6 +100,18 @@ public interface FastBeeConstant {
          * 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";
+
+
         /**
          * 设备任务处理线程
          */

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

@@ -1,9 +1,9 @@
-package com.maibu.common;
+package com.maibu.constant;
-
-import lombok.Data;
 
 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 +225,19 @@ 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 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 +1,17 @@
 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.enums.DeviceTaskStaus;
+
 import lombok.Data;
 import lombok.EqualsAndHashCode;
 
-import java.time.LocalDateTime;
-
 @EqualsAndHashCode(callSuper = true)
 @Data
 @TableName("iot_device_task")
@@ -39,4 +39,7 @@ 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
+
 }

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

@@ -4,6 +4,8 @@ import com.baomidou.mybatisplus.annotation.IdType;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableId;
 import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.handlers.JacksonTypeHandler;
+import com.maibu.annotation.Excel;
 import com.maibu.constant.CommandConstant;
 import com.maibu.core.domain.BaseDO;
 
@@ -13,6 +15,7 @@ import lombok.EqualsAndHashCode;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 import java.nio.charset.StandardCharsets;
+import java.util.List;
 
 @EqualsAndHashCode(callSuper = true)
 @Data
@@ -22,7 +25,7 @@ public class DeviceRunParam extends BaseDO {
     @TableId(type = IdType.AUTO)
     private Long id;
 
-    private String deviceId;
+//    private String deviceId;
 
     private Long siteId;
 
@@ -30,6 +33,40 @@ public class DeviceRunParam extends BaseDO {
 
     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)
+    private String capabilities;
+
+    @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
+
 
     @TableField(exist = false)
     public byte header1;
@@ -117,112 +154,6 @@ public class DeviceRunParam extends BaseDO {
         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) {

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

@@ -20,6 +20,8 @@ public class WorkRecord extends OrgBaseDO {
     private String workName;
     private Long userId;
 
+    private String mode;//导航任务模式  single_point|coverage
+
 //    private String jsonData;
 
     @TableField(typeHandler = JacksonTypeHandler.class)

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

@@ -1,35 +1,37 @@
 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.*;
-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.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.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.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)
@@ -58,8 +60,8 @@ 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
+    // todo 当前登录的账号的token 以token为控制的权限
-    private String currentControlToken;
+    private String token;
 
     @JsonIgnore
     private DevicePlanTaskMapper devicePlanTaskMapper = SpringUtils.getBean(DevicePlanTaskMapper.class);
@@ -67,6 +69,11 @@ public class NettyDevice extends Connector {
     @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 +84,10 @@ 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 +120,14 @@ 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());
         siteMemory.removeDevicePlanExecute(task.getDeviceId());
+        GlobalMemory.taskPathMap.remove(task.getId());
         task = null;
         currentTaskId = null;
         currentPoint = null;
@@ -124,15 +136,59 @@ public class NettyDevice extends Connector {
         return finishId;
     }
 
-    public synchronized boolean cancelTask() {
+
+    public synchronized boolean cancelingTask() throws MqttException {
+        if (task != null) {
+            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("1.4");
+
+                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 boolean canceledTask() {
         if (task != null) {
-            sendPathCommand((byte) 0x01, (short) 0, 0.00d, 0.00d, (short) 0);
             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 true;
+    }
+
+    public synchronized boolean failedTask() {
+        if (task != null) {
+            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;
@@ -156,8 +212,9 @@ public class NettyDevice extends Connector {
         }
     }
 
-    //配置左右轮增益系数
+    // 配置左右轮增益系数
-    public void sendWheelGainCoefficientsCommand(double leftForwardGain, double leftBackwardGain, double rightForwardGain, double rightBackwardGain) {
+    public void sendWheelGainCoefficientsCommand(double leftForwardGain, double leftBackwardGain,
+                                                 double rightForwardGain, double rightBackwardGain) {
         ByteBuffer buffer = ByteBuffer.allocate(39);
         buffer.order(ByteOrder.LITTLE_ENDIAN);
 
@@ -189,7 +246,6 @@ 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));
@@ -238,28 +294,128 @@ public class NettyDevice extends Connector {
         }
     }
 
+
     public void startTask() {
         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 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("1.4");
+
+            PointEntity point = new PointEntity();
+            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<>();
+                    // workRecord.getJsonData().getPath().forEach(x -> {
+                    // MutiPointEntity mutiPoint = new MutiPointEntity();
+                    // mutiPoint.setLongitude(x.getLng());
+                    // mutiPoint.setLatitude(x.getLat());
+                    // mutiPoint.setIndex();
+                    // boundary_points.add(mutiPoint);
+                    // });
+                    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);
+                }
+            }
+            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)
+        );
+    }
+
 }

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

@@ -0,0 +1,18 @@
+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 b; //电量
+    private boolean ha = false;//hasAlarm 有无告警
+
+}

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/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/domain/entity/SysRegion.java

@@ -1,14 +1,15 @@
 package com.maibu.core.domain.entity;
 
+import java.util.List;
+
 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;
-
 @EqualsAndHashCode(callSuper = true)
 @Data
 @TableName(value = "sys_region")
@@ -29,4 +30,6 @@ public class SysRegion extends BaseDO {
 
     private Integer status;
 
+    private Long bindRoute;// 绑定的线路id
+
 }

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

@@ -43,4 +43,6 @@ public class SysSite extends BaseDO {
 
     private boolean dingTalkOrderPush = false;// 工单是否推送
 
+    private String siteMapName; // geoserver 地图名称
+
 }

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/enums/DeviceTaskStaus.java

@@ -7,12 +7,13 @@ import lombok.Getter;
 @AllArgsConstructor
 public enum DeviceTaskStaus {
 
-    NEW("NEW","新建"),
+    NEW("NEW", "新建"),
-    EXECUTING("EXECUTING","执行中"),
+    EXECUTING("EXECUTING", "执行中"),
-    PAUSE("PAUSE","暂停中"),
+    PAUSE("PAUSE", "暂停中"),
-    CANCELED("CANCELED","已取消"),
+    CANCELED("CANCELED", "已取消"),
-    FINISH("FINISH","执行成功"),
+    CANCELING("CANCELING", "取消中"),
-    FAILED("FAILED","执行失败");
+    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/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/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 +1,12 @@
+package com.maibu.core.host;
+
+
+import lombok.Data;
+
+@Data
+public class HostTaskStatusDetailDTO {
+    private float progress;
+    private String error_code;
+    private String error_message;
+
+}

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/PointEntity.java

@@ -0,0 +1,20 @@
+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
+
+}

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

@@ -0,0 +1,16 @@
+package com.maibu.core.host;
+
+import lombok.Data;
+
+@Data
+public class VehicleMessage {
+
+    private double speed;
+    private double battery_percentage;// 电量
+    private double battery_voltage;// 电压
+    private String motion;// moving|stopped|blocked
+    private boolean emergency_stop; // 急停状态
+
+    private double distance; // 里程数
+
+}

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/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/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) {
+        // if (channel != null) {
-//            channelToDeviceIdMap.remove(channel);
+        // channelToDeviceIdMap.remove(channel);
-//            channel.close();
+        // 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;
+    }
 
 }

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

@@ -1,17 +1,16 @@
 package com.maibu.memory;
 
+import com.maibu.constant.Constant;
 import com.maibu.core.business.Device;
 import com.maibu.core.business.IoTCommonDevice;
+import com.maibu.core.business.path.LatAndLngEntity;
 import com.maibu.influxdb.util.InfluxDBUtil;
-import com.maibu.mqtt.MqttClientUtil;
+import com.maibu.mqtt.*;
 import lombok.Data;
 import org.springframework.stereotype.Component;
 import org.springframework.util.CollectionUtils;
 
-import java.util.ArrayList;
+import java.util.*;
-import java.util.HashMap;
-import java.util.List;
-import java.util.Map;
 import java.util.concurrent.ConcurrentHashMap;
 
 @Component
@@ -26,10 +25,13 @@ public class GlobalMemory {
     // key：orgId - siteId
     public static ConcurrentHashMap<Long, Map<Long, SiteMemory>> orgAttrs = new ConcurrentHashMap<>();
 
+    public static ConcurrentHashMap<Long, List<LatAndLngEntity>> taskPathMap = new ConcurrentHashMap<>();
+
     public static InfluxDBUtil influxDBUtil;
 
-    public static MqttClientUtil mqttClientUtil;
+//    public static MqttClientUtil mqttClientUtil;
 
+    public static CustomMqttDeviceMonitor customMqttDeviceMonitor = null; //这里面包含了  连我们自己的mqtt  和外部的一些设备，自己的用clientId 是固定的
 
 
     public static SiteMemory getSiteMemory(Long orgId, Long siteId) {
@@ -52,7 +54,7 @@ public class GlobalMemory {
 
     /**
      * 新增场站内存
-     * 
+     *
      * @param orgId
      * @param siteId
      * @param siteMemory
@@ -72,7 +74,7 @@ public class GlobalMemory {
 
     /**
      * 删除
-     * 
+     *
      * @param orgId
      * @param siteId
      */
@@ -85,4 +87,36 @@ public class GlobalMemory {
         }
     }
 
+    public static void initMqttDeviceMonitor(String mqttHostUrl, String mqttClientId, String mqttUsername, String mqttPassword) {
+        if (customMqttDeviceMonitor == null) {
+            // 1. 创建 MQTT 监控器和消息处理器
+            customMqttDeviceMonitor = new CustomMqttDeviceMonitor();
+//            customMqttDeviceMonitor.registerHandler(new GenericPropertyMessageHandler());
+            customMqttDeviceMonitor.registerHandler(new HostMessageHandler()); //专门处理上位机的
+//            customMqttDeviceMonitor.registerHandler(new ActionMessageHandler());
+
+            //单独注册 对接上位机的
+            // 注册设备到 MQTT 监控器
+            CustomMqttDeviceConfig deviceConfig = new CustomMqttDeviceConfig();
+            deviceConfig.setDeviceKey(mqttClientId);
+            deviceConfig.setBrokerUrl(mqttHostUrl);
+            deviceConfig.setClientId(mqttClientId);
+            deviceConfig.setUsername(mqttUsername);
+            deviceConfig.setPassword(mqttPassword);
+            //TODO 添加所有需要订阅的
+            deviceConfig.setSubscribeTopics(Arrays.asList(
+                    MqttTopic.MOWER_HEARTBEAT,//心跳
+                    MqttTopic.MOWER_WILDCARD_LOCATION,//位置 经纬度
+                    MqttTopic.MOWER_WILDCARD_TASK_ROUTE, //路径回复
+                    MqttTopic.MOWER_WILDCARD_TASK_STATUS,//任务状态
+                    MqttTopic.MOWER_WILDCARD_ERROR,//错误
+                    MqttTopic.MOWER_WILDCARD_REALTIME, //状态消息
+                    MqttTopic.MOWER_WILDCARD_TASK_TARGET_REPLY, //路径规划下发回复
+                    MqttTopic.MOWER_OTA_RESULT_POST
+            ));
+            deviceConfig.setHandlerType(Constant.mqttHandleKey); //唯一的  用于处理上位机mqtt的
+            customMqttDeviceMonitor.registerDevice(deviceConfig);
+        }
+    }
+
 }

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

@@ -7,6 +7,7 @@ import java.util.Objects;
 import java.util.concurrent.ConcurrentHashMap;
 
 import com.maibu.core.business.*;
+import com.maibu.core.business.dto.DeviceMapPushDTO;
 import com.maibu.mqtt.CustomMqttDeviceMonitor;
 import org.apache.commons.lang3.StringUtils;
 import org.eclipse.paho.client.mqttv3.MqttClient;
@@ -30,8 +31,6 @@ public class SiteMemory {
 
     public SysSite sysSite;
 
-    public CustomMqttDeviceMonitor CustomMqttDeviceMonitor;
-
     public static final ConcurrentHashMap<String, MqttClient> mqttClientMap = new ConcurrentHashMap<>();
 
     public static final ConcurrentHashMap<Long, OrderModel> orderModelMap = new ConcurrentHashMap<>();
@@ -55,6 +54,42 @@ public class SiteMemory {
     // key deviceId execute
     public static ConcurrentHashMap<String, DevicePlanTask> devicePlanTaskExecuteMap = new ConcurrentHashMap<>();
 
+    // 记录 设备上线后的运行数据 下线后清除并保存到数据库
+    public static ConcurrentHashMap<String, DeviceRunStatistics> deviceRunStatisticsMap = new ConcurrentHashMap<>();
+
+    public static ConcurrentHashMap<String, DeviceMapPushDTO> deviceMapPushMap = new ConcurrentHashMap<>();
+
+    public Map<String, DeviceMapPushDTO> getAllDeviceMapPush() {
+        return deviceMapPushMap;
+    }
+
+    public void saveMapPushDTO(String deviceId, DeviceMapPushDTO dto) {
+        deviceMapPushMap.put(deviceId, dto);
+    }
+
+    public void removeMapPushDTO(String deviceId) {
+        deviceMapPushMap.remove(deviceId);
+    }
+
+    public void saveRunStatistics(DeviceRunStatistics deviceRunStatistics) {
+        if (deviceRunStatistics != null && !StringUtils.isEmpty(deviceRunStatistics.getDeviceId())) {
+            deviceRunStatisticsMap.put(deviceRunStatistics.getDeviceId(), deviceRunStatistics);
+        }
+    }
+
+    public DeviceRunStatistics getRunStatistics(String deviceId) {
+        if (!StringUtils.isEmpty(deviceId)) {
+            return deviceRunStatisticsMap.get(deviceId);
+        }
+        return null;
+    }
+
+    public void removeRunStatistics(String deviceId) {
+        if (!StringUtils.isEmpty(deviceId)) {
+            deviceRunStatisticsMap.remove(deviceId);
+        }
+    }
+
     public static void saveDevice(Device device) {
         deviceMap.put(device.getSerialNumber(), device);
     }
@@ -137,7 +172,6 @@ public class SiteMemory {
         }
     }
 
-
     public void saveDeviceRunParam(DeviceRunParam deviceRunParam) {
         deviceRunParamMap.put(deviceRunParam.getDeviceId(), deviceRunParam);
     }

maibu-common/src/main/java/com/maibu/mqtt/CustomMqttDeviceMonitor.java

@@ -1,17 +1,24 @@
 package com.maibu.mqtt;
 
+import com.maibu.core.host.HeartBeatDTO;
 import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.client.mqttv3.*;
 import org.eclipse.paho.client.mqttv3.persist.MemoryPersistence;
 import org.springframework.stereotype.Component;
 
 import javax.annotation.PreDestroy;
+import java.util.ArrayList;
+import java.util.Arrays;
 import java.util.List;
 import java.util.Map;
 import java.util.concurrent.ConcurrentHashMap;
 import java.util.concurrent.Executors;
+import java.util.concurrent.LinkedBlockingQueue;
 import java.util.concurrent.ScheduledExecutorService;
+import java.util.concurrent.ThreadFactory;
+import java.util.concurrent.ThreadPoolExecutor;
 import java.util.concurrent.TimeUnit;
+import java.util.concurrent.atomic.AtomicInteger;
 
 /**
  * 自定义外部设备 MQTT 订阅管理器
@@ -66,6 +73,24 @@ public class CustomMqttDeviceMonitor {
      */
     private ScheduledExecutorService scheduler;
 
+    private final ConcurrentHashMap<String, HeartBeatDTO> hearBeatMap = new ConcurrentHashMap<>();
+
+    private final ThreadPoolExecutor messageExecutor = new ThreadPoolExecutor(
+            4, 8, 30L, TimeUnit.SECONDS,
+            new LinkedBlockingQueue<>(256),
+            new ThreadFactory() {
+                private final AtomicInteger counter = new AtomicInteger(1);
+
+                @Override
+                public Thread newThread(Runnable r) {
+                    Thread t = new Thread(r, "mqtt-message-worker-" + counter.getAndIncrement());
+                    t.setDaemon(true);
+                    return t;
+                }
+            },
+            new ThreadPoolExecutor.CallerRunsPolicy()
+    );
+
     /**
      * 巡检间隔（秒）
      */
@@ -74,7 +99,7 @@ public class CustomMqttDeviceMonitor {
     // ==================== 消息处理器管理 ====================
 
 
-    public CustomMqttMessageHandler getMessageHandler(String key){
+    public CustomMqttMessageHandler getMessageHandler(String key) {
         return handlerMap.get(key);
     }
 
@@ -152,6 +177,25 @@ public class CustomMqttDeviceMonitor {
         return client != null && client.isConnected();
     }
 
+    /**
+     * 保存心跳
+     */
+    public void saveHeartBeat(String sn, HeartBeatDTO dto) {
+        hearBeatMap.put(sn, dto);
+    }
+
+    /**
+     * 获取心跳
+     */
+    public HeartBeatDTO getHeartBeat(String sn) {
+        return hearBeatMap.get(sn);
+    }
+
+    public List<HeartBeatDTO> getAllHeartBeat() {
+        return new ArrayList<>(hearBeatMap.values());
+    }
+
+
     // ==================== 连接管理 ====================
 
     /**
@@ -180,6 +224,7 @@ public class CustomMqttDeviceMonitor {
         if (scheduler != null) {
             scheduler.shutdown();
         }
+        messageExecutor.shutdown();
         clientMap.keySet().forEach(this::disconnectDevice);
         log.info("CustomMqttDeviceMonitor 已停止");
     }
@@ -226,7 +271,7 @@ public class CustomMqttDeviceMonitor {
                 public void messageArrived(String topic, MqttMessage message) {
                     String payload = new String(message.getPayload());
                     log.debug("收到消息: deviceKey={}, topic={}, payload={}", deviceKey, topic, payload);
-                    dispatchMessage(deviceKey, topic, payload, config);
+                    messageExecutor.submit(() -> dispatchMessage(deviceKey, topic, payload, config));
                 }
 
                 @Override
@@ -373,6 +418,7 @@ public class CustomMqttDeviceMonitor {
 
     /**
      * 向指定设备发布消息（指定 QoS）
+     * 异步投递到线程池执行，避免阻塞 MQTT 回调线程
      */
     public void publish(String deviceKey, String topic, String payload, int qos) throws MqttException {
         MqttClient client = clientMap.get(deviceKey);
@@ -383,7 +429,7 @@ public class CustomMqttDeviceMonitor {
         MqttMessage message = new MqttMessage(payload.getBytes());
         message.setQos(qos);
         client.publish(topic, message);
-        log.debug("发布消息: deviceKey={}, topic={}", deviceKey, topic);
+        log.debug("发布消息: deviceKey={}, topic={},payload:{}", deviceKey, topic, payload);
     }
 
     /**

maibu-common/src/main/java/com/maibu/mqtt/HostMessageHandler.java

@@ -0,0 +1,526 @@
+package com.maibu.mqtt;
+
+import com.fasterxml.jackson.databind.ObjectMapper;
+import com.maibu.constant.Constant;
+import com.maibu.constant.NettyCacheKey;
+import com.maibu.core.business.DeviceRunStatistics;
+import com.maibu.core.business.device.DeviceStatusDetail;
+import com.maibu.core.business.device.NettyDevice;
+import com.maibu.core.business.dto.DeviceMapPushDTO;
+import com.maibu.core.business.dto.WebDeviceTaskStatusMessageDTO;
+import com.maibu.core.business.dto.WebStatusMessageDTO;
+import com.maibu.core.business.inter.WebsocketMesDispather;
+import com.maibu.core.enums.DeviceTaskStaus;
+import com.maibu.core.enums.MesType;
+import com.maibu.core.host.*;
+import com.maibu.core.redis.RedisCache;
+import com.maibu.enums.DeviceStatusEnum;
+import com.maibu.memory.DeviceSessionManager;
+import com.maibu.memory.GlobalMemory;
+import com.maibu.memory.SiteMemory;
+import com.maibu.utils.StringUtils;
+import com.maibu.utils.json.JsonUtils;
+import com.maibu.utils.spring.SpringUtils;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttException;
+import org.springframework.util.CollectionUtils;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * mqtt相关的 上位机处理器
+ */
+@Slf4j
+public class HostMessageHandler implements CustomMqttMessageHandler {
+    
+    private final DeviceSessionManager deviceSessionManager = SpringUtils.getBean(DeviceSessionManager.class);
+
+    private final WebsocketMesDispather websocketMesDispather = SpringUtils.getBean(WebsocketMesDispather.class);
+
+    private final String mqttClientId = "maibu-mqtt-client";
+
+    private final RedisCache redisCache = SpringUtils.getBean(RedisCache.class);
+
+    @Override
+    public String getHandlerType() {
+        return Constant.mqttHandleKey;
+    }
+
+    @Override
+    public boolean supports(String handlerType) {
+        return Constant.mqttHandleKey.equals(handlerType);
+    }
+
+    /**
+     * 处理 MQTT 消息
+     *
+     * <p>
+     * 通配符订阅场景下，deviceKey 为配置中的固定标识（如 "host-monitor"），
+     * 真正的设备 ID 需从 topic 中解析，通过 {@link #extractDeviceId(String)} 获取。
+     * </p>
+     */
+    @Override
+    public void handleMessage(String deviceKey, String topic, String payload, CustomMqttDeviceConfig config) {
+        try {
+            String deviceId = extractDeviceId(topic);
+            if (deviceId == null) {
+                log.warn("无法从topic解析deviceId: {}", topic);
+                return;
+            }
+
+            String action = extractAction(topic);
+            if (action == null) {
+                log.debug("未识别的topic: {}", topic);
+                return;
+            }
+
+            switch (action) {
+                case "location_post":
+                    handleLocationPost(deviceId, topic, payload);
+                    break;
+                case "realtime_post":
+                    handleRealtimePost(deviceId, topic, payload);
+                    break;
+                case "heartbeat_post":
+                    handleHeartbeatPost(deviceId, topic, payload);
+                    break;
+                case "error_post":
+                    handleErrorPost(deviceId, topic, payload);
+                    break;
+                // case "route_post":
+                // case "point_post":
+                // handleTaskPost(deviceId, topic, payload, action);
+                // break;
+                case "task_status_post":
+                    handleTaskPost(deviceId, topic, payload, action);
+                    break;
+                case "config_reply":
+                    handleConfigReply(deviceId, topic, payload);
+                    break;
+                case "control_reply":
+                    handleControlReply(deviceId, topic, payload);
+                    break;
+                case "route_reply":
+                    handleRouteReply(deviceId, topic, payload);
+                    break;
+                case "upgrade_reply":
+                    handleUpgradeReply(deviceId, topic, payload);
+                    break;
+                default:
+                    log.debug("割草机消息: deviceId={}, topic={}, action={}", deviceId, topic, action);
+                    break;
+            }
+        } catch (Exception e) {
+            log.error("消息处理异常: topic={}, error={}", topic, e.getMessage());
+        }
+    }
+
+    /**
+     * 定位信息 经纬度
+     */
+    private void handleLocationPost(String deviceId, String topic, String payload) {
+        try {
+            log.debug("【位置数据】deviceId={}, payload={}", deviceId, payload);
+            HostLocationRelTimeDTO locationRelTimeDTO = JsonUtils.parseObject(payload, HostLocationRelTimeDTO.class);
+            if (locationRelTimeDTO != null) {
+                WebStatusMessageDTO dto = createWebDeviceLocationMessage(locationRelTimeDTO, deviceId);
+                List<NettyDevice> controlMasters = deviceSessionManager
+                        .getAllSlaveControl(deviceId);
+                if (!CollectionUtils.isEmpty(controlMasters)) {
+                    for (NettyDevice x : controlMasters) {
+                        try {
+                            websocketMesDispather.dispather(x.getConnectorId(), JsonUtils.toJsonString(dto));
+                        } catch (Exception e) {
+                            log.error("位置数据websocket推送失败: connectorId={}, error={}", x.getConnectorId(),
+                                    e.getMessage());
+                        }
+                    }
+                }
+                // todo 推送实时位置和状态消息到外部
+                // todo 记录到内存 开线程池队列 逐一转发
+                // GlobalMemory.customMqttDeviceMonitor.publish(mqttClientId,
+                // String.format(MqttTopic.DEVICE_LOCATION_TOPIC, deviceId),
+                // JsonUtils.toJsonString(dto));
+                // todo 保存到内存
+                String key = NettyCacheKey.latestPositonKey + deviceId;
+                LocationMessage locationMessage = locationRelTimeDTO.getData();
+                locationMessage.setDeviceId(deviceId);
+                redisCache.setCacheObject(key, locationMessage);
+
+            }
+        } catch (Exception e) {
+            log.error("位置消息解析失败: deviceId={}, payload={}, error={}", deviceId, payload, e);
+        }
+    }
+
+    public WebStatusMessageDTO createWebDeviceLocationMessage(HostLocationRelTimeDTO locationRelTimeDTO,
+                                                              String deviceId) {
+        WebStatusMessageDTO webStatusMessageDTO = new WebStatusMessageDTO();
+        List<DeviceStatusDetail> transferData = new ArrayList<>();
+
+        DeviceStatusDetail d = new DeviceStatusDetail();
+        d.setName("deviceId");
+        d.setValue(deviceId);
+        d.setUnit("");
+        transferData.add(d);
+
+        DeviceStatusDetail lat = new DeviceStatusDetail();
+        lat.setName("latitude");
+        lat.setValue(String.valueOf(locationRelTimeDTO.getData().getLatitude()));
+        lat.setUnit("");
+        transferData.add(lat);
+
+        DeviceStatusDetail lng = new DeviceStatusDetail();
+        lng.setName("longitude");
+        lng.setValue(String.valueOf(locationRelTimeDTO.getData().getLongitude()));
+        lng.setUnit("");
+        transferData.add(lng);
+
+        DeviceStatusDetail yaw = new DeviceStatusDetail();
+        yaw.setName("yaw");
+        yaw.setValue(String.valueOf(locationRelTimeDTO.getData().getYaw()));
+        yaw.setUnit("");
+        transferData.add(yaw);
+
+        DeviceStatusDetail fix_status = new DeviceStatusDetail();
+        fix_status.setName("fix_status");
+        fix_status.setValue(String.valueOf(locationRelTimeDTO.getData().getFix_status()));
+        fix_status.setUnit("");
+        transferData.add(fix_status);
+
+        DeviceStatusDetail altitude = new DeviceStatusDetail();
+        altitude.setName("altitude");
+        altitude.setValue(String.valueOf(locationRelTimeDTO.getData().getAltitude()));
+        altitude.setUnit("");
+        transferData.add(altitude);
+
+        DeviceStatusDetail status = new DeviceStatusDetail();
+        status.setName("status");
+
+        NettyDevice nettyDevice = deviceSessionManager.getDevice(deviceId);
+        // todo error故障
+        if (nettyDevice != null) {
+            if (nettyDevice.getOnlineStatus() == 0) {
+                status.setValue(DeviceStatusEnum.offline.getCode());
+            } else {
+                if (nettyDevice.getTask() != null && nettyDevice.getTask().isTaskAccepted()) {
+                    status.setValue(DeviceStatusEnum.working.getCode());
+                } else {
+                    status.setValue(DeviceStatusEnum.idle.getCode());
+                }
+            }
+        } else {
+            status.setValue(DeviceStatusEnum.offline.getCode());
+        }
+        status.setUnit("");
+        transferData.add(status);
+
+        webStatusMessageDTO.setData(transferData);
+        webStatusMessageDTO.setType(MesType.locationInfo);
+
+        if (nettyDevice != null && nettyDevice.getDevice() != null) {
+            Long siteId = nettyDevice.getDevice().getSiteId();
+            Long orgId = nettyDevice.getDevice().getOrgId();
+            SiteMemory siteMemory = GlobalMemory.getSiteMemory(orgId, siteId);
+            if (siteMemory != null) {
+                DeviceMapPushDTO dto = new DeviceMapPushDTO();
+                dto.setA(Double.parseDouble(altitude.getValue()));
+                dto.setId(deviceId);
+                // dto.setB();
+                // dto.setHa();
+                dto.setF(fix_status.getValue());
+                dto.setS(status.getValue());
+                dto.setLat(Double.parseDouble(lat.getValue()));
+                dto.setLng(Double.parseDouble(lng.getValue()));
+                dto.setT(nettyDevice.getCurrentTaskId());
+                dto.setY(Double.parseDouble(yaw.getValue()));
+                siteMemory.saveMapPushDTO(deviceId, dto);
+            }
+        }
+
+        return webStatusMessageDTO;
+    }
+
+    public WebStatusMessageDTO createWebDeviceRealtimeMessage(HostVehicleRelTimeDTO vehicleRelTimeDTO) {
+        // todo 状态消息
+
+        WebStatusMessageDTO webStatusMessageDTO = new WebStatusMessageDTO();
+        List<DeviceStatusDetail> transferData = new ArrayList<>();
+        DeviceStatusDetail voltage = new DeviceStatusDetail();
+        voltage.setName("voltage");
+        voltage.setValue(String.valueOf(vehicleRelTimeDTO.getData().getBattery_voltage()));
+        voltage.setUnit("");
+
+        transferData.add(voltage);
+
+        DeviceStatusDetail speed = new DeviceStatusDetail();
+        speed.setName("speed");
+        speed.setValue(String.valueOf(vehicleRelTimeDTO.getData().getSpeed()));
+        speed.setUnit("");
+        transferData.add(speed);
+
+        DeviceStatusDetail motion = new DeviceStatusDetail();
+        motion.setName("motion");
+        motion.setValue(String.valueOf(vehicleRelTimeDTO.getData().getMotion()));
+        motion.setUnit("");
+        transferData.add(motion);
+
+        DeviceStatusDetail percentage = new DeviceStatusDetail();
+        percentage.setName("percentage");
+        percentage.setValue(String.valueOf(vehicleRelTimeDTO.getData().getBattery_percentage()));
+        percentage.setUnit("");
+        transferData.add(percentage);
+
+        webStatusMessageDTO.setData(transferData);
+        webStatusMessageDTO.setType(MesType.deviceInfo);
+        return webStatusMessageDTO;
+    }
+
+    /**
+     * 上位机数据
+     */
+    private void handleRealtimePost(String deviceId, String topic, String payload) {
+        log.debug("【实时数据】deviceId={}, payload={}", deviceId, payload);
+        try {
+            HostVehicleRelTimeDTO vehicleRelTimeDTO = JsonUtils.parseObject(payload, HostVehicleRelTimeDTO.class);
+            if (vehicleRelTimeDTO != null) {
+
+                // todo 更新里程数 里程数 * 割幅0.8
+                vehicleRelTimeDTO.getData().getDistance();
+                NettyDevice nettyDevice = deviceSessionManager.getDevice(deviceId);
+                if (nettyDevice != null) {
+                    Long orgId = nettyDevice.getDevice().getOrgId();
+                    Long siteId = nettyDevice.getDevice().getSiteId();
+                    SiteMemory siteMemory = GlobalMemory.getSiteMemory(orgId, siteId);
+                    if (siteMemory != null) {
+                        DeviceRunStatistics deviceRunStatistics = siteMemory.getRunStatistics(deviceId);
+                        if (deviceRunStatistics == null) {
+                            deviceRunStatistics = new DeviceRunStatistics();
+                        }
+                        deviceRunStatistics.setDeviceId(deviceId);
+                        deviceRunStatistics.setDistance(vehicleRelTimeDTO.getData().getDistance());
+                        deviceRunStatistics.setWorkArea(vehicleRelTimeDTO.getData().getDistance() * 0.8);
+                        siteMemory.saveRunStatistics(deviceRunStatistics);
+                    }
+                }
+
+                WebStatusMessageDTO dto = createWebDeviceRealtimeMessage(vehicleRelTimeDTO);
+                List<NettyDevice> controlMasters = deviceSessionManager
+                        .getAllSlaveControl(deviceId);
+                if (!CollectionUtils.isEmpty(controlMasters)) {
+                    for (NettyDevice x : controlMasters) {
+                        try {
+                            websocketMesDispather.dispather(x.getConnectorId(), JsonUtils.toJsonString(dto));
+                        } catch (Exception e) {
+                            log.error("实时数据websocket推送失败: connectorId={}, error={}", x.getConnectorId(),
+                                    e.getMessage());
+                        }
+                    }
+                }
+            }
+        } catch (Exception e) {
+            log.error("实时消息解析失败: deviceId={}, payload={}, error={}", deviceId, payload, e.getMessage());
+        }
+    }
+
+    /**
+     * 处理心跳
+     * topic: mower/{deviceId}/event/heartbeat/post
+     */
+    private void handleHeartbeatPost(String deviceId, String topic, String payload) {
+        log.debug("【心跳】payload={}", payload);
+        // 心跳处理
+        HeartBeatDTO beatDTO = JsonUtils.parseObject(payload, HeartBeatDTO.class);
+        if (beatDTO != null) {
+            beatDTO.setSysTimestamp(System.currentTimeMillis());
+            GlobalMemory.customMqttDeviceMonitor.saveHeartBeat(beatDTO.getSn(), beatDTO);
+        }
+    }
+
+    /**
+     * 处理错误告警
+     * topic: mower/{deviceId}/event/error/post
+     */
+    private void handleErrorPost(String deviceId, String topic, String payload) {
+        log.warn("【错误告警】deviceId={}, payload={}", deviceId, payload);
+    }
+
+    /**
+     * 处理任务相关上报
+     */
+    private void handleTaskPost(String deviceId, String topic, String payload, String action) {
+        log.info("【任务上报】deviceId={}, action={}, payload={}", deviceId, action, payload);
+
+        HostTaskStatusDTO dto = JsonUtils.parseObject(payload, HostTaskStatusDTO.class);
+        if (dto != null && !StringUtils.isEmpty(dto.getStatus())) {
+            NettyDevice nettyDevice = deviceSessionManager.getDevice(deviceId);
+            if ("completed".equals(dto.getStatus())) {
+                Long taskId = nettyDevice.finishTask();
+
+                WebDeviceTaskStatusMessageDTO sendDto = new WebDeviceTaskStatusMessageDTO();
+                sendDto.setDeviceId(deviceId);
+                sendDto.setTaskId(taskId);
+                sendDto.setStatus(DeviceTaskStaus.FINISH.toString());
+                sendDto.setType(MesType.device_task_change);
+
+                List<NettyDevice> controlMasters = deviceSessionManager
+                        .getAllSlaveControl(deviceId);
+                if (!CollectionUtils.isEmpty(controlMasters)) {
+                    for (NettyDevice x : controlMasters) {
+                        try {
+                            websocketMesDispather.dispather(x.getConnectorId(), JsonUtils.toJsonString(sendDto));
+                        } catch (Exception e) {
+                            log.error("实时数据websocket推送失败: connectorId={}, error={}", x.getConnectorId(),
+                                    e.getMessage());
+                        }
+                    }
+                }
+                // todo 推送实时位置和状态消息到外部
+                try {
+                    GlobalMemory.customMqttDeviceMonitor.publish(mqttClientId,
+                            String.format(MqttTopic.DEVICE_TASK_STATUS_TOPIC, taskId),
+                            JsonUtils.toJsonString(sendDto));
+                } catch (MqttException e) {
+                    // TODO Auto-generated catch block
+                    e.printStackTrace();
+                }
+
+            }
+            if ("cancelled".equals(dto.getStatus())) {
+                nettyDevice.canceledTask();
+            }
+            // if("paused".equals(dto.getStatus())){
+            // NettyDevice nettyDevice = deviceSessionManager.getDevice(deviceId);
+            // nettyDevice.finishTask();
+            // }
+            if ("failed".equals(dto.getStatus())) {
+                nettyDevice.failedTask();
+            }
+            // if("accepted".equals(dto.getStatus())){
+            // NettyDevice nettyDevice = deviceSessionManager.getDevice(deviceId);
+            // nettyDevice.finishTask();
+            // }
+            // if("running".equals(dto.getStatus())){
+            // NettyDevice nettyDevice = deviceSessionManager.getDevice(deviceId);
+            // nettyDevice.finishTask();
+            // }
+        }
+
+    }
+
+    /**
+     * 处理配置响应
+     */
+    private void handleConfigReply(String deviceId, String topic, String payload) {
+        log.debug("【配置响应】deviceId={}, payload={}", deviceId, payload);
+    }
+
+    /**
+     * 处理控制指令响应
+     */
+    private void handleControlReply(String deviceId, String topic, String payload) {
+        log.debug("【控制响应】deviceId={}, payload={}", deviceId, payload);
+    }
+
+    /**
+     * 处理控制指令响应
+     */
+    private void handleRouteReply(String deviceId, String topic, String payload) {
+        log.debug("【路径任务下发响应】deviceId={}, payload={}", deviceId, payload);
+
+        // todo 更新任务接收状态
+        HostNavigationReplyDTO replyDTO = JsonUtils.parseObject(payload, HostNavigationReplyDTO.class);
+        NettyDevice device = deviceSessionManager.getDevice(deviceId);
+        if (replyDTO.isAccepted()) {
+            if (device != null && device.getTask() != null
+                    && String.valueOf(device.getTask().getId()).equals(replyDTO.getTask_id())) {
+                device.getTask().setTaskAccepted(true);
+            }
+        }
+    }
+
+    /**
+     * 处理控制指令响应
+     */
+    private void handleUpgradeReply(String deviceId, String topic, String payload) {
+//        log.debug("【路径任务下发响应】deviceId={}, payload={}", deviceId, payload);
+//
+//        // todo 更新任务接收状态
+//        HostNavigationReplyDTO replyDTO = JsonUtils.parseObject(payload, HostNavigationReplyDTO.class);
+//        NettyDevice device = deviceSessionManager.getDevice(deviceId);
+//        if (replyDTO.isAccepted()) {
+//            if (device != null && device.getTask() != null
+//                    && String.valueOf(device.getTask().getId()).equals(replyDTO.getTask_id())) {
+//                device.getTask().setTaskAccepted(true);
+//            }
+//        }
+    }
+
+    /**
+     * 从 Topic 中解析 deviceId
+     * Topic 格式：mower/{deviceId}/...
+     */
+    private String extractDeviceId(String topic) {
+        if (topic == null || topic.isEmpty()) {
+            return null;
+        }
+        String[] parts = topic.split("/");
+        if (parts.length < 2 || !"mower".equals(parts[0])) {
+            return null;
+        }
+        return parts[1];
+    }
+
+    /**
+     * 从 Topic 中提取动作标识
+     * 将 mower/{deviceId}/xxx/yyy/post 转为 xxx_yyy_post 形式
+     */
+    private String extractAction(String topic) {
+        String[] parts = topic.split("/");
+        if (parts.length < 3 || !"mower".equals(parts[0])) {
+            return null;
+        }
+        StringBuilder path = new StringBuilder();
+        for (int i = 2; i < parts.length; i++) {
+            if (i > 2)
+                path.append("/");
+            path.append(parts[i]);
+        }
+        String remaining = path.toString();
+
+        if (remaining.equals("property/location/post"))
+            return "location_post";
+        if (remaining.equals("property/realtime/post"))
+            return "realtime_post";
+        if (remaining.equals("event/heartbeat/post"))
+            return "heartbeat_post";
+        if (remaining.equals("event/error/post"))
+            return "error_post";
+        // if (remaining.equals("task/route/post")) return "route_post";
+        // if (remaining.equals("task/point/post")) return "point_post";
+        if (remaining.equals("task/status/post"))
+            return "task_status_post";
+        if (remaining.equals("action/config/reply"))
+            return "config_reply";
+        if (remaining.equals("action/control/reply"))
+            return "control_reply";
+        if (remaining.equals("task/target/reply"))
+            return "route_reply";
+        if (remaining.equals("/ota/result/post"))
+            return "upgrade_reply";
+
+
+        return null;
+    }
+
+    @Override
+    public void onConnectionLost(String deviceKey, Throwable cause) {
+        log.warn("主机监控连接断开: deviceKey={}, reason={}", deviceKey, cause.getMessage());
+    }
+
+    @Override
+    public void onSubscribed(String deviceKey, String topic) {
+        log.info("主机监控订阅主题: deviceKey={}, topic={}", deviceKey, topic);
+    }
+}

maibu-common/src/main/java/com/maibu/mqtt/MqttTopic.java

@@ -1,16 +1,18 @@
 package com.maibu.mqtt;
 
-
 public class MqttTopic {
 
-    /** @deprecated 通用设备主题，建议使用 MOWER_* 系列主题 */
+    /**  通用设备主题，建议使用 MOWER_* 系列主题 */
     public static final String DEVICE_STATUS_TOPIC = "device/%s/realTimeMessage";
-    /** @deprecated 通用设备主题，建议使用 MOWER_* 系列主题 */
+
+    public static final String DEVICE_LOCATION_TOPIC = "device/%s/locationMessage";
+    /**  通用设备主题，建议使用 MOWER_* 系列主题 */
     public static final String DEVICE_TASK_STATUS_TOPIC = "task/%s/status";
-    /** @deprecated 通用设备主题，建议使用 MOWER_* 系列主题 */
+    /**  通用设备主题，建议使用 MOWER_* 系列主题 */
     public static final String DEVICE_TASK_ARRIVE_TOPIC = "task/%s/arrive";
-    /** @deprecated 通用设备主题，建议使用 MOWER_* 系列主题 */
+    /**  通用设备主题，建议使用 MOWER_* 系列主题 */
     public static final String DEVICE_ERROR_PUSH_TOPIC = "device/%s/error";
+    public static final String DEVICE_ROUTE_PUSH_TOPIC = "device/%s/route/post";
 
     /** 产品标识：割草机 */
     public static final String MOWER_PRODUCT = "mower";
@@ -18,12 +20,12 @@ public class MqttTopic {
     // ==================== 设备连接与状态 ====================
     /** 设备上线/下线事件上报（设备->平台），对应 TCP 0x03 connect */
     public static final String MOWER_STATUS_POST = "mower/%s/event/status/post";
-    /** 状态变更确认回复（平台->设备） */
-//    public static final String MOWER_STATUS_REPLY = "mower/%s/event/status/reply";
 
     // ==================== 实时运行数据 ====================
     /** 实时运行数据上报：电压/速度/温度/位置等（设备->平台），对应 TCP 0x02 status */
     public static final String MOWER_REALTIME_POST = "mower/%s/property/realtime/post";
+    /** GPS 位置数据上报：经纬度、速度、航向等（设备->平台） */
+    public static final String MOWER_LOCATION_POST = "mower/%s/property/location/post";
 
     // ==================== 心跳保活 ====================
     /** 设备心跳上报（设备->平台），对应 TCP 0xFF heartbeat */
@@ -43,58 +45,61 @@ public class MqttTopic {
     /** 远程控制指令下发：前进/后退/转向/割草等（平台->设备），对应 TCP 0x00 remoteControl */
     public static final String MOWER_CONTROL_SET = "mower/%s/action/control/set";
 
-//    /** 控制指令响应（设备->平台） */
-//    public static final String MOWER_CONTROL_REPLY = "mower/%s/action/control/reply";
-
     // ==================== 任务管理 ====================
     /** 路径规划下发（平台->设备），对应 TCP 0x01 path */
-    public static final String MOWER_TASK_ROUTE_SET = "mower/%s/task/route/set";
+    // public static final String MOWER_TASK_ROUTE_SET = "mower/%s/task/route/set";
-    public static final String MOWER_TASK_ROUTE_POST = "mower/%s/task/route/post";
+    // public static final String MOWER_TASK_ROUTE_POST =
+    // "mower/%s/task/route/post";
+
+    public static final String MOWER_TASK_ROUTE_SET = "mower/%s/task/target/set";
+
     /** 启动任务执行（平台->设备），对应 TCP 0x12 interaction */
     public static final String MOWER_TASK_STATUS_SET = "mower/%s/task/status/set";
-//    /** 暂停任务（平台->设备） */
-//    public static final String MOWER_TASK_PAUSE_SET = "mower/%s/task/pause/set";
-//    /** 继续任务（平台->设备） */
-//    public static final String MOWER_TASK_RESUME_SET = "mower/%s/task/resume/set";
-//    /** 取消任务（平台->设备） */
-//    public static final String MOWER_TASK_CANCEL_SET = "mower/%s/task/cancel/set";
-//    /** 到达路径点上报（设备->平台） */
     public static final String MOWER_TASK_POINT_POST = "mower/%s/task/point/post";
     /** 任务状态变更上报：执行中/暂停/完成等（设备->平台） */
     public static final String MOWER_TASK_STATUS_POST = "mower/%s/task/status/post";
-    /** 任务完成上报（设备->平台） */
-    public static final String MOWER_TASK_FINISH_POST = "mower/%s/task/finish/post";
 
     // ==================== 错误告警 ====================
     /** 设备错误告警上报：电机故障/传感器异常等（设备->平台） */
     public static final String MOWER_ERROR_POST = "mower/%s/event/error/post";
 
     // ==================== OTA 固件升级 ====================
-//    /** 下发 OTA 升级指令（平台->设备） */
+    /** 下发 OTA 升级指令（平台->设备） */
-//    public static final String MOWER_OTA_UPGRADE_SET = "mower/%s/ota/upgrade/set";
+    public static final String MOWER_OTA_UPGRADE_SET = "mower/%s/ota/upgrade/set";
-//    /** OTA 升级进度上报（设备->平台） */
+    /** OTA 升级进度上报（设备->平台） */
-//    public static final String MOWER_OTA_PROGRESS_POST = "mower/%s/ota/progress/post";
+    public static final String MOWER_OTA_PROGRESS_POST = "mower/+/ota/progress/post";
-//    /** OTA 升级结果上报（设备->平台） */
+    /** OTA 升级结果上报（设备->平台） */
-//    public static final String MOWER_OTA_RESULT_POST = "mower/%s/ota/result/post";
+    public static final String MOWER_OTA_RESULT_POST = "mower/+/ota/result/post";
 
     // ==================== 设备信息 ====================
-//    /** 查询设备信息（平台->设备） */
+    // /** 查询设备信息（平台->设备） */
-//    public static final String MOWER_INFO_DEVICE_GET = "mower/%s/info/device/get";
+    // public static final String MOWER_INFO_DEVICE_GET =
-//    /** 设备信息响应（设备->平台） */
+    // "mower/%s/info/device/get";
-//    public static final String MOWER_INFO_DEVICE_REPLY = "mower/%s/info/device/reply";
+    // /** 设备信息响应（设备->平台） */
+    // public static final String MOWER_INFO_DEVICE_REPLY =
+    // "mower/%s/info/device/reply";
     /** 设备版本信息上报（设备->平台） */
-//    public static final String MOWER_INFO_VERSION_POST = "mower/%s/info/version/post";
+    // public static final String MOWER_INFO_VERSION_POST =
+    // "mower/%s/info/version/post";
 
     // ==================== 通配符订阅 ====================
     /** 订阅所有设备的状态变更事件 */
     public static final String MOWER_WILDCARD_STATUS = "mower/+/event/status/post";
     /** 订阅所有设备的实时运行数据 */
     public static final String MOWER_WILDCARD_REALTIME = "mower/+/property/realtime/post";
+    /** 上位机的额外消息 */
+    public static final String MOWER_WILDCARD_LOCATION = "mower/+/property/location/post";
     /** 订阅所有设备的错误告警 */
     public static final String MOWER_WILDCARD_ERROR = "mower/+/event/error/post";
     /** 订阅所有设备的任务状态变更 */
     public static final String MOWER_WILDCARD_TASK_STATUS = "mower/+/task/status/post";
 
+    public static final String MOWER_WILDCARD_TASK_ROUTE = "mower/+/task/route/post";
+
+    public static final String MOWER_WILDCARD_TASK_TARGET_REPLY = "mower/+/task/target/reply";
+
+    public static final String MOWER_HEARTBEAT = "mower/+/event/heartbeat/post";
+
     /**
      * 格式化 Topic 模板，将 %s 替换为设备ID
      * 

maibu-common/src/main/java/com/maibu/utils/MinioUtil.java

@@ -1,9 +1,6 @@
 package com.maibu.utils;
 
-import io.minio.BucketExistsArgs;
+import io.minio.*;
-import io.minio.MakeBucketArgs;
-import io.minio.MinioClient;
-import io.minio.PutObjectArgs;
 import org.springframework.stereotype.Service;
 
 import javax.annotation.Resource;
@@ -44,6 +41,15 @@ public class MinioUtil {
         // 拼接 public URL
         return endpoint + "/" + defaultBucket + "/" + objectName;
     }
+
+    public void deleteFile(String objectName) throws Exception {
+        minioClient.removeObject(
+                RemoveObjectArgs.builder()
+                        .bucket(defaultBucket)
+                        .object(objectName)
+                        .build()
+        );
+    }
 }
 
 

maibu-external/src/main/java/com/maibu/uav/service/UAVService.java

@@ -29,6 +29,7 @@ import org.springframework.util.CollectionUtils;
 import org.springframework.web.multipart.MultipartFile;
 
 import javax.annotation.PostConstruct;
+import javax.annotation.PreDestroy;
 import java.io.IOException;
 import java.io.InputStream;
 import java.security.InvalidKeyException;
@@ -58,6 +59,9 @@ public class UAVService {
     @Autowired
     private RedisCache redisCache;
 
+    @Autowired
+    private ScheduledExecutorService executor;
+
 
     public static final Map<String, Long> latestActiveTime = new ConcurrentHashMap<>();
 
@@ -669,7 +673,6 @@ public class UAVService {
 
     @PostConstruct
     public void heartbeatMonitor() {
-        ScheduledExecutorService executor = Executors.newSingleThreadScheduledExecutor();
         executor.scheduleWithFixedDelay(() -> {
             try {
                 Long nowTime = System.currentTimeMillis();
@@ -821,4 +824,5 @@ public class UAVService {
         return false;
     }
 
+
 }

maibu-framework/src/main/java/com/maibu/config/SecurityConfig.java

@@ -116,7 +116,7 @@ public class SecurityConfig extends WebSecurityConfigurerAdapter {
                 // 过滤请求
                 .authorizeRequests()
                 // 对于登录login 注册register 验证码captchaImage 允许匿名访问
-                .antMatchers("/api/thermal/**","/iotDA/device/**", "/websocket/allMemory", "/iot/UAV/**", "/iot/api/**", "/iot/device/userDevice", "/external/sms/sendAliSmsCode", "/login", "/register", "/captchaImage", "/iot/tool/register", "/iot/tool/ntp",
+                .antMatchers("/iot/host/upload-path-csv","/api/thermal/**","/iotDA/device/**", "/websocket/allMemory", "/iot/UAV/**", "/iot/api/**", "/iot/device/userDevice", "/external/sms/sendAliSmsCode", "/login", "/register", "/captchaImage", "/iot/tool/register", "/iot/tool/ntp",
                         "/iot/tool/mqtt/auth", "/iot/workRecord/**", "/iot/tool/mqtt/authv5", "/iot/tool/mqtt/webhook", "/iot/tool/mqtt/webhookv5", "/auth/**/**",
                         "/wechat/mobileLogin", "/wechat/miniLogin", "/wechat/wxBind/callback").permitAll()
                 .antMatchers("/zlmhook/**").permitAll()

maibu-framework/src/main/java/com/maibu/web/service/TokenService.java

@@ -170,8 +170,9 @@ public class TokenService {
 
         Map<String, Object> claims = new HashMap<>();
         claims.put(Constants.LOGIN_USER_KEY, token);
-        return createToken(claims);
+        String realToken = createToken(claims);
-
+        loginUser.setRealToken(realToken);
+        return realToken;
     }
 
     public int addToken(SysUser user, SysClient sysClient) {

maibu-iotDA/src/main/java/com/maibu/utils/IoTDAMqttClient.java

@@ -6,7 +6,7 @@ import com.huaweicloud.sdk.iot.device.client.requests.CommandRsp;
 import com.huaweicloud.sdk.iot.device.client.requests.DeviceMessage;
 import com.huaweicloud.sdk.iot.device.client.requests.ServiceProperty;
 import com.huaweicloud.sdk.iot.device.transport.ActionListener;
-import com.maibu.common.NettyCacheKey;
+import com.maibu.constant.NettyCacheKey;
 import com.maibu.core.business.DeviceRunningStatusHistory;
 import com.maibu.core.business.DeviceStatusRecordDTO;
 import com.maibu.core.redis.RedisCache;

maibu-netty-server/src/main/java/com/maibu/controller/DeviceTaskController.java

@@ -3,6 +3,7 @@ package com.maibu.controller;
 import java.time.LocalDate;
 
 import org.apache.commons.lang3.StringUtils;
+import org.eclipse.paho.client.mqttv3.MqttException;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.format.annotation.DateTimeFormat;
 import org.springframework.web.bind.annotation.GetMapping;
@@ -45,10 +46,10 @@ public class DeviceTaskController extends BaseController {
 
     @GetMapping("/getSiteDevicePlan")
     public AjaxResult getSiteDevicePlan(@RequestParam Long siteId,
-                                        @RequestParam(required = false) @DateTimeFormat(pattern = "yyyy-MM-dd") LocalDate startTime,
+            @RequestParam(required = false) @DateTimeFormat(pattern = "yyyy-MM-dd") LocalDate startTime,
-                                        @RequestParam(required = false) @DateTimeFormat(pattern = "yyyy-MM-dd") LocalDate endTime,
+            @RequestParam(required = false) @DateTimeFormat(pattern = "yyyy-MM-dd") LocalDate endTime,
-                                        @RequestParam(required = false) String deviceId,
+            @RequestParam(required = false) String deviceId,
-                                        @RequestParam(required = false) DeviceTaskStaus taskStaus) {
+            @RequestParam(required = false) DeviceTaskStaus taskStaus) {
         return AjaxResult.success(deviceTaskService.getSiteDevicePlan(siteId, startTime, endTime, deviceId, taskStaus));
     }
 
@@ -85,7 +86,6 @@ public class DeviceTaskController extends BaseController {
         return AjaxResult.success(deviceTaskService.concurrentDevicePlanTask(deviceId));
     }
 
-
     @GetMapping("/workStatistics")
     public AjaxResult workStatistics(@RequestParam Long userId) {
         return AjaxResult.success(deviceTaskService.workStatistics(userId));
@@ -93,13 +93,13 @@ public class DeviceTaskController extends BaseController {
 
     @PostMapping("/deviceTaskPool")
     public TableDataInfo deviceTaskPool(@RequestBody DeviceTaskQueryDTO dto) {
-        startPostPage(dto.getPageNum(),dto.getPageSize());
+        startPostPage(dto.getPageNum(), dto.getPageSize());
         return getDataTable(deviceTaskService.deviceTaskPool(dto));
     }
 
     @PostMapping("/getSiteDeviceTaskHistory")
     public TableDataInfo getSiteDeviceTaskHistory(@RequestBody DeviceTaskQueryDTO dto) {
-        startPostPage(dto.getPageNum(),dto.getPageSize());
+        startPostPage(dto.getPageNum(), dto.getPageSize());
         return getDataTable(deviceTaskService.getSiteDeviceTaskHistory(dto));
     }
 
@@ -124,13 +124,38 @@ public class DeviceTaskController extends BaseController {
         return AjaxResult.success(deviceTaskService.createDeviceTask(dto, getLoginUser().getUsername()));
     }
 
+    @PostMapping("/createRegionDeviceTask")
+    public AjaxResult createRegionDeviceTask(@RequestBody DeviceTaskCommandDTO dto) {
+        String deviceId = dto.getDeviceId();
+        Long siteId = dto.getSiteId();
+        Long orgId = dto.getOrgId();
+        Long regionId = dto.getRegionId();
+        if (StringUtils.isEmpty(deviceId)) {
+            return AjaxResult.error("deviceId为空!");
+        }
+        if (siteId == null) {
+            return AjaxResult.error("siteId为空!");
+        }
+        if (orgId == null) {
+            return AjaxResult.error("orgId为空!");
+        }
+        if (regionId == null) {
+            return AjaxResult.error("regionId为空!");
+        }
+        SiteMemory siteMemory = GlobalMemory.getSiteMemory(orgId, siteId);
+        if (siteMemory.hasTask(deviceId)) {
+            return AjaxResult.error("当前设备存在任务!");
+        }
+        return AjaxResult.success(deviceTaskService.createRegionDeviceTask(dto, getLoginUser().getUsername()));
+    }
+
     @PostMapping("/cancelTask")
-    public AjaxResult cancelTask(@RequestBody DeviceTaskCommandDTO dto) {
+    public AjaxResult cancelTask(@RequestBody DeviceTaskCommandDTO dto) throws MqttException {
         String deviceId = dto.getDeviceId();
         if (StringUtils.isEmpty(deviceId) && dto.getTaskId() == null) {
             return AjaxResult.error("deviceId或taskId为空!");
         }
-        return AjaxResult.success(deviceTaskService.cancelTask(dto, getUsername()));
+        return AjaxResult.success(deviceTaskService.cancelTask(dto));
     }
 
     @PostMapping("/pauseTask")
@@ -151,5 +176,4 @@ public class DeviceTaskController extends BaseController {
         return AjaxResult.success(deviceTaskService.recoveryTask(dto, getUsername()));
     }
 
-
 }

maibu-netty-server/src/main/java/com/maibu/controller/TransferDeviceController.java

@@ -66,11 +66,7 @@ public class TransferDeviceController extends BaseController {
         if (StringUtils.isEmpty(bindDTO.getPlatform())) {
             return AjaxResult.error("平台为空!");
         }
-        LoginUser user = getLoginUser();
+        return AjaxResult.success(transferDeviceService.switchDevice(bindDTO));
-        if (user == null) {
-            return AjaxResult.error("当前token用户不存在!");
-        }
-        return AjaxResult.success(transferDeviceService.switchDevice(bindDTO, user));
     }
 
     /**
@@ -87,8 +83,7 @@ public class TransferDeviceController extends BaseController {
             if (StringUtils.isEmpty(bindDTO.getPlatform())) {
                 return AjaxResult.error("平台为空!");
             }
-            LoginUser user = getLoginUser();
+            return AjaxResult.success(transferDeviceService.remoteControl(bindDTO));
-            return AjaxResult.success(transferDeviceService.remoteControl(bindDTO, user));
         } catch (Exception e) {
             logger.error("获取设备控制权出错", e);
             return AjaxResult.error();
@@ -122,8 +117,7 @@ public class TransferDeviceController extends BaseController {
         if (StringUtils.isEmpty(bindDTO.getPlatform())) {
             return AjaxResult.error("平台为空!");
         }
-        LoginUser user = getLoginUser();
+        transferDeviceService.releaseControl(bindDTO);
-        transferDeviceService.releaseControl(bindDTO, user);
         return AjaxResult.success();
     }
 }

maibu-netty-server/src/main/java/com/maibu/dto/DeviceBindDTO.java

@@ -24,4 +24,6 @@ public class DeviceBindDTO {
 
     private Integer type; // releaseControl  1 完全释放  2 释放控制权  可监听数据
 
+    private String token;
+
 }

maibu-netty-server/src/main/java/com/maibu/init/InitThread.java

@@ -39,6 +39,12 @@ public class InitThread implements ApplicationRunner {
     @Resource(name = FastBeeConstant.TASK.DEVICE_ERROR_MONITOR)
     private Executor deviceErrorMonitorExecutor;
 
+    @Resource(name = FastBeeConstant.TASK.DEVICE_HEARTBEAT_MONITOR)
+    private Executor deviceHeartBeatMonitorExecutor;
+
+    @Resource(name = FastBeeConstant.TASK.MAP_MESSAGE_PUSH)
+    private Executor mapMessagePushExecutor;
+
     @Resource(name = FastBeeConstant.TASK.COMMON_DEVICE_MONITOR)
     private Executor commonDeviceMonitorExecutor;
 
@@ -121,8 +127,19 @@ public class InitThread implements ApplicationRunner {
     private void init() throws MqttException {
         // 初始化InfluxDBUtil
         GlobalMemory.influxDBUtil = new InfluxDBUtil(influxDBUrl, influxDBToken, influxDBOrg, influxDBBucket);
-        // 初始化MqttClientUtil
+
-        GlobalMemory.mqttClientUtil = new MqttClientUtil(mqttHostUrl, mqttClientId, mqttUsername, mqttPassword);
+        GlobalMemory.initMqttDeviceMonitor(mqttHostUrl, mqttClientId, mqttUsername, mqttPassword);
+
+        // 地图监控推送
+        mapMessagePushExecutor.execute(() -> {
+            deviceThreadService.mapMessagePush();
+        });
+
+        // 上位机设备心跳监控
+        deviceHeartBeatMonitorExecutor.execute(() -> {
+            deviceThreadService.heartBeatMonitor();
+        });
+
         // 设备错误监听线程
         deviceErrorMonitorExecutor.execute(() -> {
             try {

maibu-netty-server/src/main/java/com/maibu/netty/handler/CommandForwardHandler.java

@@ -4,10 +4,13 @@ import java.util.List;
 import java.util.Set;
 
 import com.maibu.memory.DeviceSessionManager;
+import com.maibu.memory.GlobalMemory;
+import com.maibu.mqtt.MqttTopic;
 import org.apache.commons.codec.binary.Hex;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Component;
 import org.springframework.util.CollectionUtils;
 
@@ -32,6 +35,9 @@ public class CommandForwardHandler extends SimpleChannelInboundHandler<String> {
     @Autowired
     private DeviceSessionManager deviceSessionManager;
 
+    @Value("${mqtt.client-id}")
+    private String mqttClientId;
+
     @Override
     protected void channelRead0(ChannelHandlerContext ctx, String msg) throws Exception {
         Channel currentChannel = ctx.channel();
@@ -78,11 +84,14 @@ public class CommandForwardHandler extends SimpleChannelInboundHandler<String> {
                         logger.debug("发送拒绝master:{},消息到达的slave设备:{},处于禁止接收状态", senderDeviceId, target.getConnectorId());
                         continue;
                     }
-                    Channel targetChannel = target.getChannel();
+                    // todo 向上位机发送控制消息
-                    if (targetChannel != null && targetChannel.isActive()) {
+
-                        targetChannel.writeAndFlush(msg);
+                    GlobalMemory.customMqttDeviceMonitor.publish(mqttClientId, String.format(MqttTopic.MOWER_CONTROL_SET, target.getConnectorId()), msg);
-                        logger.debug("从master:{},向slave:{}, 转发消息:{}", senderDeviceId, target.getConnectorId(), msg);
+//                    Channel targetChannel = target.getChannel();
-                    }
+//                    if (targetChannel != null && targetChannel.isActive()) {
+//                        targetChannel.writeAndFlush(msg);
+//                        logger.debug("从master:{},向slave:{}, 转发消息:{}", senderDeviceId, target.getConnectorId(), msg);
+//                    }
                 }
             } else if (ConnectorType.SLAVE.equals(senderNettyDevice.getDeviceType())) {
                 List<NettyDevice> masters = deviceSessionManager.getMastersBySlaveId(senderDeviceId);

maibu-netty-server/src/main/java/com/maibu/netty/handler/DataToDataBaseHandler.java

@@ -13,18 +13,17 @@ import com.maibu.constant.Constant;
 import com.maibu.core.business.DeviceRunParam;
 import com.maibu.mapper.DeviceRunParamMapper;
 import com.maibu.memory.DeviceSessionManager;
-import com.maibu.memory.SiteMemory;
 import org.apache.commons.codec.binary.Hex;
 import org.apache.commons.lang3.StringUtils;
-import org.eclipse.paho.client.mqttv3.MqttException;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Component;
 import org.springframework.util.CollectionUtils;
 
 import com.maibu.constant.CommandConstant;
-import com.maibu.common.NettyCacheKey;
+import com.maibu.constant.NettyCacheKey;
 import com.maibu.core.business.DeviceRunStatistics;
 import com.maibu.core.business.DeviceRunningStatusHistory;
 import com.maibu.core.business.DeviceStatusRecordDTO;
@@ -33,7 +32,7 @@ import com.maibu.core.business.device.NettyDevice;
 import com.maibu.core.business.inter.WebsocketMesDispather;
 import com.maibu.core.enums.MesType;
 import com.maibu.core.redis.RedisCache;
-import com.maibu.dto.WebStatusMessageDTO;
+import com.maibu.core.business.dto.WebStatusMessageDTO;
 import com.maibu.influxdb.MowerRealTimeData;
 import com.maibu.influxdb.util.InfluxSqlBuilder;
 import com.maibu.memory.GlobalMemory;
@@ -63,6 +62,9 @@ public class DataToDataBaseHandler extends SimpleChannelInboundHandler<String> {
     @Autowired
     private DeviceRunParamMapper deviceRunParamMapper;
 
+    @Value("${mqtt.client-id}")
+    private String mqttClientId;
+
     private static final Long recordInterval = 5000L; // 5秒记录一次
 
     // private static final Long pushInterval = 500L; // 0.5秒推送一次
@@ -96,13 +98,9 @@ public class DataToDataBaseHandler extends SimpleChannelInboundHandler<String> {
                 String deviceStatus = new String(bytes, 2, bytes.length - 4, StandardCharsets.UTF_8).trim();
                 String[] split = deviceStatus.split(",");
                 WebStatusMessageDTO dto = createWebDeviceStatusMessage(split);
-                try {
+                GlobalMemory.customMqttDeviceMonitor.publish(mqttClientId,
-                    GlobalMemory.mqttClientUtil.publish(
+                        String.format(MqttTopic.DEVICE_STATUS_TOPIC, deviceID),
-                            String.format(MqttTopic.DEVICE_STATUS_TOPIC, deviceID),
+                        JsonUtils.toJsonString(dto));
-                            JsonUtils.toJsonString(dto));
-                } catch (MqttException e) {
-                    logger.error("发送实时状态数据错误: {}", e.getMessage());
-                }
                 List<NettyDevice> controlMasters = deviceSessionManager
                         .getAllSlaveControl(deviceID);
                 if (!CollectionUtils.isEmpty(controlMasters)) {
@@ -136,19 +134,15 @@ public class DataToDataBaseHandler extends SimpleChannelInboundHandler<String> {
                         latestStatus.setDeviceId(deviceID);
                     } else {
                         latestStatus = nettyDevice.getLatestStatus();
-                        // 使用Duration.between计算两个时间点之间的持续时间
-                        Duration duration = Duration.between(latestStatus.getStartTime(), LocalDateTime.now());
-                        long minutes = duration.toMinutes();
-                        latestStatus.setTime(minutes);
                     }
                     latestStatus.setWorkArea(Double.valueOf(workArea));
+                    latestStatus.setDistance(Double.valueOf(workArea) / 0.8);
                     nettyDevice.setLatestStatus(latestStatus);
                 }
             } else if (bytes[2] == CommandConstant.readConfig) {
                 DeviceRunParam runParam = DeviceRunParam.fromBytes(bytes);
                 logger.debug("收到返回的设备运行参数: {}", JsonUtils.toJsonString(runParam));
-                CompletableFuture<DeviceRunParam> future =
+                CompletableFuture<DeviceRunParam> future = ctx.channel().attr(Constant.READ_CONFIG_KEY).get();
-                        ctx.channel().attr(Constant.READ_CONFIG_KEY).get();
                 if (future != null) {
                     future.complete(runParam);
                     ctx.channel().attr(Constant.READ_CONFIG_KEY).set(null);
@@ -160,7 +154,6 @@ public class DataToDataBaseHandler extends SimpleChannelInboundHandler<String> {
         }
     }
 
-
     public WebStatusMessageDTO createWebDeviceStatusMessage(String[] split) {
         WebStatusMessageDTO webStatusMessageDTO = new WebStatusMessageDTO();
         List<DeviceStatusDetail> transferData = transferStatusData(split);

maibu-netty-server/src/main/java/com/maibu/netty/handler/DeviceConnectHandler.java

@@ -8,23 +8,23 @@ import java.util.concurrent.ConcurrentHashMap;
 
 import javax.annotation.Resource;
 
-import com.maibu.memory.DeviceSessionManager;
 import org.apache.commons.codec.binary.Hex;
 import org.apache.commons.lang3.StringUtils;
 import org.eclipse.paho.client.mqttv3.MqttException;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Component;
 import org.springframework.util.CollectionUtils;
 
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.maibu.constant.CommandConstant;
 import com.maibu.constant.Constant;
 import com.maibu.core.business.Device;
+import com.maibu.core.business.DeviceRunStatistics;
 import com.maibu.core.business.device.NettyDevice;
 import com.maibu.core.business.inter.WebsocketMesDispather;
-import com.maibu.core.domain.entity.SysUser;
-import com.maibu.core.domain.entity.UserClient;
 import com.maibu.core.enums.CommandRequestType;
 import com.maibu.core.enums.ConnectionCloseReason;
 import com.maibu.core.enums.ConnectorStatus;
@@ -33,12 +33,12 @@ import com.maibu.core.enums.DeviceStatus;
 import com.maibu.core.enums.DeviceTaskStaus;
 import com.maibu.core.enums.MesType;
 import com.maibu.core.enums.RespondCode;
-import com.maibu.dto.DeviceLoginResponseDTO;
 import com.maibu.dto.DeviceRequestDTO;
 import com.maibu.dto.DeviceRespondDTO;
 import com.maibu.dto.DeviceStatusChangeDTO;
 import com.maibu.dto.DeviceTaskStatusMessageDTO;
 import com.maibu.mapper.DeviceRunStatisticsMapper;
+import com.maibu.memory.DeviceSessionManager;
 import com.maibu.memory.GlobalMemory;
 import com.maibu.mqtt.MqttTopic;
 import com.maibu.service.IDeviceService;
@@ -73,15 +73,15 @@ public class DeviceConnectHandler extends SimpleChannelInboundHandler<String> {
     @Autowired
     private IDeviceService deviceService;
 
-    @Autowired
-    private ISysUserService userService;
-
     @Autowired
     private DeviceRunStatisticsMapper deviceRunStatisticsMapper;
 
     @Resource
     private WebsocketMesDispather websocketMesDispather;
 
+    @Value("${mqtt.client-id}")
+    private String mqttClientId;
+
     public DeviceConnectHandler(DeviceSessionManager sessionManager) {
         this.sessionManager = sessionManager;
     }
@@ -115,6 +115,8 @@ public class DeviceConnectHandler extends SimpleChannelInboundHandler<String> {
                 logger.info("{}: 设备断开 status: {}", deviceId, ConnectorStatus.DISABLED);
                 // updateLogoutSingle(deviceId);
                 // todo 自动切换到其他？
+
+                sessionManager.unLock(deviceId);
             }
             if (nettyDevice != null && nettyDevice.getDeviceType() == ConnectorType.SLAVE) {
                 nettyDevice.setOnlineStatus(0);
@@ -143,8 +145,24 @@ public class DeviceConnectHandler extends SimpleChannelInboundHandler<String> {
                     // todo 更新历史作业消息
                 }
                 if (nettyDevice.getLatestStatus() != null) {
-                    nettyDevice.getLatestStatus().setEndTime(LocalDateTime.now());
+
-                    deviceRunStatisticsMapper.insert(nettyDevice.getLatestStatus());
+                    LambdaQueryWrapper<DeviceRunStatistics> queryWrapper = new LambdaQueryWrapper<>();
+                    queryWrapper.eq(DeviceRunStatistics::getDeviceId, deviceId);
+                    DeviceRunStatistics existing = deviceRunStatisticsMapper
+                            .selectOne(queryWrapper);
+                    if (existing != null) {
+                        nettyDevice.getLatestStatus().setId(existing.getId());
+                        nettyDevice.getLatestStatus().setDistance(
+                                existing.getDistance() + nettyDevice.getLatestStatus().getDistance());
+                        nettyDevice.getLatestStatus().setWorkArea(
+                                existing.getWorkArea() + nettyDevice.getLatestStatus().getWorkArea());
+                        long time = System.currentTimeMillis() - nettyDevice.getLatestLoginTime();
+                        nettyDevice.getLatestStatus().setTime(existing.getTime() + time / (1000 * 60)); // 累加时长，单位为分钟
+                    } else {
+                        long time = System.currentTimeMillis() - nettyDevice.getLatestLoginTime();
+                        nettyDevice.getLatestStatus().setTime(time / (1000 * 60)); // 累加时长，单位为分钟
+                    }
+                    deviceRunStatisticsMapper.saveOrUpdate(nettyDevice.getLatestStatus());
                 }
             }
             sessionManager.removeDevice(deviceId);
@@ -155,7 +173,7 @@ public class DeviceConnectHandler extends SimpleChannelInboundHandler<String> {
     }
 
     @Override
-    protected void channelRead0(ChannelHandlerContext ctx, String msg) throws Exception {
+    protected void channelRead0(ChannelHandlerContext ctx, String msg) {
         try {
             byte[] bytes = Hex.decodeHex(msg.toCharArray());
 
@@ -181,86 +199,13 @@ public class DeviceConnectHandler extends SimpleChannelInboundHandler<String> {
                             logger.info("上位机连接 sessionId: {}", sessionId);
                             logger.info("上位机连接 userName: {}", userName);
                             logger.info("上位机连接 type: {}", parts[1]);
-                            SysUser sysUser = userService.selectUserByUserName(userName);
-                            if (sysUser != null) {
-                                sysUserClientService.insertUserClient(sysUser.getUserId(), userName, deviceId, "", 0);
-                            }
-                            // 如果 当前角色存在sessionId同时和当前的穿过来不同则下发剔除指令
-                            boolean t = false;
-                            if (StringUtils.isEmpty(sessionId) || sysUser == null) {
-                                t = true;
-                            }
-                            if (sysUser != null && !StringUtils.isEmpty(sessionId)
-                                    && !StringUtils.isEmpty(sysUser.getSessionId())) {
-                                if (!sysUser.getSessionId().equals(sessionId)) {
-                                    t = true;
-                                }
-                            }
-                            if (t) {
-                                // 发送已登录状态到客户端
-                                if ("web".equals(parts[1])) {
-                                    NettyDevice device = sessionManager.getDevice(deviceId);
-                                    logger.info("web 上位机连接重连: {}", JsonUtils.toJsonString(device));
-                                    if (device != null && !StringUtils.isEmpty(device.getCurrentSlaveId())) {
-                                        logger.info("上位机连接重连: {}", deviceId);
-                                    } else {
-                                        // 判断是否账号在控制空 如果在控制设置账号为非active
-                                        List<UserClient> userClients = sysUserClientService
-                                                .selectUserClientByUserName(userName);
-                                        ConnectorStatus status = ConnectorStatus.ACTIVE;
-                                        logger.info("web 上位机连接重连2: {}", JsonUtils.toJsonString(userClients));
-                                        UserClient nowClient = null;
-                                        if (!CollectionUtils.isEmpty(userClients)) {
-                                            long count = userClients.stream().filter(
-                                                            x -> x.getIsAlive() == 1 && !deviceId.equals(x.getClientName()))
-                                                    .count();
-                                            if (count > 0) {
-                                                status = ConnectorStatus.RECEIVER;
-                                            }
-                                            nowClient = userClients.stream().filter(
-                                                            x -> x.getIsAlive() == 1 && deviceId.equals(x.getClientName()))
-                                                    .findFirst().orElse(null);
-                                        }
-                                        logger.info("web 上位机连接重连3: {}", JsonUtils.toJsonString(status));
-                                        if (!ConnectorStatus.ACTIVE.equals(status)) {
-                                            handleMasterConnect(ctx, deviceId, null, status);
-                                        } else {
-                                            logger.info("web 上位机连接重连4: {}", JsonUtils.toJsonString(nowClient));
-                                            if (nowClient != null) {
-                                                handleMasterConnect(ctx, deviceId, nowClient.getDeviceName(), status);
-                                            } else {
-                                                handleMasterConnect(ctx, deviceId, null, status);
-                                            }
 
-                                        }
+                            NettyDevice masterDevice = sessionManager.getDevice(sessionId);
-                                    }
+                            if (masterDevice == null) {
-                                } else {
+                                // sessionManager.getControl(sessionId);
-                                    DeviceLoginResponseDTO responseDTO = new DeviceLoginResponseDTO();
+                                handleMasterConnect(ctx, sessionId, null, ConnectorStatus.ACTIVE);
-                                    responseDTO.setRespond(RespondCode.have_logged_in);
-                                    ByteBuf buf = ctx.alloc().buffer();
-                                    CommandUtils.buildCommand(buf, responseDTO, CommandConstant.interaction);
-                                    ctx.channel().writeAndFlush(buf);
-                                }
                             } else {
-                                // 判断是否账号在控制空 如果在控制设置账号为非active
+                                ctx.channel().attr(Constant.ATT_DEVICE_ID).set(sessionId);
-                                List<UserClient> userClients = sysUserClientService
-                                        .selectUserClientByUserName(userName);
-                                ConnectorStatus status = ConnectorStatus.ACTIVE;
-                                if (!CollectionUtils.isEmpty(userClients)) {
-                                    long count = userClients.stream()
-                                            .filter(x -> x.getIsAlive() == 1 && !deviceId.equals(x.getClientName()))
-                                            .count();
-                                    if (count > 0) {
-                                        status = ConnectorStatus.RECEIVER;
-                                    }
-                                }
-                                logger.info("上位机上线:{}", status);
-                                // if (ConnectorStatus.ACTIVE.equals(status)) {
-                                // //todo 设置当前控制的token
-                                // sysUser.setSessionId(sessionId);
-                                // userService.updateUserProfile(sysUser);
-                                // }
-                                handleMasterConnect(ctx, deviceId, null, status);
                             }
                         }
                     } else {
@@ -275,15 +220,17 @@ public class DeviceConnectHandler extends SimpleChannelInboundHandler<String> {
                             device.setDeviceName(data);
                             device.setProductId(-1L);
                             device.setTenantId(-1L);
-                            device.setFirmwareVersion(BigDecimal.valueOf(1.0));
+                            device.setFirmwareVersion("1.0");
                             device.setProductName("割草机产品MC700");
                             device.setCreateTime(LocalDateTime.now());
                             device.setUpdateTime(LocalDateTime.now());
+                            device.setHasHost(false);
                             deviceService.insertDeviceBySelf(device);
                         } else {
                             device.setStatus(3);
                             device.setOnlineStatus(DeviceStatus.online.getType());
                             device.setUpdateTime(LocalDateTime.now());
+                            device.setHasHost(false);
                             deviceService.updateDeviceBySelf(device);
                         }
                         NettyDevice slaveDevice = sessionManager.getDevice(data);
@@ -291,23 +238,24 @@ public class DeviceConnectHandler extends SimpleChannelInboundHandler<String> {
                             slaveDevice.setOnlineStatus(1);
                             slaveDevice.setDevice(device);
                         }
-                        // 推送json 找到设备绑定的主机进行推送
+                        // // 推送json 找到设备绑定的主机进行推送
-                        List<NettyDevice> controlMasters = sessionManager.getAllSlaveControl(device.getSerialNumber());
+                        // List<NettyDevice> controlMasters =
-                        if (!CollectionUtils.isEmpty(controlMasters)) {
+                        // sessionManager.getAllSlaveControl(device.getSerialNumber());
-                            controlMasters.forEach(x -> {
+                        // if (!CollectionUtils.isEmpty(controlMasters)) {
-                                DeviceStatusChangeDTO changeDTO = new DeviceStatusChangeDTO();
+                        // controlMasters.forEach(x -> {
-                                changeDTO.setDeviceId(data);
+                        // DeviceStatusChangeDTO changeDTO = new DeviceStatusChangeDTO();
-                                changeDTO.setStatus(DeviceStatus.online.getCode());
+                        // changeDTO.setDeviceId(data);
-                                changeDTO.setEvent(RespondCode.device_status_changed);
+                        // changeDTO.setStatus(DeviceStatus.online.getCode());
-                                ByteBuf buf = ctx.alloc().buffer();
+                        // changeDTO.setEvent(RespondCode.device_status_changed);
-                                CommandUtils.buildCommand(buf, changeDTO, CommandConstant.interaction);
+                        // ByteBuf buf = ctx.alloc().buffer();
-                                String content = buf.toString(CharsetUtil.UTF_8);
+                        // CommandUtils.buildCommand(buf, changeDTO, CommandConstant.interaction);
-                                logger.info("推送下位机登录状态消息:{}", content);
+                        // String content = buf.toString(CharsetUtil.UTF_8);
-                                if (x.getChannel() != null && x.getChannel().isActive()) {
+                        // logger.info("推送下位机登录状态消息:{}", content);
-                                    x.getChannel().writeAndFlush(buf);
+                        // if (x.getChannel() != null && x.getChannel().isActive()) {
-                                }
+                        // x.getChannel().writeAndFlush(buf);
-                            });
+                        // }
-                        }
+                        // });
+                        // }
                     }
                 }
             } else if (cmdType == CommandConstant.interaction) {
@@ -354,7 +302,7 @@ public class DeviceConnectHandler extends SimpleChannelInboundHandler<String> {
         }
     }
 
-    public void pushFinishData(NettyDevice device, String deviceId) {
+    public void pushFinishData(NettyDevice device, String deviceId) throws MqttException {
         Long taskId = device.finishTask();
         // todo 推送信息给前端
         DeviceTaskStatusMessageDTO changeDTO = new DeviceTaskStatusMessageDTO();
@@ -363,12 +311,9 @@ public class DeviceConnectHandler extends SimpleChannelInboundHandler<String> {
         changeDTO.setType(MesType.device_task_change);
         changeDTO.setTaskId(taskId);
 
-        try {
+        GlobalMemory.customMqttDeviceMonitor.publish(mqttClientId,
-            GlobalMemory.mqttClientUtil.publish(String.format(MqttTopic.DEVICE_TASK_STATUS_TOPIC, taskId),
+                String.format(MqttTopic.DEVICE_TASK_STATUS_TOPIC, taskId),
-                    JsonUtils.toJsonString(changeDTO));
+                JsonUtils.toJsonString(changeDTO));
-        } catch (MqttException e) {
-            logger.error("任务完成状态推送失败 task:{},device:{}error:{}", taskId, deviceId, e.getMessage());
-        }
         List<NettyDevice> controlMasters = sessionManager
                 .getAllSlaveControl(deviceId);
         if (!CollectionUtils.isEmpty(controlMasters)) {
@@ -382,7 +327,7 @@ public class DeviceConnectHandler extends SimpleChannelInboundHandler<String> {
         }
     }
 
-    public void pushArriveData(NettyDevice device, String deviceId) {
+    public void pushArriveData(NettyDevice device, String deviceId) throws MqttException {
         Long taskId = device.getTask() == null ? null : device.getTask().getId();
         // todo 推送信息给前端
         DeviceTaskStatusMessageDTO reportDTO = new DeviceTaskStatusMessageDTO();
@@ -390,13 +335,9 @@ public class DeviceConnectHandler extends SimpleChannelInboundHandler<String> {
         reportDTO.setTaskId(taskId);
         reportDTO.setEntity(device.getCurrentPoint());
         reportDTO.setType(MesType.device_task_arrive_point);
-        try {
+        GlobalMemory.customMqttDeviceMonitor.publish(mqttClientId,
-
+                String.format(MqttTopic.DEVICE_TASK_ARRIVE_TOPIC, taskId),
-            GlobalMemory.mqttClientUtil.publish(String.format(MqttTopic.DEVICE_TASK_ARRIVE_TOPIC, taskId),
+                JsonUtils.toJsonString(reportDTO));
-                    JsonUtils.toJsonString(reportDTO));
-        } catch (MqttException e) {
-            logger.error("任务点位到达推送失败 task:{},device:{}error:{}", taskId, deviceId, e.getMessage());
-        }
 
         List<NettyDevice> controlMasters = sessionManager
                 .getAllSlaveControl(deviceId);
@@ -428,17 +369,20 @@ public class DeviceConnectHandler extends SimpleChannelInboundHandler<String> {
                     logger.info("12指令切换权限，c:{}", c.getConnectorId());
                     if (!c.getConnectorId().equals(masterId)) {
                         // c.setCurrentSlaveId(null);
-                        c.removeConnectedDevice(slaveDevice);
+                        // c.removeConnectedDevice(slaveDevice);
                         c.setConnectorStatus(ConnectorStatus.RECEIVER);
-                        sysUserClientService.updateAliveStatus(c.getConnectorId(), slaveId, 2);
+                        sessionManager.unLock(c.getConnectorId());
+                        // sysUserClientService.updateAliveStatus(c.getConnectorId(), slaveId, 2);
                     }
                 });
             }
             logger.info("12指令解析,切换权限，slaveId:{},masterId :{}", slaveId, masterId);
+            sessionManager.lock(slaveId, masterId);
             masterDevice.setCurrentSlaveId(slaveId);
             masterDevice.setConnectorStatus(ConnectorStatus.ACTIVE);
             masterDevice.addConnectedDevice(slaveDevice);
-            sysUserClientService.updateAliveStatus(masterDevice.getConnectorId(), slaveId, 1);
+            // sysUserClientService.updateAliveStatus(masterDevice.getConnectorId(),
+            // slaveId, 1);
         } else {
             logger.info("权限切换请求被拒绝");
         }
@@ -469,69 +413,122 @@ public class DeviceConnectHandler extends SimpleChannelInboundHandler<String> {
         }
     }
 
+    // /**
+    // * 找到当前设备控制的主机 转发控制请求
+    // */
+    // private void handlePermissionRequest(DeviceRequestDTO requestDTO, byte[]
+    // bytes, ChannelHandlerContext ctx) {
+    // logger.info("转发控制请求 :{}", JsonUtils.toJsonString(requestDTO));
+    // String slaveId = requestDTO.getDeviceId();
+    // List<NettyDevice> controlList = sessionManager.getSlaveControl(slaveId);
+    // String masterId = requestDTO.getUserId() + ":" + requestDTO.getPlatform();
+    // logger.info("转发控制请求 controlList :{}", JsonUtils.toJsonString(controlList));
+    // if (!CollectionUtils.isEmpty(controlList)) {
+    // // 如果当前设备有控制
+    // logger.info("转发控制请求 发送报文");
+    // NettyDevice controlDevice = controlList.get(0);
+    // if (controlDevice != null && controlDevice.getChannel() != null &&
+    // controlDevice.getChannel().isActive()) {
+    // controlDevice.getChannel().writeAndFlush(Unpooled.wrappedBuffer(bytes));
+    // logger.info("转发控制请求 发送报文结束 deviceId :{}", controlDevice.getConnectorId());
+    // controlRequestMap.put(masterId, slaveId);
+    // logger.info("转发控制请求 controlRequestMap:{}",
+    // JsonUtils.toJsonString(controlRequestMap));
+    // }
+    //
+    // } else {
+    // // 判断直接给权限 还是 判断是否有该账号其他端的的控制有权限
+    // NettyDevice activeDevice =
+    // sessionManager.getUserControl(requestDTO.getUserId());
+    // boolean sendMes = true;
+    // if (activeDevice == null) {
+    // sendMes = false;
+    // } else {
+    // if (activeDevice.getConnectorId().equals(masterId)) {
+    // sendMes = false;
+    // }
+    // }
+    // if (sendMes) {
+    // if (activeDevice.getChannel() != null &&
+    // activeDevice.getChannel().isActive()) {
+    // activeDevice.getChannel().writeAndFlush(Unpooled.wrappedBuffer(bytes));
+    // logger.info("转发控制请求2 发送报文结束 deviceId :{}", activeDevice.getConnectorId());
+    // controlRequestMap.put(masterId, slaveId);
+    // logger.info("转发控制请求2 controlRequestMap:{}",
+    // JsonUtils.toJsonString(controlRequestMap));
+    // }
+    // } else {
+    // NettyDevice masterDevice = sessionManager.getDevice(masterId);
+    // if (masterDevice != null) {
+    // NettyDevice slaveDevice = sessionManager.getDevice(slaveId);
+    // masterDevice.setCurrentSlaveId(slaveId);
+    // masterDevice.setConnectorStatus(ConnectorStatus.ACTIVE);
+    // masterDevice.addConnectedDevice(slaveDevice);
+    //
+    // sysUserClientService.updateAliveStatus(masterDevice.getConnectorId(),
+    // slaveId, 1);
+    // if (masterDevice.getChannel() != null &&
+    // masterDevice.getChannel().isActive()) {
+    // DeviceRequestDTO reDto = new DeviceRequestDTO();
+    // reDto.setPlatform(requestDTO.getPlatform());
+    // DeviceRespondDTO respond = new DeviceRespondDTO();
+    // respond.setSwitchResult(true);
+    // respond.setHolder("you");
+    // respond.setDeviceId(slaveId);
+    // reDto.setRespond(respond);
+    // ByteBuf buf = ctx.alloc().buffer();
+    // CommandUtils.buildCommand(buf, reDto, CommandConstant.interaction);
+    // String content = buf.toString(CharsetUtil.UTF_8);
+    // masterDevice.getChannel().writeAndFlush(buf);
+    // logger.info("转发控制请求设置当前控制2 发送报文:{} deviceId :{}", content, masterId);
+    // }
+    // } else {
+    //
+    // }
+    // }
+    // }
+    // }
+
     /**
      * 找到当前设备控制的主机 转发控制请求
      */
     private void handlePermissionRequest(DeviceRequestDTO requestDTO, byte[] bytes, ChannelHandlerContext ctx) {
         logger.info("转发控制请求 :{}", JsonUtils.toJsonString(requestDTO));
         String slaveId = requestDTO.getDeviceId();
-        List<NettyDevice> controlList = sessionManager.getSlaveControl(slaveId);
+        String token = requestDTO.getToken();
-        String masterId = requestDTO.getUserId() + ":" + requestDTO.getPlatform();
+        String master = sessionManager.getMaster(slaveId);
-        logger.info("转发控制请求 controlList :{}", JsonUtils.toJsonString(controlList));
+        if (!StringUtils.isEmpty(master)) {
-        if (!CollectionUtils.isEmpty(controlList)) {
             // 如果当前设备有控制
             logger.info("转发控制请求 发送报文");
-            NettyDevice controlDevice = controlList.get(0);
+            NettyDevice controlDevice = sessionManager.getDevice(master);
             if (controlDevice != null && controlDevice.getChannel() != null && controlDevice.getChannel().isActive()) {
                 controlDevice.getChannel().writeAndFlush(Unpooled.wrappedBuffer(bytes));
                 logger.info("转发控制请求 发送报文结束 deviceId :{}", controlDevice.getConnectorId());
-                controlRequestMap.put(masterId, slaveId);
+                controlRequestMap.put(token, slaveId);
                 logger.info("转发控制请求 controlRequestMap:{}", JsonUtils.toJsonString(controlRequestMap));
             }
-
         } else {
-            // 判断直接给权限 还是 判断是否有该账号其他端的的控制有权限
+            NettyDevice masterDevice = sessionManager.getDevice(token);
-            NettyDevice activeDevice = sessionManager.getUserControl(requestDTO.getUserId());
+            if (masterDevice != null) {
-            boolean sendMes = true;
+                NettyDevice slaveDevice = sessionManager.getDevice(slaveId);
-            if (activeDevice == null) {
+                masterDevice.setCurrentSlaveId(slaveId);
-                sendMes = false;
+                masterDevice.setConnectorStatus(ConnectorStatus.ACTIVE);
-            } else {
+                masterDevice.addConnectedDevice(slaveDevice);
-                if (activeDevice.getConnectorId().equals(masterId)) {
+                sessionManager.lock(slaveId, token);
-                    sendMes = false;
-                }
-            }
-            if (sendMes) {
-                if (activeDevice.getChannel() != null && activeDevice.getChannel().isActive()) {
-                    activeDevice.getChannel().writeAndFlush(Unpooled.wrappedBuffer(bytes));
-                    logger.info("转发控制请求2 发送报文结束 deviceId :{}", activeDevice.getConnectorId());
-                    controlRequestMap.put(masterId, slaveId);
-                    logger.info("转发控制请求2 controlRequestMap:{}", JsonUtils.toJsonString(controlRequestMap));
-                }
-            } else {
-                NettyDevice masterDevice = sessionManager.getDevice(masterId);
-                if (masterDevice != null) {
-                    NettyDevice slaveDevice = sessionManager.getDevice(slaveId);
-                    masterDevice.setCurrentSlaveId(slaveId);
-                    masterDevice.setConnectorStatus(ConnectorStatus.ACTIVE);
-                    masterDevice.addConnectedDevice(slaveDevice);
-
-                    sysUserClientService.updateAliveStatus(masterDevice.getConnectorId(), slaveId, 1);
-                    if (masterDevice.getChannel() != null && masterDevice.getChannel().isActive()) {
-                        DeviceRequestDTO reDto = new DeviceRequestDTO();
-                        reDto.setPlatform(requestDTO.getPlatform());
-                        DeviceRespondDTO respond = new DeviceRespondDTO();
-                        respond.setSwitchResult(true);
-                        respond.setHolder("you");
-                        respond.setDeviceId(slaveId);
-                        reDto.setRespond(respond);
-                        ByteBuf buf = ctx.alloc().buffer();
-                        CommandUtils.buildCommand(buf, reDto, CommandConstant.interaction);
-                        String content = buf.toString(CharsetUtil.UTF_8);
-                        masterDevice.getChannel().writeAndFlush(buf);
-                        logger.info("转发控制请求设置当前控制2 发送报文:{} deviceId :{}", content, masterId);
-                    }
-                } else {
 
+                if (masterDevice.getChannel() != null && masterDevice.getChannel().isActive()) {
+                    DeviceRequestDTO reDto = new DeviceRequestDTO();
+                    reDto.setPlatform(requestDTO.getPlatform());
+                    DeviceRespondDTO respond = new DeviceRespondDTO();
+                    respond.setSwitchResult(true);
+                    respond.setHolder("you");
+                    respond.setDeviceId(slaveId);
+                    reDto.setRespond(respond);
+                    ByteBuf buf = ctx.alloc().buffer();
+                    CommandUtils.buildCommand(buf, reDto, CommandConstant.interaction);
+                    String content = buf.toString(CharsetUtil.UTF_8);
+                    masterDevice.getChannel().writeAndFlush(buf);
+                    logger.info("转发控制请求设置当前控制2 发送报文:{} deviceId :{}", content, token);
                 }
             }
         }
@@ -543,7 +540,7 @@ public class DeviceConnectHandler extends SimpleChannelInboundHandler<String> {
     }
 
     private void handleMasterConnect(ChannelHandlerContext ctx, String masterId, String slaveId,
-                                     ConnectorStatus status) {
+            ConnectorStatus status) {
         ctx.channel().attr(Constant.ATT_DEVICE_ID).set(masterId);
         sessionManager.registerDevice(masterId, ctx.channel(), ConnectorType.MASTER, status, slaveId);
         // sessionManager.bindConnector(masterId, slaveId);

maibu-netty-server/src/main/java/com/maibu/netty/handler/HeartbeatHandler.java

@@ -31,6 +31,8 @@ public class HeartbeatHandler extends ChannelInboundHandlerAdapter {
 
     private static final Logger logger = LoggerFactory.getLogger(HeartbeatHandler.class);
 
+    private static final long DEVICE_REGISTER_TIMEOUT_MS = 10_000; // 10秒注册超时
+
     @Override
     public void channelActive(ChannelHandlerContext ctx) throws Exception {
         // 连接建立后启动定时任务，主动发心跳
@@ -39,6 +41,7 @@ public class HeartbeatHandler extends ChannelInboundHandlerAdapter {
     }
 
     private void scheduleHeartbeat(ChannelHandlerContext ctx) {
+        final long startTime = System.currentTimeMillis();
         ctx.executor().scheduleAtFixedRate(() -> {
             try {
                 if (ctx.channel().isActive()) {
@@ -47,6 +50,12 @@ public class HeartbeatHandler extends ChannelInboundHandlerAdapter {
                         ByteBuf heartbeat = Unpooled.wrappedBuffer(HEARTBEAT_PACKET);
                         ctx.writeAndFlush(heartbeat);
                         logger.debug("发送心跳包给客户端:{},deviceId:{}", ctx.channel().remoteAddress(), deviceId);
+                    } else {
+                        long elapsed = System.currentTimeMillis() - startTime;
+                        if (elapsed > DEVICE_REGISTER_TIMEOUT_MS) {
+                            logger.warn("设备超过{}ms未注册,断开连接:{}", DEVICE_REGISTER_TIMEOUT_MS, ctx.channel().remoteAddress());
+                            ctx.close();
+                        }
                     }
                 }
             } catch (Exception e) {
@@ -55,6 +64,24 @@ public class HeartbeatHandler extends ChannelInboundHandlerAdapter {
         }, 0, HEARTBEAT_INTERVAL, TimeUnit.SECONDS);
     }
 
+
+//    private void scheduleHeartbeat(ChannelHandlerContext ctx) {
+//        ctx.executor().scheduleAtFixedRate(() -> {
+//            try {
+//                if (ctx.channel().isActive()) {
+//                    String deviceId = ctx.channel().attr(Constant.ATT_DEVICE_ID).get();
+//                    if (!StringUtils.isEmpty(deviceId)) {
+//                        ByteBuf heartbeat = Unpooled.wrappedBuffer(HEARTBEAT_PACKET);
+//                        ctx.writeAndFlush(heartbeat);
+//                        logger.debug("发送心跳包给客户端:{},deviceId:{}", ctx.channel().remoteAddress(), deviceId);
+//                    }
+//                }
+//            } catch (Exception e) {
+//                logger.error("heartbeat error", e);
+//            }
+//        }, 0, HEARTBEAT_INTERVAL, TimeUnit.SECONDS);
+//    }
+
     @Override
     public void channelRead(ChannelHandlerContext ctx, Object msg) throws Exception {
         if (msg instanceof ByteBuf) {

maibu-netty-server/src/main/java/com/maibu/scheduled/ScheduledTask.java

@@ -1,6 +1,6 @@
 package com.maibu.scheduled;
 
-import com.maibu.common.NettyCacheKey;
+import com.maibu.constant.NettyCacheKey;
 import com.maibu.core.business.DevicePlan;
 import com.maibu.core.business.DeviceRunParam;
 import com.maibu.core.business.DeviceStatusRecordDTO;

maibu-netty-server/src/main/java/com/maibu/service/DevicePlanTaskMonitorService.java

@@ -19,6 +19,7 @@ import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 import org.springframework.util.CollectionUtils;
 
+import javax.annotation.PreDestroy;
 import java.time.DayOfWeek;
 import java.time.LocalDate;
 import java.time.LocalDateTime;
@@ -44,13 +45,12 @@ public class DevicePlanTaskMonitorService {
     @Autowired
     private WorkRecordMapper workRecordMapper;
 
-
+    @Autowired
+    private ScheduledExecutorService executor;
     /**
      * 计划迟的任务生成机器执行任务
      */
     public void generatePlanTask() throws InterruptedException {
-
-        ScheduledExecutorService executor = Executors.newSingleThreadScheduledExecutor();
         executor.scheduleWithFixedDelay(() -> {
             try {
                 Map<String, List<DevicePlan>> planMap = SiteMemory.devicePlanMap;
@@ -204,7 +204,6 @@ public class DevicePlanTaskMonitorService {
 
     public void doLoop() throws InterruptedException {
         //prepare 进执行execute的逻辑
-        ScheduledExecutorService executor = Executors.newSingleThreadScheduledExecutor();
         executor.scheduleWithFixedDelay(() -> {
             try {
                 List<SiteMemory> list = GlobalMemory.getAllSiteMemory();
@@ -215,11 +214,11 @@ public class DevicePlanTaskMonitorService {
                             planMap.keySet().forEach(key -> {
                                 NettyDevice device = deviceSessionManager.getDevice(key);
                                 //判断是否能进execute
-                                if (device != null && device.getCurrentTaskId() == null && device.getOnlineStatus() != null && device.getOnlineStatus() == 1) {
+                                if (device != null && device.getTask() == null && device.getOnlineStatus() != null && device.getOnlineStatus() == 1) {
                                     List<DevicePlanTask> tasks = planMap.get(key);
                                     if (!CollectionUtils.isEmpty(tasks)) {
                                         tasks.removeIf(Objects::isNull);
-                                        tasks.sort(
+                                         tasks.sort(
                                                 Comparator.comparing(
                                                         DevicePlanTask::getStartTime,
                                                         Comparator.nullsLast(Comparator.naturalOrder())
@@ -230,9 +229,9 @@ public class DevicePlanTaskMonitorService {
                                             String deviceId = devicePlanTask.getDeviceId();
                                             if (!StringUtils.isEmpty(deviceId) && deviceId.equals(key)) {
                                                 devicePlanTask.setTaskStaus(DeviceTaskStaus.EXECUTING);
-                                                siteMemory.addDevicePlanExecute(devicePlanTask);
                                                 device.setCurrentTaskId(devicePlanTask.getId());
                                                 device.setTask(devicePlanTask);
+                                                siteMemory.addDevicePlanExecute(devicePlanTask);
                                                 siteMemory.removeDevicePlanPrepare(devicePlanTask);
                                             }
                                         }
@@ -250,7 +249,6 @@ public class DevicePlanTaskMonitorService {
 
     public void doExecute() {
         //prepare 进执行execute的逻辑
-        ScheduledExecutorService executor = Executors.newSingleThreadScheduledExecutor();
         executor.scheduleWithFixedDelay(() -> {
             try {
                 List<SiteMemory> list = GlobalMemory.getAllSiteMemory();
@@ -270,5 +268,4 @@ public class DevicePlanTaskMonitorService {
             }
         }, 0, 1000, TimeUnit.MILLISECONDS);
     }
-
 }

maibu-netty-server/src/main/java/com/maibu/service/DeviceTaskService.java

@@ -11,6 +11,7 @@ import java.util.stream.Collectors;
 
 import com.maibu.memory.DeviceSessionManager;
 import org.apache.commons.lang3.StringUtils;
+import org.eclipse.paho.client.mqttv3.MqttException;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 import org.springframework.util.CollectionUtils;
@@ -23,6 +24,7 @@ import com.maibu.core.business.DeviceTaskPlanRule;
 import com.maibu.core.business.WorkRecord;
 import com.maibu.core.business.device.NettyDevice;
 import com.maibu.core.business.dto.DeviceTaskCommandDTO;
+import com.maibu.core.domain.entity.SysRegion;
 import com.maibu.core.domain.entity.SysSite;
 import com.maibu.core.domain.model.LoginUser;
 import com.maibu.core.enums.DeviceTaskStaus;
@@ -33,6 +35,7 @@ import com.maibu.dto.DeviceWorkStatisticsDTO;
 import com.maibu.mapper.DeviceMapper;
 import com.maibu.mapper.DevicePlanMapper;
 import com.maibu.mapper.DevicePlanTaskMapper;
+import com.maibu.mapper.SysRegionMapper;
 import com.maibu.mapper.SysSiteMapper;
 import com.maibu.mapper.WorkRecordMapper;
 import com.maibu.memory.GlobalMemory;
@@ -62,6 +65,9 @@ public class DeviceTaskService {
     @Autowired
     private SysSiteMapper sysSiteMapper;
 
+    @Autowired
+    private SysRegionMapper sysRegionMapper;
+
     public int insertOrUpdate(DevicePlan devicePlan, LoginUser loginUser) {
         Long id = devicePlan.getId();
         SiteMemory siteMemory = GlobalMemory.getSiteMemory(devicePlan.getOrgId(), devicePlan.getSiteId());
@@ -447,9 +453,9 @@ public class DeviceTaskService {
             x.setTaskStausTranslate(taskStaus.getDescription());
         });
         list.sort(
-                Comparator.comparing(DevicePlanTask::getFinishTime,
+                Comparator.comparing(DevicePlanTask::getCreateTime,
                         Comparator.nullsLast(Comparator.reverseOrder()))
-                        .thenComparing(DevicePlanTask::getCreateTime,
+                        .thenComparing(DevicePlanTask::getFinishTime,
                                 Comparator.nullsLast(Comparator.reverseOrder())));
         return list;
     }
@@ -476,7 +482,36 @@ public class DeviceTaskService {
         return task.getId();
     }
 
-    public boolean cancelTask(DeviceTaskCommandDTO dto, String username) {
+    public Long createRegionDeviceTask(DeviceTaskCommandDTO dto, String username) {
+        LambdaQueryWrapper<SysRegion> queryWrapper = new LambdaQueryWrapper<>();
+        queryWrapper.eq(SysRegion::getId, dto.getRegionId());
+        SysRegion region = sysRegionMapper.selectOne(queryWrapper);
+
+        if (region == null || region.getBindRoute() == null) {
+            throw new RuntimeException("区域未绑定线路!");
+        }
+        DevicePlanTask task = new DevicePlanTask();
+        task.setRouteId(region.getBindRoute());
+        task.setOrgId(dto.getOrgId());
+        task.setSiteId(dto.getSiteId());
+        task.setTaskStaus(DeviceTaskStaus.NEW);
+        task.setDeviceId(dto.getDeviceId());
+        task.setCreateBy(username);
+        task.setCreateTime(LocalDateTime.now());
+        task.setStartTime(dto.getStartTime());
+        devicePlanTaskMapper.saveOrUpdate(task);
+        if (dto.getOrgId() == null) {
+            SysSite site = sysSiteMapper.selectById(dto.getSiteId());
+            if (site != null) {
+                dto.setOrgId(site.getOrgId());
+            }
+        }
+        SiteMemory siteMemory = GlobalMemory.getSiteMemory(task.getOrgId(), task.getSiteId());
+        siteMemory.addDevicePlanPrepare(task);
+        return task.getId();
+    }
+
+    public boolean cancelTask(DeviceTaskCommandDTO dto) throws MqttException {
         String deviceId = dto.getDeviceId();
         DevicePlanTask devicePlanTask = null;
         if (StringUtils.isEmpty(dto.getDeviceId())) {
@@ -488,7 +523,11 @@ public class DeviceTaskService {
         }
         NettyDevice device = deviceSessionManager.getDevice(deviceId);
         if (device != null && device.getTask() != null) {
-            return device.cancelTask();
+            if (dto.isForceCancel()) {
+                return device.canceledTask();
+            } else {
+                return device.cancelingTask();
+            }
         } else {
             if (devicePlanTask != null) {
                 devicePlanTask.setTaskStaus(DeviceTaskStaus.CANCELED);

maibu-netty-server/src/main/java/com/maibu/service/DeviceThreadService.java

@@ -2,6 +2,7 @@ package com.maibu.service;
 
 import java.io.IOException;
 import java.lang.reflect.Field;
+import java.math.BigDecimal;
 import java.time.LocalDateTime;
 import java.util.ArrayList;
 import java.util.Collection;
@@ -9,15 +10,18 @@ import java.util.Comparator;
 import java.util.List;
 import java.util.Map;
 import java.util.concurrent.ConcurrentHashMap;
-import java.util.concurrent.Executors;
 import java.util.concurrent.ScheduledExecutorService;
 import java.util.concurrent.TimeUnit;
 import java.util.stream.Collectors;
 
-import com.maibu.memory.DeviceSessionManager;
+import com.maibu.core.business.dto.DeviceMapPushDTO;
+import com.maibu.core.business.dto.WebMapMessageDTO;
+import com.maibu.core.enums.*;
+import com.maibu.utils.json.JsonUtils;
 import org.apache.commons.lang3.StringUtils;
-import org.eclipse.paho.client.mqttv3.MqttException;
+import org.checkerframework.checker.units.qual.s;
 import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
 import org.springframework.core.io.Resource;
 import org.springframework.core.io.ResourceLoader;
 import org.springframework.stereotype.Service;
@@ -25,19 +29,24 @@ import org.springframework.util.CollectionUtils;
 
 import com.alibaba.fastjson2.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
-import com.maibu.common.NettyCacheKey;
+import com.maibu.constant.Constant;
+import com.maibu.constant.NettyCacheKey;
+import com.maibu.core.business.Device;
+import com.maibu.core.business.DeviceRunStatistics;
 import com.maibu.core.business.DeviceRunningStatusHistory;
 import com.maibu.core.business.DeviceStatusRecordDTO;
 import com.maibu.core.business.ErrorIdentificationStandard;
 import com.maibu.core.business.alarm_center.AlarmMessage;
 import com.maibu.core.business.device.NettyDevice;
 import com.maibu.core.business.inter.WebsocketMesDispather;
-import com.maibu.core.enums.CompareEnum;
+import com.maibu.core.host.HeartBeatDTO;
-import com.maibu.core.enums.ErrorSource;
+import com.maibu.core.host.LocationMessage;
-import com.maibu.core.enums.RespondCode;
 import com.maibu.core.redis.RedisCache;
 import com.maibu.dto.DeviceErrorPushDTO;
+import com.maibu.mapper.DeviceRunStatisticsMapper;
 import com.maibu.mapper.ErrorIdentificationStandardMapper;
+import com.maibu.mapper.HostLocationMapper;
+import com.maibu.memory.DeviceSessionManager;
 import com.maibu.memory.GlobalMemory;
 import com.maibu.memory.SiteMemory;
 import com.maibu.mqtt.MqttTopic;
@@ -69,13 +78,26 @@ public class DeviceThreadService {
     @Autowired
     private AlertPushService alertPushService;
 
+    @Autowired
+    private IDeviceService deviceService;
+
+    @Value("${mqtt.client-id}")
+    private String mqttClientId;
+
+    @Autowired
+    private ScheduledExecutorService executor;
+
+    @Autowired
+    private HostLocationMapper hostLocationMapper;
+
+    @Autowired
+    private DeviceRunStatisticsMapper deviceRunStatisticsMapper;
+
     public void deviceErrorMonitor() throws InterruptedException, IOException {
         initStandard();
 
-        // TODO fix 后续是否分多个线程 一个site一个线程 
+        // TODO fix 后续是否分多个线程 一个site一个线程
         // 有还需要更新接受故障方式。
-
-        ScheduledExecutorService executor = Executors.newSingleThreadScheduledExecutor();
         executor.scheduleWithFixedDelay(() -> {
             try {
                 String key = NettyCacheKey.deviceRunningStatusKey;
@@ -92,7 +114,7 @@ public class DeviceThreadService {
                             String[] parts = k.split(":");
                             String deviceId = parts[1];
                             NettyDevice slaveDevice = sessionManager.getDevice(deviceId);
-                            if (slaveDevice != null && slaveDevice.isOnline()) {
+                            if (slaveDevice != null && slaveDevice.getOnlineStatus() == 1) {
                                 Long siteId = slaveDevice.getDevice().getSiteId();
                                 Long orgId = slaveDevice.getDevice().getOrgId();
                                 log.debug("compare siteId:{},orgId:{}", siteId, orgId);
@@ -184,7 +206,10 @@ public class DeviceThreadService {
         // }
         // }
         try {
-            GlobalMemory.mqttClientUtil.publish(String.format(MqttTopic.DEVICE_ERROR_PUSH_TOPIC, deviceId), dto);
+            GlobalMemory.customMqttDeviceMonitor.publish(mqttClientId,
+                    String.format(MqttTopic.DEVICE_ERROR_PUSH_TOPIC, deviceId), dto);
+            // GlobalMemory.mqttClientUtil.publish(String.format(MqttTopic.DEVICE_ERROR_PUSH_TOPIC,
+            // deviceId), dto);
             List<NettyDevice> controlMasters = sessionManager.getAllSlaveControl(deviceId);
             if (!CollectionUtils.isEmpty(controlMasters)) {
                 controlMasters.forEach(x -> {
@@ -192,13 +217,13 @@ public class DeviceThreadService {
                     log.info("推送错误信息 device:{},content:{}", deviceId, dto);
                 });
             }
-        } catch (MqttException e) {
+        } catch (Exception e) {
             log.error("推送错误信息失败 device:{}error:{}", deviceId, e.getMessage());
         }
     }
 
     public List<AlarmMessage> compareErrorStandard(Long siteId, Long orgId, DeviceRunningStatusHistory history,
-                                                   List<ErrorIdentificationStandard> standards) {
+            List<ErrorIdentificationStandard> standards) {
         if (history == null || CollectionUtils.isEmpty(standards))
             return null;
         List<AlarmMessage> list = new ArrayList<>();
@@ -207,7 +232,8 @@ public class DeviceThreadService {
             String compareValues = standard.getCompareValues();
             CompareEnum compareType = standard.getCompareType();
             String targetValue = knownClassFieldFinding(fieldName, history);
-            log.debug("compare2  compareType:{} compareValues:{},targetValue:{}", compareType, compareValues, targetValue);
+            log.debug("compare2  compareType:{} compareValues:{},targetValue:{}", compareType, compareValues,
+                    targetValue);
             if (!StringUtils.isEmpty(compareValues) && !StringUtils.isEmpty(targetValue)) {
                 boolean result = CompareUtils.compare(compareType, targetValue, compareValues);
                 log.debug("compare3  result:{}", result);
@@ -248,4 +274,154 @@ public class DeviceThreadService {
         return null;
     }
 
+    /**
+     * 监控心跳
+     */
+    public void heartBeatMonitor() {
+        executor.scheduleWithFixedDelay(() -> {
+            try {
+                Long nowTime = System.currentTimeMillis();
+                List<HeartBeatDTO> heartBeatDTOS = GlobalMemory.customMqttDeviceMonitor.getAllHeartBeat();
+                if (!CollectionUtils.isEmpty(heartBeatDTOS)) {
+                    heartBeatDTOS.forEach(x -> {
+                        if (x == null) {
+                            return;
+                        }
+                        String deviceId = x.getSn();
+                        Long lastActiveTime = x.getSysTimestamp();
+                        NettyDevice nettyDevice = sessionManager.getDevice(x.getSn());
+
+                        if (lastActiveTime == null) {
+                            log.error("设备心跳时间为空，deviceId={}", deviceId);
+                            return;
+                        }
+                        if (nowTime - lastActiveTime >= Constant.hostOfflineInterval) {
+                            // 超时了判断离线
+                            if (nettyDevice != null) {
+                                nettyDevice.status(DeviceStatus.offline.getType());
+                                // todo 推送设备离线
+                                String key = NettyCacheKey.latestPositonKey + deviceId;
+                                // 保存一下最新一次的数据到 数据库
+                                LocationMessage locationMessage = redisCache.getCacheObject(key);
+                                if (locationMessage != null) {
+                                    LambdaQueryWrapper<LocationMessage> queryWrapper = new LambdaQueryWrapper<>();
+                                    queryWrapper.eq(LocationMessage::getDeviceId, deviceId);
+                                    LocationMessage existing = hostLocationMapper.selectOne(queryWrapper);
+                                    if (existing != null) {
+                                        locationMessage.setId(existing.getId());
+                                    }
+                                    hostLocationMapper.saveOrUpdate(locationMessage);
+                                }
+                                Device device = deviceService.selectDeviceBySerialNumber(deviceId);
+                                if (device != null) {
+                                    device.setOnlineStatus(DeviceStatus.offline.getType());
+                                    device.setUpdateTime(LocalDateTime.now());
+                                    deviceService.updateDeviceBySelf(device);
+                                }
+
+                                Long orgId = nettyDevice.getDevice().getOrgId();
+                                Long siteId = nettyDevice.getDevice().getSiteId();
+                                SiteMemory siteMemory = GlobalMemory.getSiteMemory(orgId, siteId);
+                                if (siteMemory != null) {
+                                    DeviceRunStatistics deviceRunStatistics = siteMemory.getRunStatistics(deviceId);
+                                    if (deviceRunStatistics != null) {
+                                        LambdaQueryWrapper<DeviceRunStatistics> queryWrapper = new LambdaQueryWrapper<>();
+                                        queryWrapper.eq(DeviceRunStatistics::getDeviceId, deviceId);
+                                        DeviceRunStatistics existing = deviceRunStatisticsMapper
+                                                .selectOne(queryWrapper);
+                                        if (existing != null) {
+                                            deviceRunStatistics.setId(existing.getId());
+                                            deviceRunStatistics.setDistance(
+                                                    existing.getDistance() + deviceRunStatistics.getDistance());
+                                            deviceRunStatistics.setWorkArea(
+                                                    existing.getWorkArea() + deviceRunStatistics.getWorkArea());
+                                            long time = System.currentTimeMillis() - nettyDevice.getLatestLoginTime();
+                                            deviceRunStatistics.setTime(existing.getTime() + time / (1000 * 60)); // 累加时长，单位为分钟
+                                        } else {
+                                            long time = System.currentTimeMillis() - nettyDevice.getLatestLoginTime();
+                                            deviceRunStatistics.setTime(time / (1000 * 60)); // 累加时长，单位为分钟
+                                        }
+                                        deviceRunStatisticsMapper.saveOrUpdate(deviceRunStatistics);
+                                    }
+                                    // todo 删除实时消息推送里面的数据
+                                    siteMemory.removeMapPushDTO(deviceId);
+                                }
+
+                                sessionManager.removeDevice(deviceId);
+                                // TODO 统计总里程、总作业面积
+
+                            }
+                        } else {
+                            Device device = deviceService.selectDeviceBySerialNumber(deviceId);
+                            if (device == null) {
+                                device = new Device();
+                                device.setStatus(3);
+                                device.setOnlineStatus(DeviceStatus.online.getType());
+                                device.setSerialNumber(deviceId);
+                                device.setDeviceName(deviceId);
+                                device.setProductId(-1L);
+                                device.setTenantId(-1L);
+                                device.setFirmwareVersion("1.0");
+                                device.setProductName("割草机产品MC700");
+                                device.setCreateTime(LocalDateTime.now());
+                                device.setUpdateTime(LocalDateTime.now());
+                                device.setHasHost(true);
+                                deviceService.insertDeviceBySelf(device);
+                            } else {
+                                device.setStatus(3);
+                                device.setOnlineStatus(DeviceStatus.online.getType());
+                                device.setUpdateTime(LocalDateTime.now());
+                                device.setHasHost(true);
+                                deviceService.updateDeviceBySelf(device);
+                            }
+                            if (nettyDevice == null) {
+                                sessionManager.registerSlaveDevice(deviceId, ConnectorStatus.ACTIVE, null);
+                                NettyDevice slaveDevice = sessionManager.getDevice(deviceId);
+                                if (slaveDevice != null) {
+                                    slaveDevice.setOnlineStatus(1);
+                                    slaveDevice.setDevice(device);
+                                }
+                            } else {
+                                // todo 推送设备上线
+                                nettyDevice.status(1);
+                                nettyDevice.setDevice(device);
+                            }
+                        }
+                    });
+                }
+            } catch (Exception e) {
+                log.error("执行监测心跳线程错误", e);
+            }
+        }, 0, 500, TimeUnit.MILLISECONDS);
+    }
+
+    /**
+     * 监控心跳
+     */
+    public void mapMessagePush() {
+        executor.scheduleWithFixedDelay(() -> {
+            try {
+                List<SiteMemory> list = GlobalMemory.getAllSiteMemory();
+                if (!CollectionUtils.isEmpty(list)) {
+                    list.forEach(x -> {
+                        Map<String, DeviceMapPushDTO> map = x.getAllDeviceMapPush();
+                        List<DeviceMapPushDTO> pushList = new ArrayList<>(map.values());
+                        WebMapMessageDTO dto = new WebMapMessageDTO();
+                        dto.setData(pushList);
+                        dto.setType(MesType.mapPush);
+                        try {
+                            websocketMesDispather.mapMessageDispather(x.getSiteId(),
+                                    JsonUtils.toJsonString(dto));
+                        } catch (Exception e) {
+                            log.error("实时地图数据websocket推送失败: siteId={}, error={}", x.getSiteId(),
+                                    e.getMessage(), e);
+                        }
+                    });
+                }
+            } catch (Exception e) {
+                log.error("执行监测心跳线程错误：{}", e.getMessage());
+            }
+        }, 0, 100, TimeUnit.MILLISECONDS);
+    }
+
 }

maibu-netty-server/src/main/java/com/maibu/service/TransferDeviceService.java

@@ -7,10 +7,12 @@ import com.maibu.core.domain.AjaxResult;
 import com.maibu.core.domain.entity.UserClient;
 import com.maibu.core.domain.model.LoginUser;
 import com.maibu.core.enums.ConnectorStatus;
+import com.maibu.exception.ServiceException;
 import com.maibu.mapper.DeviceMapper;
 import com.maibu.mapper.SysUserClientMapper;
 import com.maibu.memory.DeviceSessionManager;
 import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.StringUtils;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 import org.springframework.util.CollectionUtils;
@@ -20,6 +22,7 @@ import java.time.LocalDateTime;
 import java.util.Date;
 import java.util.List;
 import java.util.Set;
+import java.util.stream.Collectors;
 
 @Service
 @Slf4j
@@ -155,62 +158,111 @@ public class TransferDeviceService {
         }
     }
 
-    public synchronized boolean switchDevice(DeviceBindDTO bindDTO, LoginUser user) {
+//    public synchronized boolean switchDevice(DeviceBindDTO bindDTO, LoginUser user) {
+//        try {
+//            String slaveId = bindDTO.getDeviceId();
+//            String platform = bindDTO.getPlatform();
+//            String userName = user.getUsername();
+//            String masterId = userName + ":" + platform;
+//            //todo 判断是否有权限 正在控制才能切
+//            //todo 离线没有控制权的怎么切
+//            log.info("switchDevice:{}", masterId);
+//            NettyDevice deviceMaster = sessionManager.getDevice(masterId);
+//            log.info("deviceMaster:{}", deviceMaster);
+//            if (deviceMaster != null) {
+//                log.info("ConnectorStatus:{}", deviceMaster.getConnectorStatus());
+//                if (ConnectorStatus.RECEIVER.equals(deviceMaster.getConnectorStatus())) {
+//                    //当前账号没有控制则可以切换为控制？
+//                    NettyDevice activeDevice = sessionManager.getUserControl(userName);
+//                    deviceMaster.getConnectedConnectors().clear();
+//                    if (activeDevice == null) {
+//                        log.info("bindConnector ACTIVE :{}", masterId);
+//                        sessionManager.bindConnector(masterId, slaveId);
+//                        deviceMaster.setConnectorStatus(ConnectorStatus.ACTIVE);
+//                        deviceMaster.setCurrentSlaveId(slaveId);
+//                        sysUserClientService.updateAliveStatus(masterId, slaveId, 1);
+//                    } else {
+//                        log.info("bindConnector RECEIVER :{}", masterId);
+//                        sessionManager.bindConnector(masterId, slaveId);
+//                        deviceMaster.setConnectorStatus(ConnectorStatus.RECEIVER);
+//                        deviceMaster.setCurrentSlaveId(slaveId);
+//                        sysUserClientService.updateAliveStatus(masterId, slaveId, 2);
+//                    }
+//                } else {
+//                    //从关联其他设备切换到  当前禁言 假如有控制且不是当前更新为2
+//                    List<NettyDevice> controls = sessionManager.getSlaveControl(slaveId);
+//                    if (CollectionUtils.isEmpty(controls)) {
+//                        deviceMaster.getConnectedConnectors().clear();
+//                        log.info("bindConnector 1:{}", masterId);
+//                        sessionManager.bindConnector(masterId, slaveId);
+//                        deviceMaster.setConnectorStatus(ConnectorStatus.ACTIVE);
+//                        deviceMaster.setCurrentSlaveId(slaveId);
+//                        sysUserClientService.updateAliveStatus(masterId, slaveId, 1);
+//                    } else {
+//                        NettyDevice controlDevice = controls.get(0);
+//                        if (!masterId.equals(controlDevice.getConnectorId())) {
+//                            //当前的设备有控制 的主机
+//                            deviceMaster.getConnectedConnectors().clear();
+//                            log.info("bindConnector RECEIVER 2:{}", masterId);
+//                            sessionManager.bindConnector(masterId, slaveId);
+//                            deviceMaster.setConnectorStatus(ConnectorStatus.RECEIVER);
+//                            deviceMaster.setCurrentSlaveId(slaveId);
+//                            sysUserClientService.updateAliveStatus(masterId, slaveId, 2);
+//                        }
+//                        //当前 切当前不做操作
+//                    }
+//                }
+//                return true;
+//            }
+//        } catch (Exception e) {
+//            log.error("切换设备失败: {}", e.getMessage(), e);
+//        }
+//        return false;
+//    }
+
+    public synchronized boolean switchDevice(DeviceBindDTO bindDTO) {
         try {
             String slaveId = bindDTO.getDeviceId();
-            String platform = bindDTO.getPlatform();
+//            String platform = bindDTO.getPlatform();
-            String userName = user.getUsername();
+//            String userName = user.getUsername();
-            String masterId = userName + ":" + platform;
+
-            //todo 判断是否有权限 正在控制才能切
+//            String masterId = userName + ":" + platform;
-            //todo 离线没有控制权的怎么切
+
-            log.info("switchDevice:{}", masterId);
+
-            NettyDevice deviceMaster = sessionManager.getDevice(masterId);
+            String token = bindDTO.getToken();
-            log.info("deviceMaster:{}", deviceMaster);
+
-            if (deviceMaster != null) {
+            log.info("switchDevice slaveId:{},token:{}", slaveId, token);
-                log.info("ConnectorStatus:{}", deviceMaster.getConnectorStatus());
+            NettyDevice deviceMaster = sessionManager.getDevice(token);
-                if (ConnectorStatus.RECEIVER.equals(deviceMaster.getConnectorStatus())) {
+            log.info("switchDevice deviceMaster:{}", deviceMaster);
-                    //当前账号没有控制则可以切换为控制？
+            if (deviceMaster == null) {
-                    NettyDevice activeDevice = sessionManager.getUserControl(userName);
+                throw new ServiceException("功能码当前账号未发送登录请求，不在线");
-                    deviceMaster.getConnectedConnectors().clear();
-                    if (activeDevice == null) {
-                        log.info("bindConnector ACTIVE :{}", masterId);
-                        sessionManager.bindConnector(masterId, slaveId);
-                        deviceMaster.setConnectorStatus(ConnectorStatus.ACTIVE);
-                        deviceMaster.setCurrentSlaveId(slaveId);
-                        sysUserClientService.updateAliveStatus(masterId, slaveId, 1);
-                    } else {
-                        log.info("bindConnector RECEIVER :{}", masterId);
-                        sessionManager.bindConnector(masterId, slaveId);
-                        deviceMaster.setConnectorStatus(ConnectorStatus.RECEIVER);
-                        deviceMaster.setCurrentSlaveId(slaveId);
-                        sysUserClientService.updateAliveStatus(masterId, slaveId, 2);
-                    }
-                } else {
-                    //从关联其他设备切换到  当前禁言 假如有控制且不是当前更新为2
-                    List<NettyDevice> controls = sessionManager.getSlaveControl(slaveId);
-                    if (CollectionUtils.isEmpty(controls)) {
-                        deviceMaster.getConnectedConnectors().clear();
-                        log.info("bindConnector 1:{}", masterId);
-                        sessionManager.bindConnector(masterId, slaveId);
-                        deviceMaster.setConnectorStatus(ConnectorStatus.ACTIVE);
-                        deviceMaster.setCurrentSlaveId(slaveId);
-                        sysUserClientService.updateAliveStatus(masterId, slaveId, 1);
-                    } else {
-                        NettyDevice controlDevice = controls.get(0);
-                        if (!masterId.equals(controlDevice.getConnectorId())) {
-                            //当前的设备有控制 的主机
-                            deviceMaster.getConnectedConnectors().clear();
-                            log.info("bindConnector RECEIVER 2:{}", masterId);
-                            sessionManager.bindConnector(masterId, slaveId);
-                            deviceMaster.setConnectorStatus(ConnectorStatus.RECEIVER);
-                            deviceMaster.setCurrentSlaveId(slaveId);
-                            sysUserClientService.updateAliveStatus(masterId, slaveId, 2);
-                        }
-                        //当前 切当前不做操作
-                    }
-                }
-                return true;
             }
+
+            List<NettyDevice> controls = sessionManager.getAllSlaveControl(slaveId);
+            if (CollectionUtils.isEmpty(controls)) {
+                deviceMaster.getConnectedConnectors().clear();
+                sessionManager.bindConnector(token, slaveId);
+                deviceMaster.setConnectorStatus(ConnectorStatus.ACTIVE);
+                deviceMaster.setCurrentSlaveId(slaveId);
+                sessionManager.lock(slaveId, token);
+                log.info("switchDevice bindConnector slaveId:{},token:{}", slaveId, token);
+            } else {
+                List<String> connectorIds = controls.stream().map(NettyDevice::getConnectorId).collect(Collectors.toList());
+                if (!connectorIds.contains(token)) {
+                    //当前的设备有控制 的主机
+                    deviceMaster.getConnectedConnectors().clear();
+                    sessionManager.bindConnector(token, slaveId);
+                    deviceMaster.setConnectorStatus(ConnectorStatus.RECEIVER);
+                    deviceMaster.setCurrentSlaveId(slaveId);
+                    log.info("switchDevice bindConnector RECEIVER :{}", token);
+                } else {
+                    deviceMaster.setConnectorStatus(ConnectorStatus.ACTIVE);
+                    deviceMaster.setCurrentSlaveId(slaveId);
+                    sessionManager.lock(slaveId, token);
+                }
+                //当前 切当前不做操作
+            }
+            return true;
         } catch (Exception e) {
             log.error("切换设备失败: {}", e.getMessage(), e);
         }
@@ -218,53 +270,18 @@ public class TransferDeviceService {
     }
 
 
-    public DeviceControlDTO remoteControl(DeviceBindDTO bindDTO, LoginUser user) {
+    public DeviceControlDTO remoteControl(DeviceBindDTO bindDTO) {
         try {
-            String slaveId = bindDTO.getDeviceId();
+            String token = bindDTO.getToken();
-            String platform = bindDTO.getPlatform();
+            String masterToken = sessionManager.getMaster(bindDTO.getDeviceId());
-            String userName = user.getUsername();
-            String masterId = userName + ":" + platform;
             DeviceControlDTO dto = new DeviceControlDTO();
-            NettyDevice deviceMaster = sessionManager.getDevice(masterId);
+            if (!StringUtils.isEmpty(token) && token.equals(masterToken)) {
-            log.info("remoteControl deviceMaster:{}", masterId);
+                dto.setRemoteControl(true);
-
+                dto.setOwner("you");
-//            //TODO  拓展当前控制不是同一个账号
-//            NettyDevice currentDevice = sessionManager.getCurrentControl(slaveId);
-//            if(currentDevice != null){
-//                if(currentDevice.getConnectorId().equals(masterId)){
-//                    dto.setRemoteControl(true);
-//                    dto.setOwner(platform);
-//                }else{
-//                    dto.setRemoteControl(false);
-//                    dto.setOwner(currentDevice.getConnectorId());
-//                }
-//            }else{
-//                dto.setRemoteControl(false);
-//                dto.setOwner(null);
-//                dto.setReason("occupied");
-//            }
-
-            if (deviceMaster != null) {
-                if (ConnectorStatus.ACTIVE.equals(deviceMaster.getConnectorStatus())) {
-                    dto.setRemoteControl(true);
-                    dto.setOwner(platform);
-                } else {
-                    dto.setRemoteControl(false);
-                    dto.setReason("occupied");
-                    NettyDevice activeDevice = sessionManager.getUserControl(userName);
-                    if (activeDevice != null) {
-                        String[] l = activeDevice.getConnectorId().split(":");
-                        dto.setOwner(l[1]);
-                    }
-                }
             } else {
                 dto.setRemoteControl(false);
-                dto.setReason("not exist");
+                dto.setReason("occupied");
-                NettyDevice activeDevice = sessionManager.getUserControl(userName);
+                dto.setOwner(masterToken);
-                if (activeDevice != null) {
-                    String[] l = activeDevice.getConnectorId().split(":");
-                    dto.setOwner(l[1]);
-                }
             }
             return dto;
         } catch (Exception e) {
@@ -316,7 +333,7 @@ public class TransferDeviceService {
             }
             masterDevice.setCurrentSlaveId(slaveId);
             masterDevice.setConnectorStatus(ConnectorStatus.ACTIVE);
-            sysUserClientService.updateAliveStatus(masterDevice.getConnectorId(), slaveId, 1);
+            // sysUserClientService.updateAliveStatus(masterDevice.getConnectorId(), slaveId, 1);
 
             dto.setSwitchControl(true);
             dto.setHolder(platform);
@@ -327,23 +344,20 @@ public class TransferDeviceService {
         }
     }
 
-    public void releaseControl(DeviceBindDTO bindDTO, LoginUser user) {
+    public void releaseControl(DeviceBindDTO bindDTO) {
         try {
-            String platform = bindDTO.getPlatform();
-            String userName = user.getUsername();
-            String masterId = userName + ":" + platform;
             Integer type = bindDTO.getType();
-            NettyDevice deviceMaster = sessionManager.getDevice(masterId);
+            String masterId = sessionManager.getMaster(bindDTO.getDeviceId());
-            if (deviceMaster != null && type!=null) {
+            if (type != null && !StringUtils.isEmpty(masterId)) {
-                if(type == 1){
+                NettyDevice device = sessionManager.getDevice(masterId);
-                    sysUserClientService.updateAliveStatus(masterId, "", 0);
+                if (type == 1) {
-                    deviceMaster.setCurrentSlaveId(null);
+                    device.setCurrentSlaveId(null);
-                    deviceMaster.getConnectedConnectors().clear();
+                    device.getConnectedConnectors().clear();
                 } else if (type == 2) {
-                    deviceMaster.setConnectorStatus(ConnectorStatus.RECEIVER);
+                    device.setConnectorStatus(ConnectorStatus.RECEIVER);
-                    sysUserClientService.updateAliveStatus(masterId, deviceMaster.getCurrentSlaveId(), 2);
                 }
             }
+            sessionManager.unLock(bindDTO.getDeviceId(), bindDTO.getToken(), false);
         } catch (Exception e) {
             log.error(e.getMessage());
         }

maibu-service/maibu-iot-service/src/main/java/com/maibu/controller/DeviceController.java

@@ -8,7 +8,6 @@ import com.maibu.core.controller.BaseController;
 import com.maibu.core.domain.AjaxResult;
 import com.maibu.core.page.TableDataInfo;
 import com.maibu.dto.DeviceParamAuthDTO;
-import com.maibu.dto.DeviceRunningStatisticsQueryDTO;
 import com.maibu.enums.BusinessType;
 import com.maibu.mapper.DeviceRunStatisticsMapper;
 import com.maibu.mybatis.LambdaQueryWrapperX;
@@ -273,6 +272,14 @@ public class DeviceController extends BaseController {
         return getDataTable(deviceService.getSiteList(getLoginUser(), device));
     }
 
+        /**
+     * 查询设备列表  分配页面
+     */
+    @GetMapping("/getDeviceBySpiltCode")
+    public AjaxResult getDeviceBySpiltCode(@RequestParam String code) {
+        return AjaxResult.success(deviceService.getDeviceBySpiltCode(code));
+    }
+
     /**
      * 查询设备列表  分配页面
      */
@@ -282,14 +289,6 @@ public class DeviceController extends BaseController {
         return getDataTable(deviceService.getDeviceList(getLoginUser(), device));
     }
 
-    /**
-     * 查询设备列表  分配页面
-     */
-    @GetMapping("/getDeviceBySpiltCode")
-    public AjaxResult getDeviceBySpiltCode(@RequestParam String code) {
-        return AjaxResult.success(deviceService.getDeviceBySpiltCode(code));
-    }
-
     /**
      * 设备授权修改
      */
@@ -298,14 +297,6 @@ public class DeviceController extends BaseController {
         return AjaxResult.success(deviceService.paramModifyAuth(dto));
     }
 
-    /**
-     * 查看当前设备有没授权修改参数
-     */
-    @PostMapping("/runningHistoryStatistics")
-    public AjaxResult runningHistoryStatistics(@RequestBody DeviceRunningStatisticsQueryDTO dto) {
-        return AjaxResult.success(deviceService.runningHistoryStatistics(dto));
-    }
-
     /**
      * 查看当前设备有没授权修改参数
      */
@@ -314,4 +305,5 @@ public class DeviceController extends BaseController {
         return AjaxResult.success(deviceService.hasPermission(deviceId));
     }
 
+
 }

maibu-service/maibu-iot-service/src/main/java/com/maibu/controller/DeviceOtaController.java

@@ -0,0 +1,129 @@
+package com.maibu.controller;
+
+import com.maibu.core.controller.BaseController;
+import com.maibu.core.domain.AjaxResult;
+import com.maibu.core.domain.R;
+import com.maibu.core.enums.OtaOperate;
+import com.maibu.core.ota.DeviceOtaFirmware;
+import com.maibu.core.ota.DeviceOtaOperateRecord;
+import com.maibu.core.page.TableDataInfo;
+import com.maibu.dto.BaseQueryDTO;
+import com.maibu.dto.DeviceOtaOperateDTO;
+import com.maibu.service.impl.DeviceOtaService;
+import com.maibu.utils.MinioUtil;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.web.bind.annotation.*;
+import org.springframework.web.multipart.MultipartFile;
+
+import java.io.InputStream;
+import java.time.LocalDateTime;
+import java.util.List;
+
+@Api(tags = "OTA固件管理")
+@RestController
+@RequestMapping("/iot/deviceOta")
+public class DeviceOtaController extends BaseController {
+
+    @Autowired
+    private DeviceOtaService service;
+
+    @Autowired
+    private MinioUtil minioUtil;
+
+    // ==================== 固件管理 ====================
+
+    @ApiOperation("新增或修改固件")
+    @PostMapping("/firmware/save")
+    public R saveFirmware(
+            @RequestPart("file") MultipartFile file, // 接收上传的图片
+            @RequestPart("firmware") DeviceOtaFirmware firmware // 接收表单里的 JSON 对象
+    ) {
+
+        try (InputStream inputStream = file.getInputStream()) {
+
+            String fileName = "ota/firmware/" + firmware.getVersion();
+
+            // 上传到 MinIO
+            minioUtil.uploadFile(fileName, inputStream, "application/octet-stream");
+
+            // 获取访问 URL
+            String url = minioUtil.getPublicUrl(fileName);
+            System.out.println("固件上传成功，访问地址: " + url);
+
+            // 这里可以把 URL 存到 workRecord 里
+            firmware.setMinioObjectName(fileName);
+            firmware.setFileUrl(url);
+            boolean b = service.saveFirmware(firmware, file.getSize());
+            DeviceOtaOperateRecord record = new DeviceOtaOperateRecord();
+            record.setFileName(firmware.getVersion());
+            record.setFirmwareId(firmware.getId());
+            record.setOperateType(OtaOperate.upload);
+            record.setCreateBy(getUsername());
+            record.setCreateTime(LocalDateTime.now());
+            service.saveOperateRecord(record);
+            return !b ? R.fail("新增失败") : R.ok("新增成功");
+        } catch (Exception e) {
+            return R.fail("新增失败: " + e.getMessage());
+        }
+    }
+
+    @ApiOperation("固件分页列表")
+    @PostMapping("/firmware/list")
+    public TableDataInfo listFirmware() {
+        startPage();
+        return getDataTable(service.listFirmware());
+    }
+
+    @ApiOperation("根据ID查询固件")
+    @GetMapping("/firmware/detail")
+    public AjaxResult selectFirmwareById(@RequestParam Long id) {
+        return AjaxResult.success(service.selectFirmwareById(id));
+    }
+
+    @ApiOperation("更新固件")
+    @PostMapping("/firmware/upgrade")
+    public AjaxResult upgrade(@RequestBody DeviceOtaOperateDTO dto) {
+        return service.upgrade(dto);
+    }
+
+    @ApiOperation("批量删除固件")
+    @PostMapping("/firmware/delete")
+    public AjaxResult deleteFirmware(@RequestBody List<Long> ids) {
+        return AjaxResult.success(service.deleteFirmware(ids));
+    }
+
+    // ==================== 操作记录管理 ====================
+
+    @ApiOperation("新增或修改操作记录")
+    @PostMapping("/record/save")
+    public AjaxResult saveOperateRecord(@RequestBody DeviceOtaOperateRecord record) {
+        return AjaxResult.success(service.saveOperateRecord(record));
+    }
+
+    @ApiOperation("操作记录分页列表")
+    @PostMapping("/record/list")
+    public TableDataInfo listOperateRecord(@RequestBody BaseQueryDTO dto) {
+        startPage();
+        return getDataTable(service.listOperateRecord(dto));
+    }
+
+    @ApiOperation("根据ID查询操作记录")
+    @GetMapping("/record/detail")
+    public AjaxResult selectOperateRecordById(@RequestParam Long id) {
+        return AjaxResult.success(service.selectOperateRecordById(id));
+    }
+
+    @GetMapping("/record/selectListByDeviceId")
+    public AjaxResult selectListByDeviceId(@RequestParam String deviceId) {
+        return AjaxResult.success(service.selectListByDeviceId(deviceId));
+    }
+
+    @ApiOperation("批量删除操作记录")
+    @PostMapping("/record/delete")
+    public AjaxResult deleteOperateRecord(@RequestBody List<Long> ids) {
+        return AjaxResult.success(service.deleteOperateRecord(ids));
+    }
+
+}

maibu-service/maibu-iot-service/src/main/java/com/maibu/controller/DeviceRunParamController.java

@@ -1,23 +1,19 @@
 package com.maibu.controller;
 
-import java.util.List;
-import java.util.concurrent.ExecutionException;
-import java.util.concurrent.TimeoutException;
-
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.web.bind.annotation.GetMapping;
-import org.springframework.web.bind.annotation.PostMapping;
-import org.springframework.web.bind.annotation.RequestBody;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.RequestParam;
-import org.springframework.web.bind.annotation.RestController;
-
 import com.maibu.core.business.DeviceRunParam;
 import com.maibu.core.controller.BaseController;
 import com.maibu.core.domain.AjaxResult;
 import com.maibu.core.page.TableDataInfo;
 import com.maibu.dto.BaseQueryDTO;
 import com.maibu.service.impl.DeviceRunParamService;
+import com.maibu.utils.poi.ExcelUtil;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.web.bind.annotation.*;
+import org.springframework.web.multipart.MultipartFile;
+
+import java.util.List;
+import java.util.concurrent.ExecutionException;
+import java.util.concurrent.TimeoutException;
 
 @RestController
 @RequestMapping("/iot/deviceRunParam")
@@ -47,5 +43,12 @@ public class DeviceRunParamController extends BaseController {
     public AjaxResult delete(@RequestBody List<Long> ids) {
         return AjaxResult.success(service.delete(ids));
     }
-
+    
+    @PostMapping("/importData")
+    public AjaxResult importData(MultipartFile file) throws Exception {
+        ExcelUtil<DeviceRunParam> util = new ExcelUtil<DeviceRunParam>(DeviceRunParam.class);
+        List<DeviceRunParam> paramList = util.importExcel(file.getInputStream());
+        boolean message = service.importParam(paramList);
+        return success(message);
+    }
 }

maibu-service/maibu-iot-service/src/main/java/com/maibu/controller/HostComputerController.java

@@ -0,0 +1,248 @@
+package com.maibu.controller;
+
+import java.io.BufferedReader;
+import java.io.InputStreamReader;
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.List;
+import java.util.zip.GZIPInputStream;
+
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.http.MediaType;
+import org.springframework.util.CollectionUtils;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RequestParam;
+import org.springframework.web.bind.annotation.RequestPart;
+import org.springframework.web.bind.annotation.RestController;
+import org.springframework.web.multipart.MultipartFile;
+
+import com.maibu.core.business.device.NettyDevice;
+import com.maibu.core.business.dto.WebRouteStatusMessageDTO;
+import com.maibu.core.business.inter.WebsocketMesDispather;
+import com.maibu.core.business.path.LatAndLngEntity;
+import com.maibu.core.controller.BaseController;
+import com.maibu.core.domain.R;
+import com.maibu.core.enums.MesType;
+import com.maibu.memory.DeviceSessionManager;
+import com.maibu.memory.GlobalMemory;
+import com.maibu.mqtt.MqttTopic;
+import com.maibu.service.impl.HostComputerService;
+import com.maibu.utils.json.JsonUtils;
+
+import lombok.extern.slf4j.Slf4j;
+
+@Slf4j
+@RestController
+@RequestMapping("/iot/host")
+public class HostComputerController extends BaseController {
+
+    private static final int BATCH_SIZE = 5000;
+
+    @Autowired
+    private HostComputerService hostComputerService;
+
+    @Autowired
+    private WebsocketMesDispather websocketMesDispather;
+
+    @Autowired
+    private DeviceSessionManager deviceSessionManager;
+
+    @Value("${mqtt.client-id}")
+    private String mqttClientId;
+
+    /**
+     * 上传 csv.gz 轨迹文件并解析为 LatAndLngEntity 列表（分批处理，每批 BATCH_SIZE 条）
+     *
+     * <p>
+     * CSV 格式：第 1 列=cell_index，第 2 列=x(lat)，第 3 列=y(lng)
+     * </p>
+     *
+     * @param file   csv.gz 压缩文件
+     * @param taskId 任务ID
+     * @return 解析后的完整轨迹数据
+     */
+    @PostMapping(value = "/upload-path-csv", consumes = MediaType.MULTIPART_FORM_DATA_VALUE)
+    public R uploadCsv(
+            @RequestPart("file") MultipartFile file,
+            @RequestParam("taskId") Long taskId) {
+        if (file == null || file.isEmpty()) {
+            return R.fail("文件不能为空");
+        }
+        if (taskId == null) {
+            return R.fail("taskId 不能为空");
+        }
+
+        String originalFilename = file.getOriginalFilename();
+        if (originalFilename == null || !originalFilename.toLowerCase().endsWith(".csv.gz")) {
+            return R.fail("只支持 .csv.gz 格式文件");
+        }
+
+        log.info("收到 csv.gz 文件: taskId={}, fileName={}, size={}", taskId, originalFilename, file.getSize());
+
+        List<LatAndLngEntity> allPath = new ArrayList<>();
+        List<LatAndLngEntity> batch = new ArrayList<>(BATCH_SIZE);
+        int batchIndex = 0;
+
+        try (GZIPInputStream gzipInputStream = new GZIPInputStream(file.getInputStream());
+                BufferedReader reader = new BufferedReader(new InputStreamReader(gzipInputStream))) {
+
+            String line;
+            int lineNum = 0;
+
+            while ((line = reader.readLine()) != null) {
+                lineNum++;
+                if (line.trim().isEmpty()) {
+                    continue;
+                }
+
+                String[] values = line.split(",");
+
+                if (lineNum < 4) {
+                    log.info("CSV 表头: {}", Arrays.toString(values));
+                    continue;
+                }
+
+                if (values.length < 3) {
+                    log.warn("第 {} 行列数不足3列，跳过: {}", lineNum, line);
+                    continue;
+                }
+
+                LatAndLngEntity entity = parseLatLng(values);
+                if (entity != null) {
+                    batch.add(entity);
+                }
+
+                if (batch.size() >= BATCH_SIZE) {
+                    batchIndex++;
+                    processBatch(taskId, batch, batchIndex);
+                    allPath.addAll(batch);
+                    batch.clear();
+                    log.info("csv 解析进度: taskId={}, 第 {} 批({}条), 累计 {} 条",
+                            taskId, batchIndex, BATCH_SIZE, allPath.size());
+                }
+            }
+
+            if (!batch.isEmpty()) {
+                batchIndex++;
+                processBatch(taskId, batch, batchIndex);
+                allPath.addAll(batch);
+                batch.clear();
+            }
+
+            log.info("csv 解析完成: taskId={}, 共 {} 个轨迹点, 分 {} 批处理", taskId, allPath.size(), batchIndex);
+
+            GlobalMemory.taskPathMap.put(taskId, allPath);
+            sendMessage(taskId, allPath);
+            // TODO 推送数据到前端
+
+            return R.ok();
+
+        } catch (Exception e) {
+            log.error("csv.gz 解析失败: taskId={}, error={}", taskId, e.getMessage(), e);
+            return R.fail("文件解析失败: " + e.getMessage());
+        }
+    }
+
+    /**
+     * 定位信息 经纬度
+     */
+    private void sendMessage(Long taskId, List<LatAndLngEntity> data) {
+        try {
+            WebRouteStatusMessageDTO dto = new WebRouteStatusMessageDTO();
+            String deviceId = deviceSessionManager.getDeviceByTaskId(taskId);
+            log.debug("sendMessage: taskId={}, deviceId={}", taskId, deviceId);
+            List<NettyDevice> controlMasters = deviceSessionManager
+                    .getAllSlaveControl(deviceId);
+            log.debug("sendMessage: controlMasters={}", JsonUtils.toJsonString(controlMasters));
+            dto.setData(data);
+            dto.setDeviceId(deviceId);
+            dto.setTaskId(taskId);
+            dto.setType(MesType.route_post);
+            if (!CollectionUtils.isEmpty(controlMasters)) {
+                for (NettyDevice x : controlMasters) {
+                    try {
+                        websocketMesDispather.dispather(x.getConnectorId(), JsonUtils.toJsonString(dto));
+                        log.info("sendMessage推送成功: connectorId={}, taskId={}", x.getConnectorId(), taskId);
+                    } catch (Exception e) {
+                        log.error("sendMessage推送失败: connectorId={}, error={}", x.getConnectorId(),
+                                e.getMessage());
+                    }
+                }
+            }
+            GlobalMemory.customMqttDeviceMonitor.publish(mqttClientId,
+                    String.format(MqttTopic.DEVICE_ROUTE_PUSH_TOPIC, deviceId),
+                    JsonUtils.toJsonString(dto));
+
+        } catch (Exception e) {
+            log.error("sendMessage失败: taskId={}", taskId, e);
+        }
+    }
+
+    /**
+     * 从 CSV 行解析 LatAndLngEntity
+     * 第 3 列(x) → lat，第 4 列(y) → lng
+     */
+    private LatAndLngEntity parseLatLng(String[] values) {
+        try {
+            String xStr = values[2].trim();
+            String yStr = values[3].trim();
+
+            if (xStr.isEmpty() || yStr.isEmpty()) {
+                return null;
+            }
+
+            LatAndLngEntity entity = new LatAndLngEntity();
+            entity.setLat(Double.parseDouble(xStr));
+            entity.setLng(Double.parseDouble(yStr));
+            return entity;
+        } catch (NumberFormatException e) {
+            log.warn("解析轨迹点失败: values={}, error={}", Arrays.toString(values), e.getMessage());
+            return null;
+        }
+    }
+
+    /**
+     * 分批处理轨迹数据
+     *
+     * <p>
+     * 每批 BATCH_SIZE 条数据触发一次，可用于：
+     * </p>
+     * <ul>
+     * <li>批量入库（insertBatch）</li>
+     * <li>发布 MQTT 消息到上位机</li>
+     * <li>数据校验/统计</li>
+     * </ul>
+     *
+     * @param taskId     任务ID
+     * @param path       当前批次的轨迹点列表
+     * @param batchIndex 批次序号（从 1 开始）
+     */
+    protected void processBatch(Long taskId, List<LatAndLngEntity> path, int batchIndex) {
+        if (path == null || path.isEmpty()) {
+            return;
+        }
+
+        int size = path.size();
+        double minLat = Double.MAX_VALUE, maxLat = -Double.MAX_VALUE;
+        double minLng = Double.MAX_VALUE, maxLng = -Double.MAX_VALUE;
+
+        for (LatAndLngEntity p : path) {
+            if (p.getLat() < minLat)
+                minLat = p.getLat();
+            if (p.getLat() > maxLat)
+                maxLat = p.getLat();
+            if (p.getLng() < minLng)
+                minLng = p.getLng();
+            if (p.getLng() > maxLng)
+                maxLng = p.getLng();
+        }
+
+        log.info("【第 {} 批处理】taskId={}, 本批 {} 条, lat范围=[{}, {}], lng范围=[{}, {}]",
+                batchIndex, taskId, size,
+                String.format("%.6f", minLat), String.format("%.6f", maxLat),
+                String.format("%.6f", minLng), String.format("%.6f", maxLng));
+    }
+
+}

maibu-service/maibu-iot-service/src/main/java/com/maibu/controller/WorkRecordController.java

@@ -1,26 +1,20 @@
 package com.maibu.controller;
 
+import com.maibu.core.business.WorkRecord;
+import com.maibu.core.controller.BaseController;
+import com.maibu.core.domain.AjaxResult;
+import com.maibu.core.domain.R;
+import com.maibu.memory.GlobalMemory;
+import com.maibu.service.impl.WorkRecordService;
+import com.maibu.utils.MinioUtil;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.http.MediaType;
+import org.springframework.web.bind.annotation.*;
+import org.springframework.web.multipart.MultipartFile;
+
 import java.io.InputStream;
 import java.util.List;
 
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.http.MediaType;
-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.RequestPart;
-import org.springframework.web.bind.annotation.RestController;
-import org.springframework.web.multipart.MultipartFile;
-
-import com.maibu.core.business.WorkRecord;
-import com.maibu.core.business.path.LatAndLngEntity;
-import com.maibu.core.controller.BaseController;
-import com.maibu.core.domain.R;
-import com.maibu.service.impl.WorkRecordService;
-import com.maibu.utils.MinioUtil;
-
 @RestController
 @RequestMapping("/iot/workRecord")
 public class WorkRecordController extends BaseController {
@@ -38,9 +32,11 @@ public class WorkRecordController extends BaseController {
     ) {
         int i = -1;
 
-        // WorkRecord workRecordObj = JsonUtils.parseObject(workRecord, WorkRecord.class);
+        // WorkRecord workRecordObj = JsonUtils.parseObject(workRecord,
+        // WorkRecord.class);
 
-        WorkRecord workRecord1 = workRecordService.selectWorkRecordByWorkNameAndSiteId(workRecord.getWorkName(), workRecord.getSiteId());
+        WorkRecord workRecord1 = workRecordService.selectWorkRecordByWorkNameAndSiteId(workRecord.getWorkName(),
+                workRecord.getSiteId());
         if (workRecord1 != null) {
             return R.fail("该任务已存在");
         }
@@ -106,8 +102,13 @@ public class WorkRecordController extends BaseController {
 
     @GetMapping("/selectByTaskId")
     public R selectByTaskId(@RequestParam Long taskId) {
-        List<LatAndLngEntity> path = workRecordService.selectByTaskId(taskId);
+        WorkRecord workRecord = workRecordService.selectByTaskId(taskId);
-        return R.ok(path);
+        return R.ok(workRecord);
+    }
+
+    @GetMapping("getTaskPath")
+    public AjaxResult getTaskPath(@RequestParam Long taskId) {
+        return AjaxResult.success(GlobalMemory.taskPathMap.get(taskId));
     }
 
 }

maibu-service/maibu-iot-service/src/main/java/com/maibu/dto/DeviceOtaOperateDTO.java

@@ -0,0 +1,15 @@
+package com.maibu.dto;
+
+
+import com.maibu.core.enums.OtaOperate;
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class DeviceOtaOperateDTO {
+
+    private OtaOperate operateType;
+    private Long firmwareId;
+    private List<String> deviceModels;
+}

maibu-service/maibu-iot-service/src/main/java/com/maibu/dto/DeviceRunningStatisticsQueryDTO.java

@@ -1,21 +0,0 @@
-package com.maibu.dto;
-
-import com.fasterxml.jackson.annotation.JsonFormat;
-import lombok.Data;
-import org.springframework.format.annotation.DateTimeFormat;
-
-import java.time.LocalDateTime;
-
-@Data
-public class DeviceRunningStatisticsQueryDTO {
-
-    @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss")
-    @DateTimeFormat(pattern = "yyyy-MM-dd HH:mm:ss")
-    private LocalDateTime startTime;
-
-    @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss")
-    @DateTimeFormat(pattern = "yyyy-MM-dd HH:mm:ss")
-    private LocalDateTime endTime;
-
-    private String deviceId;
-}

maibu-service/maibu-iot-service/src/main/java/com/maibu/mapper/DeviceMapper.java

@@ -16,7 +16,6 @@ import java.util.List;
 @Repository
 public interface DeviceMapper extends BaseMapperX<Device> {
 
-
     /**
      * 根据设备编号查询设备
      *
@@ -25,7 +24,6 @@ public interface DeviceMapper extends BaseMapperX<Device> {
      */
     public Device selectDeviceBySerialNumber(String serialNumber);
 
-
     /**
      * 查询设备列表
      *
@@ -34,7 +32,6 @@ public interface DeviceMapper extends BaseMapperX<Device> {
      */
     public List<Device> selectDeviceList(Device device);
 
-
     /**
      * 根据产品ID查询产品下所有设备的编号
      *
@@ -66,7 +63,6 @@ public interface DeviceMapper extends BaseMapperX<Device> {
      */
     public int updateDevice(Device device);
 
-
     /**
      * 重置设备状态
      *
@@ -74,7 +70,6 @@ public interface DeviceMapper extends BaseMapperX<Device> {
      */
     public int resetDeviceStatus(String deviceNum);
 
-
     /**
      * 根据产品ID获取产品下所有编号
      *
@@ -91,6 +86,6 @@ public interface DeviceMapper extends BaseMapperX<Device> {
      */
     public List<String> selectSerialNumbersByProductId(@Param("productId") Long productId);
 
-
     public Device selectDeviceBySpiltCode(@Param("code") String code);
+
 }

maibu-service/maibu-iot-service/src/main/java/com/maibu/service/IDeviceService.java

@@ -1,12 +1,10 @@
 package com.maibu.service;
 
 import com.maibu.core.business.Device;
-import com.maibu.core.business.DeviceRunningStatusHistory;
 import com.maibu.core.business.dto.DeviceBindDTO;
 import com.maibu.core.domain.AjaxResult;
 import com.maibu.core.domain.model.LoginUser;
 import com.maibu.dto.DeviceParamAuthDTO;
-import com.maibu.dto.DeviceRunningStatisticsQueryDTO;
 
 import java.util.List;
 
@@ -18,10 +16,8 @@ import java.util.List;
  */
 public interface IDeviceService {
 
-
     public AjaxResult updateDeviceBySelf(Device device);
 
-
     public Device insertDeviceBySelf(Device device);
 
     /**
@@ -32,7 +28,6 @@ public interface IDeviceService {
      */
     public Device selectDeviceBySerialNumber(String serialNumber);
 
-
     /**
      * 查询设备列表
      *
@@ -41,7 +36,6 @@ public interface IDeviceService {
      */
     public List<Device> selectDeviceList(Device device);
 
-
     /**
      * 根据产品ID查询产品下所有设备的编号
      *
@@ -57,7 +51,6 @@ public interface IDeviceService {
      */
     public int selectDeviceCountByProductId(Long productId);
 
-
     /**
      * 重置设备状态
      *
@@ -65,7 +58,6 @@ public interface IDeviceService {
      */
     public int resetDeviceStatus(String deviceNum);
 
-
     /**
      * 根据产品ID获取产品下所有编号
      *
@@ -74,7 +66,6 @@ public interface IDeviceService {
      */
     public String[] getDeviceNumsByProductId(Long productId);
 
-
     /**
      * 查询产品下所有设备，返回设备编号
      *
@@ -83,13 +74,10 @@ public interface IDeviceService {
      */
     public List<String> selectSerialNumbersByProductId(Long productId);
 
-
     public boolean bind(DeviceBindDTO bindDTO, String username);
 
-
     public boolean unbind(DeviceBindDTO bindDTO, String username);
 
-
     public List<Device> getSiteList(LoginUser loginUser, Device device);
 
     public List<Device> getDeviceList(LoginUser loginUser, Device device);
@@ -100,6 +88,4 @@ public interface IDeviceService {
 
     public boolean hasPermission(String deviceId);
 
-    public List<DeviceRunningStatusHistory> runningHistoryStatistics(DeviceRunningStatisticsQueryDTO dto);
-
 }

maibu-service/maibu-iot-service/src/main/java/com/maibu/service/impl/AlarmServiceImpl.java

@@ -13,6 +13,7 @@ import com.maibu.core.enums.AlarmType;
 import com.maibu.core.redis.RedisCache;
 import org.eclipse.paho.client.mqttv3.MqttException;
 import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Service;
 
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
@@ -51,6 +52,10 @@ public class AlarmServiceImpl extends ServiceImpl<AlarmMapper, Alarm> implements
     @Autowired
     private RedisCache redisCache;
 
+    @Value("${mqtt.client-id}")
+    private String mqttClientId;
+
+
     @Override
     public List<Alarm> selectAlarmPage(AlarmQueryDTO queryDTO) {
         // validateQueryParams(queryDTO);
@@ -407,7 +412,8 @@ public class AlarmServiceImpl extends ServiceImpl<AlarmMapper, Alarm> implements
 
     public void pushErrorMessage(String deviceId, String dto) {
         try {
-            GlobalMemory.mqttClientUtil.publish(String.format(MqttTopic.DEVICE_ERROR_PUSH_TOPIC, deviceId), dto);
+            GlobalMemory.customMqttDeviceMonitor.publish(mqttClientId, String.format(MqttTopic.DEVICE_ERROR_PUSH_TOPIC, deviceId), dto);
+//            GlobalMemory.mqttClientUtil.publish(String.format(MqttTopic.DEVICE_ERROR_PUSH_TOPIC, deviceId), dto);
             // List<NettyDevice> controlMasters =
             // sessionManager.getAllSlaveControl(deviceId);
             // if (!CollectionUtils.isEmpty(controlMasters)) {

maibu-service/maibu-iot-service/src/main/java/com/maibu/service/impl/DeviceOtaService.java

@@ -0,0 +1,204 @@
+package com.maibu.service.impl;
+
+import java.time.LocalDateTime;
+import java.util.ArrayList;
+import java.util.List;
+
+import org.apache.commons.lang3.StringUtils;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+import org.springframework.util.CollectionUtils;
+
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.maibu.core.business.Device;
+import com.maibu.core.business.device.NettyDevice;
+import com.maibu.core.domain.AjaxResult;
+import com.maibu.core.ota.DeviceOtaFirmware;
+import com.maibu.core.ota.DeviceOtaOperateRecord;
+import com.maibu.dto.BaseQueryDTO;
+import com.maibu.dto.DeviceOtaOperateDTO;
+import com.maibu.mapper.DeviceOtaFirmwareMapper;
+import com.maibu.mapper.DeviceOtaOperateRecordMapper;
+import com.maibu.memory.DeviceSessionManager;
+import com.maibu.service.IDeviceService;
+import com.maibu.utils.MinioUtil;
+import com.maibu.utils.SecurityUtils;
+
+import lombok.extern.slf4j.Slf4j;
+
+@Service
+@Slf4j
+public class DeviceOtaService {
+
+    @Autowired
+    private DeviceOtaFirmwareMapper deviceOtaFirmwareMapper;
+
+    @Autowired
+    private DeviceOtaOperateRecordMapper deviceOtaOperateRecordMapper;
+
+    @Autowired
+    private MinioUtil minioUtil;
+
+    @Autowired
+    private DeviceSessionManager deviceSessionManager;
+
+    @Autowired
+    private IDeviceService deviceService;
+
+    private static final int BATCH_SIZE = 5;
+
+    public boolean saveFirmware(DeviceOtaFirmware firmware, Long fileSize) {
+
+        firmware.setCreateTime(LocalDateTime.now());
+        firmware.setCreateBy(SecurityUtils.getUsername());
+        firmware.setFileSize(formatFileSize(fileSize));
+
+        return deviceOtaFirmwareMapper.saveOrUpdate(firmware);
+    }
+
+    public static String formatFileSize(long size) {
+        if (size < 1024) {
+            return size + " B";
+        }
+
+        double kb = size / 1024.0;
+        if (kb < 1024) {
+            return String.format("%.2f KB", kb);
+        }
+
+        double mb = kb / 1024.0;
+        if (mb < 1024) {
+            return String.format("%.2f MB", mb);
+        }
+
+        double gb = mb / 1024.0;
+        return String.format("%.2f GB", gb);
+    }
+
+    public List<DeviceOtaFirmware> listFirmware() {
+        LambdaQueryWrapper<DeviceOtaFirmware> queryWrapper = new LambdaQueryWrapper<>();
+        queryWrapper.orderByDesc(DeviceOtaFirmware::getCreateTime);
+        return deviceOtaFirmwareMapper.selectList(queryWrapper);
+    }
+
+    public DeviceOtaFirmware selectFirmwareById(Long id) {
+        return deviceOtaFirmwareMapper.selectById(id);
+    }
+
+    public AjaxResult upgrade(DeviceOtaOperateDTO dto) {
+        if (dto.getFirmwareId() == null) {
+            return AjaxResult.error("固件ID不能为空");
+        }
+        if (CollectionUtils.isEmpty(dto.getDeviceModels())) {
+            return AjaxResult.error("请选择要升级的设备");
+        }
+
+        DeviceOtaFirmware firmware = deviceOtaFirmwareMapper.selectById(dto.getFirmwareId());
+        if (firmware == null) {
+            return AjaxResult.error("固件不存在");
+        }
+
+        List<DeviceOtaOperateRecord> records = new ArrayList<>();
+
+        int totalDevices = dto.getDeviceModels().size();
+        int successCount = 0;
+        int offlineCount = 0;
+
+        for (int i = 0; i < totalDevices; i += BATCH_SIZE) {
+            List<String> batch = dto.getDeviceModels().subList(i, Math.min(i + BATCH_SIZE, totalDevices));
+            log.info("OTA 灰度升级 第 {} 批, 本批设备数: {}", (i / BATCH_SIZE) + 1, batch.size());
+
+            for (String deviceId : batch) {
+                NettyDevice device = deviceSessionManager.getDevice(deviceId);
+                if (device == null || device.getOnlineStatus() == 0) {
+                    log.warn("设备 {} 离线，跳过升级", deviceId);
+                    offlineCount++;
+                    continue;
+                }
+
+                try {
+                    device.upgrade(deviceId, firmware);
+
+                    Device updatedDevice = device.getDevice();
+
+                    DeviceOtaOperateRecord record = new DeviceOtaOperateRecord();
+                    record.setOperateType(dto.getOperateType());
+                    record.setFirmwareId(firmware.getId());
+                    record.setFileName(firmware.getFileName());
+                    record.setDeviceType(firmware.getDeviceType());
+                    record.setCreateTime(LocalDateTime.now());
+                    record.setCreateBy(SecurityUtils.getUsername());
+                    record.setDeviceId(deviceId);
+                    record.setPreVersion(updatedDevice.getFirmwareVersion());
+                    record.setNowVersion(firmware.getVersion());
+                    records.add(record);
+
+                    updatedDevice.setFirmwareVersion(firmware.getVersion());
+                    deviceService.updateDeviceBySelf(updatedDevice);
+
+                    successCount++;
+                    log.info("OTA 升级指令已下发: deviceId={}, version={}", deviceId, firmware.getVersion());
+                } catch (Exception e) {
+                    log.error("OTA 升级指令下发失败: deviceId={}", deviceId, e);
+                }
+            }
+        }
+
+        deviceOtaOperateRecordMapper.saveOrUpdateBatch(records);
+
+        String msg = String.format("升级指令下发完成: 成功=%d, 离线=%d, 总计=%d",
+                successCount, offlineCount, totalDevices);
+        log.info(msg);
+        return AjaxResult.success(msg);
+    }
+
+    public int deleteFirmware(List<Long> ids) {
+        if (CollectionUtils.isEmpty(ids)) {
+            return 0;
+        }
+        List<DeviceOtaFirmware> list = deviceOtaFirmwareMapper.selectBatchIds(ids);
+        if (!CollectionUtils.isEmpty(list)) {
+            list.forEach(l -> {
+                try {
+                    minioUtil.deleteFile(l.getMinioObjectName());
+                } catch (Exception e) {
+                    throw new RuntimeException(e);
+                }
+            });
+        }
+        return deviceOtaFirmwareMapper.deleteBatchIds(ids);
+    }
+
+    public boolean saveOperateRecord(DeviceOtaOperateRecord record) {
+        return deviceOtaOperateRecordMapper.saveOrUpdate(record);
+    }
+
+    public List<DeviceOtaOperateRecord> listOperateRecord(BaseQueryDTO dto) {
+        LambdaQueryWrapper<DeviceOtaOperateRecord> queryWrapper = new LambdaQueryWrapper<>();
+        if (dto != null) {
+            if (!StringUtils.isEmpty(dto.getDeviceId())) {
+                queryWrapper.eq(DeviceOtaOperateRecord::getDeviceType, dto.getDeviceId());
+            }
+        }
+        queryWrapper.orderByDesc(DeviceOtaOperateRecord::getCreateTime);
+        return deviceOtaOperateRecordMapper.selectList(queryWrapper);
+    }
+
+    public DeviceOtaOperateRecord selectOperateRecordById(Long id) {
+        return deviceOtaOperateRecordMapper.selectById(id);
+    }
+
+    public List<DeviceOtaOperateRecord> selectListByDeviceId(String deviceId) {
+        LambdaQueryWrapper<DeviceOtaOperateRecord> wrapper = new LambdaQueryWrapper<>();
+        wrapper.eq(DeviceOtaOperateRecord::getDeviceId, deviceId);
+        return deviceOtaOperateRecordMapper.selectList(wrapper);
+    }
+
+    public int deleteOperateRecord(List<Long> ids) {
+        if (CollectionUtils.isEmpty(ids)) {
+            return 0;
+        }
+        return deviceOtaOperateRecordMapper.deleteBatchIds(ids);
+    }
+
+}

maibu-service/maibu-iot-service/src/main/java/com/maibu/service/impl/DeviceRunParamService.java

@@ -1,5 +1,21 @@
 package com.maibu.service.impl;
 
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.List;
+import java.util.Map;
+import java.util.concurrent.CompletableFuture;
+import java.util.concurrent.ExecutionException;
+import java.util.concurrent.TimeUnit;
+import java.util.concurrent.TimeoutException;
+import java.util.function.Function;
+import java.util.stream.Collectors;
+
+import org.apache.commons.lang3.StringUtils;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+import org.springframework.util.CollectionUtils;
+
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.maibu.constant.Constant;
 import com.maibu.core.business.DeviceRunParam;
@@ -10,17 +26,8 @@ import com.maibu.mapper.DeviceRunParamMapper;
 import com.maibu.memory.DeviceSessionManager;
 import com.maibu.memory.GlobalMemory;
 import com.maibu.memory.SiteMemory;
-import lombok.extern.slf4j.Slf4j;
-import org.apache.commons.lang3.StringUtils;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.stereotype.Service;
-import org.springframework.util.CollectionUtils;
 
-import java.util.List;
+import lombok.extern.slf4j.Slf4j;
-import java.util.concurrent.CompletableFuture;
-import java.util.concurrent.ExecutionException;
-import java.util.concurrent.TimeUnit;
-import java.util.concurrent.TimeoutException;
 
 @Service
 @Slf4j
@@ -32,7 +39,8 @@ public class DeviceRunParamService {
     @Autowired
     private DeviceSessionManager sessionManager;
 
-    public boolean save(DeviceRunParam deviceRunParam) throws ExecutionException, InterruptedException, TimeoutException {
+    public boolean save(DeviceRunParam deviceRunParam)
+            throws ExecutionException, InterruptedException, TimeoutException {
 
         NettyDevice nettyDevice = sessionManager.getDevice(deviceRunParam.getDeviceId());
         if (nettyDevice == null || !nettyDevice.getChannel().isActive()) {
@@ -87,30 +95,73 @@ public class DeviceRunParamService {
         return deviceRunParamMapper.selectList(queryWrapper);
     }
 
-    public DeviceRunParam selectByDeviceId(String deviceId) throws ExecutionException, InterruptedException, TimeoutException {
+    // public DeviceRunParam selectByDeviceId(String deviceId)
-        NettyDevice nettyDevice = sessionManager.getDevice(deviceId);
+    // throws ExecutionException, InterruptedException, TimeoutException {
-        CompletableFuture<DeviceRunParam> future = new CompletableFuture<>();
-        if (nettyDevice != null && nettyDevice.getChannel() != null && nettyDevice.getChannel().isActive()) {
-            nettyDevice.getChannel().attr(Constant.READ_CONFIG_KEY).set(future);
-            try {
-                nettyDevice.readConfigCommand();
-                DeviceRunParam param = future.get(5, TimeUnit.SECONDS);
 
-                LambdaQueryWrapper<DeviceRunParam> queryWrapper = new LambdaQueryWrapper<>();
+    // NettyDevice nettyDevice = sessionManager.getDevice(deviceId);
-                if (!StringUtils.isEmpty(deviceId)) {
+    // CompletableFuture<DeviceRunParam> future = new CompletableFuture<>();
-                    queryWrapper.eq(DeviceRunParam::getDeviceId, deviceId);
+    // if (nettyDevice != null && nettyDevice.getChannel() != null &&
+    // nettyDevice.getChannel().isActive()) {
+    // nettyDevice.getChannel().attr(Constant.READ_CONFIG_KEY).set(future);
+    // try {
+    // nettyDevice.readConfigCommand();
+    // DeviceRunParam param = future.get(5, TimeUnit.SECONDS);
+
+    // LambdaQueryWrapper<DeviceRunParam> queryWrapper = new LambdaQueryWrapper<>();
+    // if (!StringUtils.isEmpty(deviceId)) {
+    // queryWrapper.eq(DeviceRunParam::getDeviceId, deviceId);
+    // }
+    // DeviceRunParam result = deviceRunParamMapper.selectOne(queryWrapper);
+    // if (result != null) {
+    // param.setId(result.getId());
+    // param.setDeviceId(result.getDeviceId());
+    // param.setRunSpeed(result.getRunSpeed());
+    // param.setOrgId(nettyDevice.getDevice().getOrgId());
+    // param.setSiteId(nettyDevice.getDevice().getSiteId());
+    // }
+    // return param;
+    // } finally {
+    // nettyDevice.getChannel().attr(Constant.READ_CONFIG_KEY).set(null);
+    // }
+    // }
+    // return null;
+    // }
+
+    public DeviceRunParam selectByDeviceId(String deviceId)
+            throws ExecutionException, InterruptedException, TimeoutException {
+
+        LambdaQueryWrapper<DeviceRunParam> queryWrapper = new LambdaQueryWrapper<>();
+        if (!StringUtils.isEmpty(deviceId)) {
+            queryWrapper.eq(DeviceRunParam::getDeviceId, deviceId);
+        }
+        DeviceRunParam result = deviceRunParamMapper.selectOne(queryWrapper);
+        if (result != null && result.getHasHost() != null && result.getHasHost() == 1) {
+            return result;
+        } else {
+            NettyDevice nettyDevice = sessionManager.getDevice(deviceId);
+            CompletableFuture<DeviceRunParam> future = new CompletableFuture<>();
+            if (nettyDevice != null && nettyDevice.getChannel() != null && nettyDevice.getChannel().isActive()) {
+                nettyDevice.getChannel().attr(Constant.READ_CONFIG_KEY).set(future);
+                try {
+                    nettyDevice.readConfigCommand();
+                    DeviceRunParam param = future.get(5, TimeUnit.SECONDS);
+
+                    // LambdaQueryWrapper<DeviceRunParam> queryWrapper = new LambdaQueryWrapper<>();
+                    // if (!StringUtils.isEmpty(deviceId)) {
+                    //     queryWrapper.eq(DeviceRunParam::getDeviceId, deviceId);
+                    // }
+                    // DeviceRunParam result = deviceRunParamMapper.selectOne(queryWrapper);
+                    if (result != null) {
+                        param.setId(result.getId());
+                        param.setDeviceId(result.getDeviceId());
+                        param.setRunSpeed(result.getRunSpeed());
+                        param.setOrgId(nettyDevice.getDevice().getOrgId());
+                        param.setSiteId(nettyDevice.getDevice().getSiteId());
+                    }
+                    return param;
+                } finally {
+                    nettyDevice.getChannel().attr(Constant.READ_CONFIG_KEY).set(null);
                 }
-                DeviceRunParam result = deviceRunParamMapper.selectOne(queryWrapper);
-                if (result != null) {
-                    param.setId(result.getId());
-                    param.setDeviceId(result.getDeviceId());
-                    param.setRunSpeed(result.getRunSpeed());
-                    param.setOrgId(nettyDevice.getDevice().getOrgId());
-                    param.setSiteId(nettyDevice.getDevice().getSiteId());
-                }
-                return param;
-            } finally {
-                nettyDevice.getChannel().attr(Constant.READ_CONFIG_KEY).set(null);
             }
         }
         return null;
@@ -130,5 +181,56 @@ public class DeviceRunParamService {
         return i;
     }
 
+    public boolean importParam(List<DeviceRunParam> params) {
+        try {
+            if (!CollectionUtils.isEmpty(params)) {
+
+                List<String> snList = params.stream().map(DeviceRunParam::getDeviceId).collect(Collectors.toList());
+
+                if (!CollectionUtils.isEmpty(snList)) {
+                    LambdaQueryWrapper<DeviceRunParam> queryWrapper = new LambdaQueryWrapper<>();
+                    queryWrapper.in(DeviceRunParam::getDeviceId, snList);
+                    List<DeviceRunParam> oldList = deviceRunParamMapper.selectList(queryWrapper);
+                    Map<String, DeviceRunParam> map = oldList.stream()
+                            .collect(Collectors.toMap(
+                                    DeviceRunParam::getDeviceId,
+                                    Function.identity()));
+                    List<DeviceRunParam> saveList = new ArrayList<>();
+                    params.forEach(x -> {
+                        if (StringUtils.isEmpty(x.getDeviceId()))
+                            return;
+                        DeviceRunParam deviceRunParam = null;
+                        if (!CollectionUtils.isEmpty(map)) {
+                            deviceRunParam = map.get(x.getDeviceId());
+                        }
+                        if (!StringUtils.isEmpty(x.getCapabilities())) {
+                            List<String> list = Arrays.stream(x.getCapabilities().split(","))
+                                    .map(String::trim)
+                                    .collect(Collectors.toList());
+                            x.setCapabilityList(list);
+                        }
+                        if (deviceRunParam != null) {
+                            deviceRunParam.setCapabilityList(x.getCapabilityList());
+                            deviceRunParam.setProductModel(x.getProductModel());
+                            deviceRunParam.setRtkMode(x.getRtkMode());
+                            deviceRunParam.setDeviceType(x.getDeviceType());
+                            deviceRunParam.setPowerType(x.getPowerType());
+                            deviceRunParam.setCameraNum(x.getCameraNum());
+                            deviceRunParam.setWheelType(x.getWheelType());
+                            deviceRunParam.setEngineType(x.getEngineType());
+                            deviceRunParam.setHasHost(x.getHasHost());
+                            saveList.add(deviceRunParam);
+                        } else {
+                            saveList.add(x);
+                        }
+                    });
+                    return deviceRunParamMapper.saveOrUpdateBatch(saveList);
+                }
+            }
+            return false;
+        } catch (Exception e) {
+            throw new RuntimeException(e);
+        }
+    }
+
 }
-    

maibu-service/maibu-iot-service/src/main/java/com/maibu/service/impl/DeviceServiceImpl.java

@@ -8,13 +8,11 @@ import java.util.List;
 import java.util.Map;
 import java.util.Set;
 import java.util.concurrent.TimeUnit;
+import java.util.function.Function;
 import java.util.stream.Collectors;
 
 import javax.annotation.Resource;
 
-import com.maibu.constant.CacheConstants;
-import com.maibu.dto.DeviceParamAuthDTO;
-import com.maibu.dto.DeviceRunningStatisticsQueryDTO;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -23,8 +21,8 @@ import org.springframework.stereotype.Service;
 import org.springframework.util.CollectionUtils;
 
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
-import com.influxdb.query.FluxRecord;
+import com.maibu.constant.CacheConstants;
-import com.influxdb.query.FluxTable;
+import com.maibu.constant.NettyCacheKey;
 import com.maibu.core.business.Device;
 import com.maibu.core.business.DevicePlan;
 import com.maibu.core.business.DeviceRunningStatusHistory;
@@ -35,13 +33,13 @@ import com.maibu.core.domain.entity.SysRole;
 import com.maibu.core.domain.entity.SysSite;
 import com.maibu.core.domain.model.LoginUser;
 import com.maibu.core.enums.DeviceTaskStaus;
+import com.maibu.core.host.LocationMessage;
 import com.maibu.core.redis.RedisCache;
-import com.maibu.influxdb.MowerRealTimeData;
+import com.maibu.dto.DeviceParamAuthDTO;
-import com.maibu.influxdb.util.InfluxSqlBuilder;
-import com.maibu.influxdb.util.LambdaUtils;
 import com.maibu.mapper.DeviceMapper;
 import com.maibu.mapper.DevicePlanMapper;
 import com.maibu.mapper.DeviceStatusHistoryMapper;
+import com.maibu.mapper.HostLocationMapper;
 import com.maibu.mapper.SysSiteMapper;
 import com.maibu.memory.GlobalMemory;
 import com.maibu.memory.SiteMemory;
@@ -76,6 +74,9 @@ public class DeviceServiceImpl implements IDeviceService {
     @Autowired
     private SysSiteMapper sysSiteMapper;
 
+    @Autowired
+    private HostLocationMapper hostLocationMapper;
+
     /**
      * 根据设备编号查询设备
      *
@@ -148,6 +149,13 @@ public class DeviceServiceImpl implements IDeviceService {
             Map<String, List<DeviceRunningStatusHistory>> statusMap = allStatusList.stream()
                     .collect(Collectors.groupingBy(DeviceRunningStatusHistory::getDeviceId));
 
+            LambdaQueryWrapper<LocationMessage> query = new LambdaQueryWrapper<>();
+            query.in(LocationMessage::getDeviceId, ids);
+
+            List<LocationMessage> hostLocations = hostLocationMapper.selectList(query);
+            Map<String, LocationMessage> locationMap = hostLocations.stream()
+                    .collect(Collectors.toMap(LocationMessage::getDeviceId, Function.identity()));
+
             deviceList.forEach(x -> {
                 Integer s = x.getOnlineStatus() == null ? 0 : x.getOnlineStatus();
                 if (0 == s) {
@@ -184,6 +192,13 @@ public class DeviceServiceImpl implements IDeviceService {
                     }
                 }
                 x.setLastRunningStatus(lastRunningStatus);
+
+                String locationKey = NettyCacheKey.latestPositonKey + x.getDeviceName();
+                LocationMessage locationMessage = redisCache.getCacheObject(locationKey);
+                if (locationMessage == null) {
+                    locationMessage = locationMap.get(x.getDeviceName());
+                }
+                x.setLocationMessage(locationMessage);
             });
             deviceList.sort(Comparator.comparing(Device::getFeStatus));
         }
@@ -313,13 +328,24 @@ public class DeviceServiceImpl implements IDeviceService {
             if (!CollectionUtils.isEmpty(deviceList)) {
                 List<String> ids = deviceList.stream().map(Device::getDeviceName).collect(Collectors.toList());
                 List<DeviceRunningStatusHistory> allStatusList = deviceStatusHistoryMapper.selectLatestByDeviceIds(ids);
+                // 有上位机的
+                LambdaQueryWrapper<LocationMessage> query = new LambdaQueryWrapper<>();
+                query.in(LocationMessage::getDeviceId, ids);
+                List<LocationMessage> hostLocations = hostLocationMapper.selectList(query);
+                Map<String, LocationMessage> locationMap = hostLocations.stream()
+                        .collect(Collectors.toMap(LocationMessage::getDeviceId, Function.identity()));
+
                 for (Device x : deviceList) {
                     if (siteMemory.hasTask(x.getSerialNumber())) {
                         work += 1;
                         x.setFeStatus(1);
                     } else {
                         free += 1;
-                        x.setFeStatus(2);
+                        if (x.getOnlineStatus() == null || x.getOnlineStatus() == 0) {
+                            x.setFeStatus(3);
+                        } else {
+                            x.setFeStatus(2);
+                        }
                     }
                     String key = "running_status:" + x.getDeviceName();
                     DeviceStatusRecordDTO recordDTO = redisCache.getCacheObject(key);
@@ -345,16 +371,27 @@ public class DeviceServiceImpl implements IDeviceService {
                             }
                         }
                     }
+
                     x.setLastRunningStatus(lastRunningStatus);
+
+                    String locationKey = NettyCacheKey.latestPositonKey + x.getDeviceName();
+                    LocationMessage locationMessage = redisCache.getCacheObject(locationKey);
+                    if (locationMessage == null) {
+                        locationMessage = locationMap.get(x.getDeviceName());
+                    }
+                    x.setLocationMessage(locationMessage);
+
                 }
                 statusStatistics.put(0, work);
                 statusStatistics.put(1, free);
                 deviceList.forEach(y -> {
                     y.setStatusStatistics(statusStatistics);
                 });
-                deviceList.sort(Comparator.comparing(Device::getFeStatus));
             }
         }
+        if (!CollectionUtils.isEmpty(deviceList)) {
+            deviceList.sort(Comparator.comparing(Device::getFeStatus));
+        }
         return deviceList;
     }
 
@@ -383,12 +420,6 @@ public class DeviceServiceImpl implements IDeviceService {
         return deviceList;
     }
 
-    @Override
-    public Device getDeviceBySpiltCode(String code) {
-        return deviceMapper.selectDeviceBySpiltCode(code);
-    }
-
-
     @Override
     public boolean paramModifyAuth(DeviceParamAuthDTO dto) {
         if (dto != null && !StringUtils.isEmpty(dto.getDeviceId())) {
@@ -410,31 +441,8 @@ public class DeviceServiceImpl implements IDeviceService {
     }
 
     @Override
-    public List<DeviceRunningStatusHistory> runningHistoryStatistics(DeviceRunningStatisticsQueryDTO dto) {
+    public Device getDeviceBySpiltCode(String code) {
-        LambdaQueryWrapper<DeviceRunningStatusHistory> queryWrapper = new LambdaQueryWrapper<>();
+        return deviceMapper.selectDeviceBySpiltCode(code);
-        if (dto != null && !StringUtils.isEmpty(dto.getDeviceId())) {
-            queryWrapper.eq(DeviceRunningStatusHistory::getDeviceId, dto.getDeviceId());
-        }
-        if (dto != null && dto.getStartTime() != null && dto.getEndTime() != null) {
-            queryWrapper.ge(DeviceRunningStatusHistory::getCreateTime, dto.getStartTime());
-            queryWrapper.le(DeviceRunningStatusHistory::getCreateTime, dto.getEndTime());
-        }
-        List<DeviceRunningStatusHistory> list = deviceStatusHistoryMapper.selectList(queryWrapper);
-
-        String key = "running_status:" + dto.getDeviceId();
-        DeviceStatusRecordDTO recordDTO = redisCache.getCacheObject(key);
-        List<DeviceRunningStatusHistory> cacheList;
-        if (recordDTO != null) {
-            cacheList = recordDTO.getHistories();
-            if (!CollectionUtils.isEmpty(list)) {
-                if (!CollectionUtils.isEmpty(cacheList)) {
-                    list.addAll(cacheList);
-                }
-            } else {
-                return cacheList;
-            }
-        }
-        return list;
     }
 
 }

maibu-service/maibu-iot-service/src/main/java/com/maibu/service/impl/HostComputerService.java

@@ -0,0 +1,18 @@
+package com.maibu.service.impl;
+
+import com.maibu.core.business.WorkRecord;
+import com.maibu.memory.GlobalMemory;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+@Service
+@Slf4j
+public class HostComputerService {
+
+    @Autowired
+    private WorkRecordService workRecordService;
+
+
+}
+    

maibu-service/maibu-iot-service/src/main/java/com/maibu/service/impl/WorkRecordService.java

@@ -3,13 +3,13 @@ package com.maibu.service.impl;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.maibu.core.business.DevicePlanTask;
 import com.maibu.core.business.WorkRecord;
-import com.maibu.core.business.path.LatAndLngEntity;
 import com.maibu.mapper.DevicePlanTaskMapper;
 import com.maibu.mapper.WorkRecordMapper;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 import org.springframework.util.CollectionUtils;
 
+import java.util.Comparator;
 import java.util.List;
 
 @Service
@@ -64,6 +64,7 @@ public class WorkRecordService {
             list.forEach(workRecord -> {
                 workRecord.setJsonData(null);
             });
+            list.sort(Comparator.comparing(WorkRecord::getId).reversed());
         }
         return list;
     }
@@ -72,16 +73,13 @@ public class WorkRecordService {
         return workRecordMapper.selectById(id);
     }
 
-    public List<LatAndLngEntity> selectByTaskId(Long taskId) {
+    public WorkRecord selectByTaskId(Long taskId) {
         DevicePlanTask devicePlanTask = devicePlanTaskMapper.selectById(taskId); // 先查询设备任务，确认任务存在
         if (devicePlanTask == null) {
             return null;
         }
         Long routeId = devicePlanTask.getRouteId(); // 获取任务关联的路线ID
         WorkRecord workRecord = workRecordMapper.selectById(routeId); // 查询路线ID对应的工作记录
-        if (workRecord != null && workRecord.getJsonData() != null) {
+        return workRecord; // 如果没有找到对应的工作记录或路线数据，返回 null
-            return workRecord.getJsonData().getPath(); // 返回路线数据
-        }
-        return null; // 如果没有找到对应的工作记录或路线数据，返回 null
     }
 }