feat(aima): 实现智能测试任务执行队列和媒体录制功能

- 新增 SYSTEM_EXECUTE_ACTION_QUEUE 枚举值支持边缘设备动作队列执行
- 修改 aima_task_test_case 表主键为 task_id 和 sort_order 组合
- 添加 AimaFlowExecutionListener 监听器实现任务执行进度跟踪
- 引入并发安全的 Map 结构存储任务执行状态避免并发问题
- 实现测试用例绑定顺序管理和执行进度计算逻辑
- 集成 FlowMediaParamResolver 处理图像和视频媒体参数
- 完善 AimaTaskInstanceService 支持测试用例顺序执行
- 添加 AimaTestLog 记录实际执行结果、截图和视频链接
- 更新 EdgeCameraService 支持工作流录像会话管理
- 实现后端本地录像功能包括开始/停止录制操作
- 添加定时清理过期录像会话和 WebSocket 实时推送支持

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeMicrophoneController.java

@@ -44,8 +44,7 @@ public class EdgeMicrophoneController {
     @PreAuthorize("@ss.hasPermi('system:microphone:stop')")
     @PostMapping("/stop")
     public AjaxResult stopRecord(@RequestBody EdgeCommonVO edgeCommonVO) {
-        microphoneService.stopRecord(edgeCommonVO);
+        return AjaxResult.success(microphoneService.stopRecord(edgeCommonVO));
-        return AjaxResult.success();
     }
 
     @ApiOperation("暂停录音")

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeSystemController.java

@@ -5,6 +5,7 @@ import com.cmvr.common.core.controller.BaseController;
 import com.cmvr.common.core.domain.AjaxResult;
 import com.cmvr.edge.client.model.system.EdgeSystemJsonCommandVO;
 import com.cmvr.edge.client.model.system.EdgeSystemUpdateParamsVO;
+import com.cmvr.edge.client.model.system.EdgeActionQueueVO;
 import com.cmvr.edge.client.service.EdgeSystemService;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
@@ -48,6 +49,12 @@ public class EdgeSystemController extends BaseController {
         return success(JSON.toJSONString(edgeSystemService.executeJsonCommand(request)));
     }
 
+    @ApiOperation("Execute an edge-local serial action queue")
+    @PostMapping("/actionQueue")
+    public AjaxResult executeActionQueue(@RequestBody EdgeActionQueueVO request) {
+        return success(JSON.toJSONString(edgeSystemService.executeActionQueue(request)));
+    }
+
     @ApiOperation("停止所有设备")
     @GetMapping("/stopAll")
     public AjaxResult stopAll(@RequestParam("robotId") String robotId) {

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/test/TeFlowiseController.java

@@ -16,6 +16,7 @@ import com.google.gson.JsonObject;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import lombok.RequiredArgsConstructor;
+import org.apache.commons.lang3.StringUtils;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.web.bind.annotation.GetMapping;
 import org.springframework.web.bind.annotation.PathVariable;
@@ -50,8 +51,9 @@ public class TeFlowiseController extends BaseController {
                 .put("test", request.getQuestion());
         runParams.put("5bb26d52e1861c6936f3c3149eaf17e8", runParams1);
         TeTaskExecuteNormalVO taskExecuteNormalVO = TeTaskExecuteNormalVO.builder()
-                .taskId("b6ab5ffff783d9b25d0dc34f13be222d")
+                .taskId(StringUtils.defaultIfBlank(request.getTaskId(), "b6ab5ffff783d9b25d0dc34f13be222d"))
-                .robotId("4ed1246c465b97975f96c9ef8371a3bd")
+                .robotId(StringUtils.defaultIfBlank(request.getRobotId(), "4ed1246c465b97975f96c9ef8371a3bd"))
+                .runtimeAssignments(request.getRuntimeAssignments())
                 .runParams(JSONObject.from(runParams)).build();
         if (!taskInstIdList.isEmpty()) {
             try {

cmvr-iot-admin/src/main/resources/application.yml

@@ -48,6 +48,9 @@ user:
 
 # Spring配置
 spring:
+  jackson:
+    date-format: "yyyy-MM-dd HH:mm:ss"
+    time-zone: Asia/Shanghai
   sql:
     init:
       mode: always

cmvr-iot-aima/src/main/java/com/cmvr/aima/domain/AimaTestLog.java

@@ -2,6 +2,7 @@ package com.cmvr.aima.domain;
 
 import com.baomidou.mybatisplus.annotation.IdType;
 import com.baomidou.mybatisplus.annotation.TableId;
+import com.baomidou.mybatisplus.annotation.TableField;
 import io.swagger.annotations.ApiModel;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.*;
@@ -46,6 +47,18 @@ public class AimaTestLog extends BaseEntity
     @ApiModelProperty("测试用例ID")
     private String testCaseId;
 
+    /** 工作流检测项 ID，仅用于接口和 WebSocket 展示，不落日志表。 */
+    @TableField(exist = false)
+    private String itemId;
+
+    /** 当前绑定项的执行位置，从 1 开始。 */
+    @TableField(exist = false)
+    private Integer itemOrder;
+
+    /** 同一检测项在任务中第几次出现。 */
+    @TableField(exist = false)
+    private Integer itemOccurrence;
+
     @Excel(name = "用例名称")
     @ApiModelProperty("用例名称")
     private String caseName;

cmvr-iot-aima/src/main/java/com/cmvr/aima/domain/vo/AimaTaskStartVO.java

@@ -1,5 +1,6 @@
 package com.cmvr.aima.domain.vo;
 
+import com.alibaba.fastjson2.JSONObject;
 import com.cmvr.test.model.vo.ResourceRuntimeAssignmentVO;
 import io.swagger.annotations.ApiModel;
 import io.swagger.annotations.ApiModelProperty;
@@ -17,4 +18,7 @@ public class AimaTaskStartVO {
 
     @ApiModelProperty("机器人角色运行分配")
     private List<ResourceRuntimeAssignmentVO> runtimeAssignments = new ArrayList<>();
+
+    @ApiModelProperty("按检测项和出现序号组织的本次运行参数")
+    private JSONObject runParams = new JSONObject();
 }

cmvr-iot-aima/src/main/java/com/cmvr/aima/listener/AimaFlowExecutionListener.java

@@ -1,16 +1,19 @@
 package com.cmvr.aima.listener;
 
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson2.JSONObject;
 import com.cmvr.common.utils.DateUtils;
 import com.cmvr.framework.websocket.service.MessagePushService;
 import com.cmvr.aima.domain.AimaTaskInstance;
 import com.cmvr.aima.domain.AimaTestLog;
 import com.cmvr.aima.enums.AimaTaskStatusEnum;
 import com.cmvr.aima.service.IAimaTaskInstanceService;
+import com.cmvr.aima.service.IAimaTaskService;
 import com.cmvr.aima.service.IAimaTestLogService;
 import com.cmvr.test.flow.runtime.event.FlowExecutionEvent;
 import com.cmvr.test.flow.runtime.event.FlowExecutionListener;
 import com.cmvr.test.flow.runtime.event.FlowExecutionModuleCodes;
+import com.cmvr.test.flow.runtime.operator.FlowMediaParamResolver;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
@@ -28,18 +31,23 @@ import java.util.*;
 public class AimaFlowExecutionListener implements FlowExecutionListener {
     private final IAimaTaskInstanceService aimaTaskInstanceService;
     private final IAimaTestLogService aimaTestLogService;
+    private final IAimaTaskService aimaTaskService;
     private final MessagePushService messagePushService;
 
     /** key:itemId, value:已完成节点集合 */
-    private final Map<String, Set<String>> itemNodeExecutMap = new HashMap<>();
+    private final Map<String, Set<String>> itemNodeExecutMap = new java.util.concurrent.ConcurrentHashMap<>();
     /** key:taskInsId(流程实例id), value:已执行item集合 */
-    private final Map<String, Set<String>> taskItemExecutMap = new HashMap<>();
+    private final Map<String, Set<String>> taskItemExecutMap = new java.util.concurrent.ConcurrentHashMap<>();
+    /** key: flow instance ID, value: test case IDs in binding order. */
+    private final Map<String, List<String>> taskCaseBindingMap = new java.util.concurrent.ConcurrentHashMap<>();
 
     public AimaFlowExecutionListener(IAimaTaskInstanceService aimaTaskInstanceService,
                                      IAimaTestLogService aimaTestLogService,
+                                     IAimaTaskService aimaTaskService,
                                      MessagePushService messagePushService) {
         this.aimaTaskInstanceService = aimaTaskInstanceService;
         this.aimaTestLogService = aimaTestLogService;
+        this.aimaTaskService = aimaTaskService;
         this.messagePushService = messagePushService;
     }
 
@@ -60,11 +68,13 @@ public class AimaFlowExecutionListener implements FlowExecutionListener {
         // 1.节点完成才记录当前item下node
         if (StrUtil.isNotBlank(itemId) && StrUtil.isNotBlank(nodeId)
                 && FlowExecutionEvent.EventType.NODE_COMPLETED == event.getEventType()) {
-            itemNodeExecutMap.computeIfAbsent(itemId, k -> new HashSet<>()).add(nodeId);
+            itemNodeExecutMap.computeIfAbsent(itemExecutionKey(instId, event),
+                    k -> java.util.concurrent.ConcurrentHashMap.newKeySet()).add(nodeId);
         }
         // 任意事件：当前任务绑定item（item一启动就入Map）
         if (StrUtil.isNotBlank(instId) && StrUtil.isNotBlank(itemId)) {
-            taskItemExecutMap.computeIfAbsent(instId, k -> new HashSet<>()).add(itemId);
+            taskItemExecutMap.computeIfAbsent(instId,
+                    k -> java.util.concurrent.ConcurrentHashMap.newKeySet()).add(itemExecutionKey(instId, event));
         }
 
         // 查询任务实例
@@ -114,11 +124,14 @@ public class AimaFlowExecutionListener implements FlowExecutionListener {
                 int finishedItemNum = itemTotal - 1;
 
                 // 当前item已完成节点数
-                Set<String> finishedNodeSet = itemNodeExecutMap.getOrDefault(itemId, new HashSet<>());
+                Set<String> finishedNodeSet = itemNodeExecutMap.getOrDefault(itemExecutionKey(instId, event), new HashSet<>());
                 int finishedNode = finishedNodeSet.size();
                 int totalNode = event.getNodeCount() == 0 ? 1 : event.getNodeCount();
 
                 // 已完整跑完用例占比
+                if (event.getItemOrder() != null && event.getItemOrder() > 0) {
+                    finishedItemNum = event.getItemOrder() - 1;
+                }
                 double itemTotalRatio = finishedItemNum / (double) totalCases;
                 // 当前运行item内部节点占比
                 double innerRatio = finishedNode / (double) totalNode / totalCases;
@@ -134,16 +147,27 @@ public class AimaFlowExecutionListener implements FlowExecutionListener {
             String logId = UUID.randomUUID().toString().replace("-", "");
             // 四舍五入保留2位小数
             progress = Math.round(progress * 100) / 100.0;
+            JSONObject outputParams = event.getOutputParams();
+            String imageUrl = FlowMediaParamResolver.lastUrl(outputParams, "imageUrl");
+            String videoUrl = FlowMediaParamResolver.lastUrl(outputParams, "videoUrl");
+            String testCaseId = resolveTestCaseId(instId, taskInstance.getTaskId(), event);
             
             // 保存日志到数据库
             AimaTestLog testLog = AimaTestLog.builder()
                     .id(logId)
                     .taskInstanceId(taskInstance.getId())
                     .taskId(taskInstance.getTaskId())
-                    .testCaseId(itemId)
+                    .testCaseId(testCaseId)
+                    .itemId(itemId)
+                    .itemOrder(event.getItemOrder())
+                    .itemOccurrence(event.getItemOccurrence())
                     .logLevel("INFO")
                     .logType("执行日志")
                     .logContent("节点【" + event.getNodeName() + "】" + info)
+                    .actualResult(outputParams == null || outputParams.isEmpty()
+                            ? null : outputParams.toJSONString())
+                    .screenshotUrl(imageUrl)
+                    .videoUrl(videoUrl)
                     .logTime(now)
                     .status(targetStatus)
                     .executionStep(event.getNodeName())
@@ -172,6 +196,24 @@ public class AimaFlowExecutionListener implements FlowExecutionListener {
         Set<String> itemList = taskItemExecutMap.getOrDefault(taskInsId, new HashSet<>());
         itemList.forEach(itemNodeExecutMap::remove);
         taskItemExecutMap.remove(taskInsId);
+        taskCaseBindingMap.remove(taskInsId);
+    }
+
+    private String itemExecutionKey(String taskInsId, FlowExecutionEvent event) {
+        if (event.getItemOrder() != null && event.getItemOrder() > 0) {
+            return taskInsId + "|" + event.getItemOrder();
+        }
+        return taskInsId + "|" + event.getItemId();
+    }
+
+    private String resolveTestCaseId(String taskInsId, String taskId, FlowExecutionEvent event) {
+        if (event.getItemOrder() == null || event.getItemOrder() < 1) {
+            return event.getItemId();
+        }
+        List<String> testCaseIds = taskCaseBindingMap.computeIfAbsent(taskInsId,
+                key -> aimaTaskService.getTestCaseIds(taskId).stream().map(testCase -> testCase.getId()).toList());
+        int index = event.getItemOrder() - 1;
+        return index < testCaseIds.size() ? testCaseIds.get(index) : event.getItemId();
     }
 
     /**

cmvr-iot-aima/src/main/java/com/cmvr/aima/mapper/AimaTaskTestCaseMapper.java

@@ -5,6 +5,7 @@ import java.util.List;
 import com.github.yulichang.base.MPJBaseMapper;
 import org.apache.ibatis.annotations.Param;
 import com.cmvr.aima.domain.AimaTaskTestCase;
+import com.cmvr.aima.domain.AimaTestCase;
 
 /**
  * 爱玛任务与测试用例关联Mapper接口
@@ -38,6 +39,9 @@ public interface AimaTaskTestCaseMapper extends MPJBaseMapper<AimaTaskTestCase>
      */
     List<String> selectTestCaseIdsByTaskId(String taskId);
 
+    /** 按任务中的位置查询用例，重复用例会返回多条独立记录。 */
+    List<AimaTestCase> selectTestCasesByTaskId(String taskId);
+
     /**
      * 批量删除任务-测试用例关联
      * 

cmvr-iot-aima/src/main/java/com/cmvr/aima/service/impl/AimaTaskInstanceServiceImpl.java

@@ -2,6 +2,7 @@ package com.cmvr.aima.service.impl;
 
 import java.util.List;
 import java.util.UUID;
+import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson2.JSONObject;
 import com.baomidou.mybatisplus.spring.service.impl.ServiceImpl;
 import com.cmvr.aima.domain.dto.AimaTaskInstanceQuery;
@@ -13,6 +14,7 @@ import com.cmvr.test.flow.control.FlowControlService;
 import com.cmvr.test.flow.runtime.engine.FlowTaskRuntimeService;
 import com.cmvr.test.flow.runtime.event.FlowExecutionModuleCodes;
 import com.cmvr.test.model.vo.TeTaskExecuteNormalVO;
+import com.cmvr.test.model.vo.TeTaskOrchestraVO;
 import com.cmvr.test.service.ITeTaskOrchestrationService;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.context.annotation.Lazy;
@@ -25,6 +27,9 @@ import com.cmvr.aima.enums.AimaTaskStatusEnum;
 import com.cmvr.aima.service.IAimaTaskService;
 import com.cmvr.aima.domain.AimaTask;
 import org.springframework.transaction.annotation.Transactional;
+import java.util.stream.Collectors;
+import java.util.HashMap;
+import java.util.Map;
 
 /**
  * 爱玛任务执行实例Service业务层处理
@@ -138,12 +143,37 @@ public class AimaTaskInstanceServiceImpl extends ServiceImpl<AimaTaskInstanceMap
 
         
         AimaTask aimaTask = aimaTaskService.selectAimaTaskById(instance.getTaskId());
-        JSONObject runParams = new JSONObject();
+        if (aimaTask == null || StrUtil.isBlank(aimaTask.getTaskConfigId())) {
-        // 从test模块的任务编排中获取所有的检测项id
+            throw new ServiceException("智能测试任务没有关联流程编排");
-        if (aimaTask != null && aimaTask.getTaskConfigId() != null) {
-            teTaskOrchestrationService.queryByTaskId(aimaTask.getTaskConfigId())
-                .forEach(item -> runParams.put(item.getItemId(), new JSONObject()));
         }
+        List<String> orderedItemIds = aimaTaskService.getTestCaseIds(instance.getTaskId()).stream()
+                .map(com.cmvr.aima.domain.AimaTestCase::getDetectItemId)
+                .filter(StrUtil::isNotBlank)
+                .collect(Collectors.toList());
+        if (orderedItemIds.isEmpty()) {
+            throw new ServiceException("智能测试任务没有绑定可执行的测试用例");
+        }
+        teTaskOrchestrationService.insertTeTaskOrchestration(TeTaskOrchestraVO.builder()
+                .taskId(aimaTask.getTaskConfigId())
+                .itemIds(orderedItemIds)
+                .build());
+        JSONObject runParams = new JSONObject();
+        JSONObject requestedRunParams = startVO == null ? null : startVO.getRunParams();
+        Map<String, Integer> itemOccurrences = new HashMap<>();
+        // 从test模块的任务编排中获取所有的检测项id
+        teTaskOrchestrationService.queryByTaskId(aimaTask.getTaskConfigId()).forEach(item -> {
+            int occurrence = itemOccurrences.merge(item.getItemId(), 1, Integer::sum);
+            JSONObject submitted = requestedRunParams == null ? null
+                    : requestedRunParams.getJSONObject(item.getItemId() + ":" + occurrence);
+            if (submitted == null && requestedRunParams != null) {
+                submitted = requestedRunParams.getJSONObject(item.getItemId());
+            }
+            JSONObject itemParams = submitted == null ? new JSONObject() : new JSONObject(submitted);
+            itemParams.put("phoneId", instance.getPhoneId());
+            itemParams.put("vehicleId", instance.getVehicleId());
+            itemParams.put("taskInstanceId", instance.getId());
+            runParams.put(item.getItemId() + ":" + occurrence, itemParams);
+        });
         // 调用流程引擎执行
         String insId = flowTaskRuntimeService.executeTask(
             TeTaskExecuteNormalVO.builder()

cmvr-iot-aima/src/main/java/com/cmvr/aima/service/impl/AimaTaskServiceImpl.java

@@ -6,7 +6,6 @@ import java.util.List;
 import java.util.UUID;
 import java.util.stream.Collectors;
 
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.spring.service.impl.ServiceImpl;
 import com.cmvr.aima.domain.AimaTaskTestCase;
 import com.cmvr.aima.domain.AimaTestCase;
@@ -111,6 +110,21 @@ public class AimaTaskServiceImpl extends ServiceImpl<AimaTaskMapper, AimaTask> i
 
     @Override
     public void bindTestCases(String taskId, List<String> testCaseIds) {
+        aimaTaskTestCaseMapper.deleteTaskTestCaseByTaskId(taskId);
+        AimaTask existingTask = aimaTaskMapper.selectAimaTaskById(taskId);
+        if (existingTask == null) {
+            throw new IllegalArgumentException("任务不存在: " + taskId);
+        }
+        if (testCaseIds == null || testCaseIds.isEmpty()) {
+            AimaTask emptyTask = new AimaTask();
+            emptyTask.setId(taskId);
+            emptyTask.setTestCaseCount(0);
+            aimaTaskMapper.updateAimaTask(emptyTask);
+            if (existingTask.getTaskConfigId() != null) {
+                teTaskOrchestrationService.deleteByTaskId(existingTask.getTaskConfigId());
+            }
+            return;
+        }
         // 先删除旧的关联
         aimaTaskTestCaseMapper.deleteTaskTestCaseByTaskId(taskId);
         
@@ -121,7 +135,7 @@ public class AimaTaskServiceImpl extends ServiceImpl<AimaTaskMapper, AimaTask> i
                 AimaTaskTestCase taskTestCase = new AimaTaskTestCase();
                 taskTestCase.setTaskId(taskId);
                 taskTestCase.setTestCaseId(testCaseIds.get(i));
-                taskTestCase.setSortOrder(i);
+                taskTestCase.setSortOrder(i + 1);
                 list.add(taskTestCase);
             }
             aimaTaskTestCaseMapper.batchInsertTaskTestCase(list);
@@ -133,27 +147,27 @@ public class AimaTaskServiceImpl extends ServiceImpl<AimaTaskMapper, AimaTask> i
             aimaTaskMapper.updateAimaTask(task);
             
             // 查询测试用例，获取detectItemId列表
-            List<AimaTestCase> testCases = aimaTestCaseMapper.selectBatchIds(testCaseIds);
+            List<AimaTestCase> testCases = getTestCaseIds(taskId);
             List<String> detectItemIds = testCases.stream()
                 .map(AimaTestCase::getDetectItemId)
                 .filter(itemId -> itemId != null && !itemId.isEmpty())
                 .collect(Collectors.toList());
             
             // 同步任务编排到test模块
-            if (!detectItemIds.isEmpty()) {
+            if (!detectItemIds.isEmpty() && existingTask.getTaskConfigId() != null) {
-                AimaTask aimaTask = aimaTaskMapper.selectAimaTaskById(taskId);
                 TeTaskOrchestraVO teTaskOrchestraVO = TeTaskOrchestraVO.builder()
-                    .taskId(aimaTask.getTaskConfigId())
+                    .taskId(existingTask.getTaskConfigId())
                     .itemIds(detectItemIds)
                     .build();
                 teTaskOrchestrationService.insertTeTaskOrchestration(teTaskOrchestraVO);
+            } else if (existingTask.getTaskConfigId() != null) {
+                teTaskOrchestrationService.deleteByTaskId(existingTask.getTaskConfigId());
             }
         }
     }
 
     @Override
     public List<AimaTestCase> getTestCaseIds(String taskId) {
-        List<String> ids = aimaTaskTestCaseMapper.selectTestCaseIdsByTaskId(taskId);
+        return aimaTaskTestCaseMapper.selectTestCasesByTaskId(taskId);
-        return aimaTestCaseMapper.selectList(new QueryWrapper<AimaTestCase>().in("id", ids));
     }
 }

cmvr-iot-aima/src/main/resources/mapper/aima/AimaTaskTestCaseMapper.xml

@@ -16,7 +16,32 @@
     <select id="selectTestCaseIdsByTaskId" parameterType="String" resultType="String">
         SELECT test_case_id FROM aima_task_test_case 
         WHERE task_id = #{taskId} 
-        ORDER BY sort_order
+        ORDER BY sort_order, test_case_id
+    </select>
+
+    <select id="selectTestCasesByTaskId" parameterType="String" resultType="AimaTestCase">
+        SELECT tc.id,
+               tc.create_by,
+               tc.create_time,
+               tc.update_by,
+               tc.update_time,
+               tc.remark,
+               tc.case_code,
+               tc.case_name,
+               tc.case_category,
+               tc.test_description,
+               tc.precondition,
+               tc.test_steps,
+               tc.expected_result,
+               tc.priority,
+               tc.enabled,
+               rel.sort_order AS sort_order,
+               tc.estimated_duration,
+               tc.detect_item_id
+        FROM aima_task_test_case rel
+        INNER JOIN aima_test_case tc ON tc.id = rel.test_case_id
+        WHERE rel.task_id = #{taskId}
+        ORDER BY rel.sort_order
     </select>
 
     <delete id="deleteTaskTestCaseByTaskIds" parameterType="String">

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/system/EdgeActionQueueVO.java

@@ -0,0 +1,24 @@
+package com.cmvr.edge.client.model.system;
+
+import com.alibaba.fastjson2.JSONObject;
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+@Data
+public class EdgeActionQueueVO {
+    private String robotId;
+    private String actionId;
+    private Integer totalTimeoutMs;
+    private List<Step> steps = new ArrayList<>();
+
+    @Data
+    public static class Step {
+        private String stepId;
+        private String type;
+        private String deviceId;
+        private Integer timeoutMs;
+        private JSONObject params = new JSONObject();
+    }
+}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeCameraService.java

@@ -5,6 +5,7 @@ import com.cmvr.edge.client.model.EdgeCommonVO;
 import com.cmvr.edge.client.model.camera.EdgeCameraPtzVO;
 import io.grpc.stub.StreamObserver;
 
+import java.io.File;
 import java.io.OutputStream;
 
 /**
@@ -49,6 +50,12 @@ public interface EdgeCameraService {
      */
     public String stopRecording(EdgeCommonVO edgeCommonVO);
 
+    /** Starts a backend-local recording session from the robot camera stream. */
+    String startWorkflowRecording(EdgeCommonVO edgeCommonVO);
+
+    /** Stops and finalizes a backend-local workflow recording. */
+    File stopWorkflowRecording(EdgeCommonVO edgeCommonVO, String recordingId);
+
     /**
      * 获取相机图片组
      */

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeMicrophoneService.java

@@ -4,6 +4,8 @@ import cmvr.api.MicrophoneCommand;
 import com.cmvr.edge.client.model.EdgeCommonVO;
 import com.cmvr.edge.client.model.microphone.EdgeMicrophoneVolumeVO;
 
+import java.io.File;
+
 /**
  * 边缘麦克风服务接口
  * 定义了与边缘麦克风进行交互的所有方法
@@ -25,6 +27,12 @@ public interface EdgeMicrophoneService {
      */
     String stopRecord(EdgeCommonVO edgeCommonVO);
 
+    /** Starts a backend-local WAV recording from the robot microphone stream. */
+    String startWorkflowRecording(EdgeCommonVO edgeCommonVO);
+
+    /** Stops and finalizes a backend-local workflow recording. */
+    File stopWorkflowRecording(EdgeCommonVO edgeCommonVO, String recordingId);
+
     /**
      * 暂停录音
      */

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeSystemService.java

@@ -5,6 +5,7 @@ import cmvr.api.SystemCommand;
 import com.cmvr.device.domain.DeDeviceRegistration;
 import com.cmvr.edge.client.model.system.EdgeSystemJsonCommandVO;
 import com.cmvr.edge.client.model.system.EdgeSystemUpdateParamsVO;
+import com.cmvr.edge.client.model.system.EdgeActionQueueVO;
 
 import java.util.List;
 
@@ -24,6 +25,8 @@ public interface EdgeSystemService {
 
     Common.JsonDeviceCommand.Feedback executeJsonCommand(EdgeSystemJsonCommandVO request);
 
+    SystemCommand.ActionQueueCommand.Feedback executeActionQueue(EdgeActionQueueVO request);
+
 
     public List<DeDeviceRegistration> deviceList(String robotId);
 

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeCameraServiceImpl.java

@@ -22,9 +22,11 @@ import com.cmvr.system.service.ISysFileService;
 import com.google.protobuf.ByteString;
 import io.grpc.Status;
 import io.grpc.stub.StreamObserver;
+import jakarta.annotation.PreDestroy;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;
+import org.springframework.scheduling.annotation.Scheduled;
 import org.springframework.stereotype.Service;
 import org.springframework.web.multipart.MultipartFile;
 
@@ -45,6 +47,7 @@ import java.awt.image.WritableRaster;
 import java.io.ByteArrayOutputStream;
 import java.io.DataOutputStream;
 import java.io.File;
+import java.io.FileOutputStream;
 import java.io.IOException;
 import java.io.OutputStream;
 import java.nio.file.Files;
@@ -53,7 +56,11 @@ import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 import java.util.Base64;
 import java.util.Iterator;
+import java.util.Map;
+import java.util.UUID;
 import java.util.concurrent.CountDownLatch;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.TimeUnit;
 import java.util.concurrent.atomic.AtomicInteger;
 import java.util.concurrent.atomic.AtomicBoolean;
 import java.util.concurrent.atomic.AtomicReference;
@@ -64,18 +71,26 @@ import java.util.concurrent.atomic.AtomicReference;
 @RequiredArgsConstructor
 public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamService {
 
+    private static final long RECORDING_FINALIZE_TIMEOUT_SECONDS = 15L;
+    private static final long RECORDING_FIRST_FRAME_TIMEOUT_SECONDS = 10L;
+    private static final long RECORDING_MAX_AGE_MILLIS = TimeUnit.HOURS.toMillis(6L);
+
     private final GrpcServiceManager grpcServiceManager;
     private final ISysFileService sysFileService;
 
     private final MessagePushService messagePushService;
 
+    private final Map<String, WorkflowRecordingSession> workflowRecordings = new ConcurrentHashMap<>();
+
     @Override
     public CameraCommand.CameraState status(EdgeCommonVO edgeCommonVO) {
         CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
         CameraCommand.GetCameraStateCommand.Request request = CameraCommand.GetCameraStateCommand.Request.newBuilder()
                 .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
                 .build();
-        return executeGrpcCall(() -> stub.getStatus(request)).getState();
+        CameraCommand.GetCameraStateCommand.Feedback feedback = executeGrpcCall(() -> stub.getStatus(request));
+        requireSuccess(feedback.getHeader(), "获取相机状态");
+        return feedback.getState();
     }
 
     @Override
@@ -94,6 +109,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
                 .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
                 .build();
         Common.CommandHeader.Feedback header = executeGrpcCall(() -> stub.startCamera(request)).getHeader();
+        requireSuccess(header, "开启相机");
         return JSON.toJSONString(header);
     }
 
@@ -103,7 +119,9 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
         CameraCommand.StopCameraCommand.Request request = CameraCommand.StopCameraCommand.Request.newBuilder()
                 .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
                 .build();
+        abortWorkflowRecordings(edgeCommonVO);
         Common.CommandHeader.Feedback header = executeGrpcCall(() -> stub.stopCamera(request)).getHeader();
+        requireSuccess(header, "关闭相机");
         return JSON.toJSONString(header);
     }
 
@@ -118,20 +136,23 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
                 .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
                 .build();
         CameraCommand.GetRGBImageCommand.Feedback feedback = executeGrpcCall(() -> stub.getRGBImage(request));
+        requireSuccess(feedback.getHeader(), "获取相机图片");
         CameraCommand.FrameData frame = feedback.getColorFrame();
         if (!feedback.hasColorFrame() || frame.getWidth() <= 0 || frame.getHeight() <= 0) {
-            throw new GlobalException("响应图片数据无效");
+            throw new GlobalException("获取相机图片失败: 响应图片数据无效");
         }
-        String filePath = saveImage(frame.getData(), frame.getWidth(), frame.getHeight());
+        String filePath = saveColorImage(frame);
         try {
             MultipartFile file = convertFileToMultipartFile(filePath);
-            return sysFileService.uploadFile(file, FileType.IMAGE.code());
+            String imageUrl = sysFileService.uploadFile(file, FileType.IMAGE.code());
+            if (StrUtil.isBlank(imageUrl)) {
+                throw new GlobalException("获取相机图片失败: 文件上传未返回图片地址");
+            }
+            return imageUrl;
         } catch (IOException e) {
-            throw new GlobalException("图片上传失败: " + e.getMessage());
+            throw new GlobalException("获取相机图片失败: " + e.getMessage());
         } finally {
             deleteTempFile(filePath);
-//             todo 暂时不关闭摄像头
-//            stop(robotId, deviceId);
         }
     }
 
@@ -186,6 +207,70 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
         return JSON.toJSONString(header);
     }
 
+    @Override
+    public String startWorkflowRecording(EdgeCommonVO edgeCommonVO) {
+        String recordingId = UUID.randomUUID().toString().replace("-", "");
+        File outputFile;
+        try {
+            outputFile = File.createTempFile("cmvr-recording-" + recordingId + "-", ".mp4");
+        } catch (IOException exception) {
+            throw new GlobalException("创建录像临时文件失败: " + exception.getMessage());
+        }
+
+        WorkflowRecordingSession session = new WorkflowRecordingSession(
+                recordingId, edgeCommonVO.getRobotId(), edgeCommonVO.getDeviceId(), outputFile);
+        workflowRecordings.put(recordingId, session);
+        try {
+            session.start();
+            return recordingId;
+        } catch (RuntimeException exception) {
+            workflowRecordings.remove(recordingId);
+            session.abort();
+            throw exception;
+        }
+    }
+
+    @Override
+    public File stopWorkflowRecording(EdgeCommonVO edgeCommonVO, String recordingId) {
+        WorkflowRecordingSession session = workflowRecordings.remove(recordingId);
+        if (session == null) {
+            throw new GlobalException("录像会话不存在或已结束: " + recordingId);
+        }
+        if (!session.matches(edgeCommonVO.getRobotId(), edgeCommonVO.getDeviceId())) {
+            session.abort();
+            throw new GlobalException("开始录像和结束录像使用的机器人或摄像头不一致");
+        }
+        return session.finish();
+    }
+
+    private void abortWorkflowRecordings(EdgeCommonVO edgeCommonVO) {
+        workflowRecordings.forEach((recordingId, session) -> {
+            if (session.matches(edgeCommonVO.getRobotId(), edgeCommonVO.getDeviceId())
+                    && workflowRecordings.remove(recordingId, session)) {
+                log.info("关闭相机并终止关联的工作流录像: recordingId={}, robotId={}, deviceId={}",
+                        recordingId, session.robotId, session.deviceId);
+                session.abort();
+            }
+        });
+    }
+
+    @Scheduled(fixedDelay = 60_000L)
+    public void cleanExpiredWorkflowRecordings() {
+        workflowRecordings.forEach((recordingId, session) -> {
+            if (session.isExpired() && workflowRecordings.remove(recordingId, session)) {
+                log.warn("清理超时的工作流录像会话: recordingId={}, robotId={}, deviceId={}",
+                        recordingId, session.robotId, session.deviceId);
+                session.abort();
+            }
+        });
+    }
+
+    @PreDestroy
+    public void closeWorkflowRecordings() {
+        workflowRecordings.forEach((recordingId, session) -> session.abort());
+        workflowRecordings.clear();
+    }
+
     @Override
     public String getRGBDImages(EdgeCommonVO edgeCommonVO) {
         if (!checkStatus(edgeCommonVO)) {
@@ -483,6 +568,228 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
 
     }
 
+    private final class WorkflowRecordingSession {
+        private final String recordingId;
+        private final String robotId;
+        private final String deviceId;
+        private final File outputFile;
+        private final long startedAtMillis = System.currentTimeMillis();
+        private final AtomicBoolean stopped = new AtomicBoolean(false);
+        private final AtomicReference<Throwable> failure = new AtomicReference<>();
+        private final AtomicReference<StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request>> requestObserver =
+                new AtomicReference<>();
+
+        private FileOutputStream outputStream;
+        private H265Fmp4Transcoder transcoder;
+        private long firstFrameReadyAtMillis;
+
+        private WorkflowRecordingSession(String recordingId, String robotId, String deviceId, File outputFile) {
+            this.recordingId = recordingId;
+            this.robotId = robotId;
+            this.deviceId = deviceId;
+            this.outputFile = outputFile;
+        }
+
+        private void start() {
+            EdgeCommonVO target = new EdgeCommonVO();
+            target.setRobotId(robotId);
+            target.setDeviceId(deviceId);
+            CameraCommand.CameraState cameraState = status(target);
+            if (cameraState.getIsError()) {
+                throw new GlobalException("Camera is in error state");
+            }
+            if (!cameraState.getIsOpened() || !cameraState.getIsStreaming()) {
+                EdgeCameraServiceImpl.this.start(target);
+                cameraState = status(target);
+            }
+
+            try {
+                outputStream = new FileOutputStream(outputFile);
+                transcoder = new H265Fmp4Transcoder(
+                        "recording-" + recordingId,
+                        cameraState.getFps(),
+                        chunk -> writeChunk(chunk),
+                        throwable -> {
+                            recordFailure(throwable);
+                            cancelStream();
+                        });
+                transcoder.start();
+            } catch (IOException exception) {
+                throw new GlobalException("初始化录像失败: " + exception.getMessage());
+            }
+
+            CameraServiceGrpc.CameraServiceStub stub = grpcServiceManager.getGrpcClient(
+                    robotId, CameraServiceGrpc.CameraServiceStub.class);
+            StreamObserver<CameraCommand.GetRGBImageStreamCommand.Feedback> responseObserver =
+                    new StreamObserver<CameraCommand.GetRGBImageStreamCommand.Feedback>() {
+                        @Override
+                        public void onNext(CameraCommand.GetRGBImageStreamCommand.Feedback value) {
+                            if (!value.getHeader().getSuccess()) {
+                                recordFailure(new GlobalException(value.getHeader().getErrorMessage()));
+                                cancelStream();
+                                return;
+                            }
+                            try {
+                                CameraCommand.FrameData frame = value.getColorFrame();
+                                transcoder.write(frame.getData().toByteArray(), frame.getIsKeyFrame(), frame.getCodec());
+                            } catch (IOException exception) {
+                                recordFailure(exception);
+                                cancelStream();
+                            }
+                        }
+
+                        @Override
+                        public void onError(Throwable throwable) {
+                            if (!stopped.get() && Status.fromThrowable(throwable).getCode() != Status.Code.CANCELLED) {
+                                recordFailure(throwable);
+                            }
+                        }
+
+                        @Override
+                        public void onCompleted() {
+                            if (!stopped.get()) {
+                                recordFailure(new GlobalException("摄像头视频流提前结束"));
+                            }
+                        }
+                    };
+
+            try {
+                StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request> observer =
+                        stub.getRGBImageStream(responseObserver);
+                requestObserver.set(observer);
+                observer.onNext(CameraCommand.GetRGBImageStreamCommand.Request.newBuilder()
+                        .setHeader(EdgeCommonUtil.buildRequest(deviceId))
+                        .setEof(false)
+                        .build());
+                awaitFirstRecordedFrame();
+            } catch (RuntimeException exception) {
+                recordFailure(exception);
+                throw exception;
+            }
+        }
+
+        private void awaitFirstRecordedFrame() {
+            try {
+                if (!transcoder.awaitFirstFrame(RECORDING_FIRST_FRAME_TIMEOUT_SECONDS, TimeUnit.SECONDS)) {
+                    throw new GlobalException("启动录像失败: 10秒内未收到可写入的视频帧");
+                }
+            } catch (InterruptedException exception) {
+                Thread.currentThread().interrupt();
+                throw new GlobalException("等待录像首帧时被中断");
+            }
+            Throwable transcoderFailure = failure.get();
+            if (transcoderFailure != null) {
+                throw new GlobalException("启动录像失败: " + transcoderFailure.getMessage());
+            }
+            firstFrameReadyAtMillis = System.currentTimeMillis();
+        }
+
+        private boolean matches(String expectedRobotId, String expectedDeviceId) {
+            return robotId.equals(expectedRobotId) && deviceId.equals(expectedDeviceId);
+        }
+
+        private boolean isExpired() {
+            return System.currentTimeMillis() - startedAtMillis > RECORDING_MAX_AGE_MILLIS;
+        }
+
+        private File finish() {
+            if (!stopped.compareAndSet(false, true)) {
+                throw new GlobalException("录像会话已结束: " + recordingId);
+            }
+            try {
+                cancelStream();
+                if (transcoder != null) {
+                    transcoder.close();
+                    try {
+                        if (!transcoder.awaitTermination(RECORDING_FINALIZE_TIMEOUT_SECONDS, TimeUnit.SECONDS)) {
+                            throw new GlobalException("录像文件封装超时");
+                        }
+                    } catch (InterruptedException exception) {
+                        Thread.currentThread().interrupt();
+                        throw new GlobalException("等待录像文件封装时被中断");
+                    } finally {
+                        closeOutputStream();
+                    }
+                } else {
+                    closeOutputStream();
+                }
+
+                Throwable sessionFailure = failure.get();
+                if (sessionFailure != null) {
+                    throw new GlobalException("录像失败: " + sessionFailure.getMessage());
+                }
+                if (!outputFile.isFile() || outputFile.length() == 0L) {
+                    throw new GlobalException("录像文件为空，请确认摄像头视频流正常");
+                }
+                log.info("Workflow recording finalized: recordingId={}, robotId={}, deviceId={}, "
+                                + "wallDurationMs={}, mediaTimelineMs={}, writtenFrames={}, fileBytes={}",
+                        recordingId, robotId, deviceId,
+                        firstFrameReadyAtMillis == 0L ? 0L : System.currentTimeMillis() - firstFrameReadyAtMillis,
+                        Math.max(0L, transcoder.getLastWrittenTimestampMicros() / 1_000L),
+                        transcoder.getWrittenFrameCount(), outputFile.length());
+                return outputFile;
+            } catch (RuntimeException exception) {
+                deleteOutputFile();
+                throw exception;
+            }
+        }
+
+        private void abort() {
+            stopped.set(true);
+            cancelStream();
+            if (transcoder != null) {
+                transcoder.close();
+                try {
+                    transcoder.awaitTermination(RECORDING_FINALIZE_TIMEOUT_SECONDS, TimeUnit.SECONDS);
+                } catch (InterruptedException exception) {
+                    Thread.currentThread().interrupt();
+                }
+            }
+            closeOutputStream();
+            deleteOutputFile();
+        }
+
+        private void writeChunk(byte[] chunk) {
+            try {
+                outputStream.write(chunk);
+            } catch (IOException exception) {
+                throw new CameraStreamWriteException(exception);
+            }
+        }
+
+        private void recordFailure(Throwable throwable) {
+            failure.compareAndSet(null, throwable);
+        }
+
+        private void cancelStream() {
+            StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request> observer = requestObserver.getAndSet(null);
+            if (observer != null) {
+                try {
+                    observer.onError(Status.CANCELLED.withDescription("workflow recording stopped").asRuntimeException());
+                } catch (RuntimeException ignored) {
+                }
+            }
+        }
+
+        private void closeOutputStream() {
+            if (outputStream != null) {
+                try {
+                    outputStream.close();
+                } catch (IOException exception) {
+                    recordFailure(exception);
+                } finally {
+                    outputStream = null;
+                }
+            }
+        }
+
+        private void deleteOutputFile() {
+            if (outputFile.exists() && !outputFile.delete()) {
+                log.warn("删除录像临时文件失败: {}", outputFile.getAbsolutePath());
+            }
+        }
+    }
+
     @FunctionalInterface
     private interface GrpcCall<T> {
         T call() throws Exception;
@@ -496,6 +803,15 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
         }
     }
 
+    private void requireSuccess(Common.CommandHeader.Feedback header, String operation) {
+        if (header == null || !header.getSuccess()) {
+            String detail = header == null || StrUtil.isBlank(header.getErrorMessage())
+                    ? "机器人未返回成功状态"
+                    : header.getErrorMessage();
+            throw new GlobalException(operation + "失败: " + detail);
+        }
+    }
+
     private String rgbToBase64Bmp(byte[] rgbData, int width, int height) throws IOException {
         int rowSize = (width * 3 + 3) & ~3; // BMP 行对齐
         int imageSize = rowSize * height;
@@ -580,6 +896,42 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
         return filePath;
     }
 
+    private String saveColorImage(CameraCommand.FrameData frame) {
+        int pixelCount = Math.multiplyExact(frame.getWidth(), frame.getHeight());
+        byte[] source = frame.getData().toByteArray();
+        switch (frame.getType()) {
+            case U8C1:
+                requireFrameBytes(source, pixelCount, frame.getType());
+                return saveImage(ByteString.copyFrom(source, 0, pixelCount),
+                        frame.getWidth(), frame.getHeight(), true);
+            case U8C3:
+                int colorBytes = Math.multiplyExact(pixelCount, 3);
+                requireFrameBytes(source, colorBytes, frame.getType());
+                return saveImage(ByteString.copyFrom(source, 0, colorBytes),
+                        frame.getWidth(), frame.getHeight());
+            case U16C3:
+                int sourceBytes = Math.multiplyExact(pixelCount, 6);
+                requireFrameBytes(source, sourceBytes, frame.getType());
+                byte[] eightBitColor = new byte[Math.multiplyExact(pixelCount, 3)];
+                for (int targetIndex = 0, sourceIndex = 0;
+                     targetIndex < eightBitColor.length;
+                     targetIndex++, sourceIndex += Short.BYTES) {
+                    // Camera frames use little-endian unsigned 16-bit channels. Keep the high byte for JPEG.
+                    eightBitColor[targetIndex] = source[sourceIndex + 1];
+                }
+                return saveImage(ByteString.copyFrom(eightBitColor), frame.getWidth(), frame.getHeight());
+            default:
+                throw new GlobalException("获取相机图片失败: 不支持的彩色帧类型 " + frame.getType());
+        }
+    }
+
+    private void requireFrameBytes(byte[] source, int requiredBytes, CameraCommand.FrameData.FrameType type) {
+        if (source.length < requiredBytes) {
+            throw new GlobalException("获取相机图片失败: " + type + " 图片数据长度不足，期望至少 "
+                    + requiredBytes + " 字节，实际 " + source.length + " 字节");
+        }
+    }
+
     private String saveImage(ByteString pixelData, int width, int height, boolean isDepth) {
         File tempDir = new File(System.getProperty("java.io.tmpdir"));
         FileUtil.mkdir(tempDir);

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeMicrophoneServiceImpl.java

@@ -1,19 +1,37 @@
 package com.cmvr.edge.client.service.impl;
 
+import cmvr.api.Common;
 import cmvr.api.MicPhoneServiceGrpc;
 import cmvr.api.MicrophoneCommand;
 import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson2.JSON;
+import com.cmvr.common.exception.GlobalException;
 import com.cmvr.edge.client.manage.GrpcServiceManager;
 import com.cmvr.edge.client.model.EdgeCommonVO;
 import com.cmvr.edge.client.model.microphone.EdgeMicrophoneVolumeVO;
 import com.cmvr.edge.client.service.EdgeMicrophoneService;
 import com.cmvr.edge.client.utils.EdgeCommonUtil;
+import io.grpc.Status;
+import io.grpc.stub.ClientCallStreamObserver;
+import io.grpc.stub.ClientResponseObserver;
+import jakarta.annotation.PreDestroy;
 import lombok.RequiredArgsConstructor;
+import org.springframework.scheduling.annotation.Scheduled;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.stereotype.Service;
 
+import java.io.File;
+import java.io.IOException;
+import java.io.RandomAccessFile;
+import java.util.Map;
+import java.util.UUID;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.CountDownLatch;
+import java.util.concurrent.TimeUnit;
+import java.util.concurrent.atomic.AtomicBoolean;
+import java.util.concurrent.atomic.AtomicReference;
+
 /**
  * 边缘麦克风服务实现类
  * 用于与边缘麦克风进行gRPC通信，控制麦克风录音和状态
@@ -22,6 +40,19 @@ import org.springframework.stereotype.Service;
 @Service
 @RequiredArgsConstructor
 public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService {
+    private static final int WAV_HEADER_BYTES = 44;
+    private static final int PCM_BITS_PER_SAMPLE = 16;
+    private static final int DEFAULT_SAMPLE_RATE = 48_000;
+    private static final int DEFAULT_CHANNELS = 1;
+    private static final String PCM_CODEC = "PCM_S16LE";
+    private static final int NORMALIZED_PEAK_AMPLITUDE = 26_000;
+    private static final double MAX_RECORDING_GAIN = 8.0D;
+    private static final int PCM_PROCESS_BUFFER_BYTES = 64 * 1024;
+    private static final String RECORDING_STREAM_CONFLICT =
+            "cannot start streaming while microphone recording is active";
+    private static final long RECORDING_MAX_AGE_MILLIS = TimeUnit.HOURS.toMillis(6L);
+    private static final long FIRST_AUDIO_FRAME_TIMEOUT_SECONDS = 5L;
+    private static final int RECORDING_STOP_CONFIRM_ATTEMPTS = 5;
     /**
      * 日志记录器
      * 用于记录服务运行过程中的各种状态和错误信息
@@ -34,6 +65,9 @@ public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService {
      */
     private final GrpcServiceManager grpcServiceManager;
 
+    private final Map<String, WorkflowAudioRecordingSession> workflowRecordings = new ConcurrentHashMap<>();
+    private final Map<String, String> workflowRecordingTargets = new ConcurrentHashMap<>();
+
     /**
      * 获取麦克风当前状态
      * 通过gRPC调用获取麦克风的运行状态，包括是否正在录音、音量等信息
@@ -41,16 +75,10 @@ public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService {
     @Override
     public String getStatus(EdgeCommonVO edgeCommonVO) {
         try {
-            MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
+            return JSON.toJSONString(getMicrophoneState(edgeCommonVO));
-            MicrophoneCommand.GetMicStateCommand.Request request = MicrophoneCommand.GetMicStateCommand.Request.newBuilder()
-                    .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
-                    .build();
-            // 直接返回完整的 Feedback
-            MicrophoneCommand.GetMicStateCommand.Feedback feedback = stub.getStatus(request);
-            return JSON.toJSONString(feedback.getState());
         } catch (Exception e) {
             logger.error("获取麦克风状态失败", e);
-            throw new RuntimeException("获取麦克风状态失败", e);
+            throw operationFailure("获取麦克风状态", e);
         }
     }
 
@@ -60,24 +88,19 @@ public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService {
      */
     @Override
     public String startRecord(EdgeCommonVO edgeCommonVO) {
-        String deviceId = edgeCommonVO.getDeviceId();
         try {
-            // 获取gRPC客户端存根
+            if (workflowRecordingTargets.containsKey(
-            MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
+                    recordingTargetKey(edgeCommonVO.getRobotId(), edgeCommonVO.getDeviceId()))) {
-            String filePath = StrUtil.format("{}/{}_{}.wav", "/home/share/assets/video", deviceId, System.currentTimeMillis());
+                throw new GlobalException("该机器人麦克风正在被工作流录音占用");
-
+            }
-            // 构建请求消息
+            String filePath = StrUtil.format("{}/{}_{}.wav", "/home/share/assets/video",
-            MicrophoneCommand.StartMicRecordingCommand.Request request = MicrophoneCommand.StartMicRecordingCommand.Request.newBuilder()
+                    edgeCommonVO.getDeviceId(),
-                    .setHeader(EdgeCommonUtil.buildRequest(deviceId))
+                    UUID.randomUUID().toString().replace("-", ""));
-                    .setFilePath(filePath)
+            startTerminalRecording(edgeCommonVO, filePath);
-                    .build();
-
-            // 发送请求
-            stub.startRecord(request);
             return filePath;
         } catch (Exception e) {
             logger.error("开始录音失败", e);
-            throw new RuntimeException("开始录音失败", e);
+            throw operationFailure("开始录音", e);
         }
     }
 
@@ -88,23 +111,98 @@ public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService {
     @Override
     public String stopRecord(EdgeCommonVO edgeCommonVO) {
         try {
-            // 获取gRPC客户端存根
+            abortWorkflowRecordings(edgeCommonVO);
-            MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
+            return JSON.toJSONString(stopTerminalRecording(edgeCommonVO));
-
-            // 构建请求消息
-            MicrophoneCommand.StopMicRecordingCommand.Request request = MicrophoneCommand.StopMicRecordingCommand.Request.newBuilder()
-                    .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
-                    .build();
-
-            // 发送请求
-            MicrophoneCommand.StopMicRecordingCommand.Feedback feedback = stub.stopRecord(request);
-            return JSON.toJSONString(feedback.getHeader());
         } catch (Exception e) {
             logger.error("停止录音失败", e);
-            throw new RuntimeException("停止录音失败", e);
+            throw operationFailure("结束录音", e);
         }
     }
 
+    @Override
+    public String startWorkflowRecording(EdgeCommonVO edgeCommonVO) {
+        String recordingId = UUID.randomUUID().toString().replace("-", "");
+        String targetKey = recordingTargetKey(edgeCommonVO.getRobotId(), edgeCommonVO.getDeviceId());
+        String activeRecordingId = workflowRecordingTargets.putIfAbsent(targetKey, recordingId);
+        if (activeRecordingId != null) {
+            throw new GlobalException("该机器人麦克风已有进行中的录音，请先结束当前录音");
+        }
+        File outputFile;
+        try {
+            outputFile = File.createTempFile("cmvr-audio-" + recordingId + "-", ".wav");
+        } catch (IOException exception) {
+            workflowRecordingTargets.remove(targetKey, recordingId);
+            throw new GlobalException("创建录音临时文件失败: " + exception.getMessage());
+        }
+
+        WorkflowAudioRecordingSession session = new WorkflowAudioRecordingSession(
+                recordingId, edgeCommonVO.getRobotId(), edgeCommonVO.getDeviceId(), outputFile);
+        workflowRecordings.put(recordingId, session);
+        try {
+            prepareWorkflowStreaming(edgeCommonVO);
+            session.start();
+            return recordingId;
+        } catch (RuntimeException exception) {
+            workflowRecordings.remove(recordingId, session);
+            workflowRecordingTargets.remove(targetKey, recordingId);
+            session.abort();
+            throw exception;
+        }
+    }
+
+    @Override
+    public File stopWorkflowRecording(EdgeCommonVO edgeCommonVO, String recordingId) {
+        WorkflowAudioRecordingSession session = workflowRecordings.remove(recordingId);
+        if (session == null) {
+            throw new GlobalException("录音会话不存在或已结束: " + recordingId);
+        }
+        if (!session.matches(edgeCommonVO.getRobotId(), edgeCommonVO.getDeviceId())) {
+            workflowRecordingTargets.remove(session.targetKey(), recordingId);
+            session.abort();
+            throw new GlobalException("开始录音和结束录音使用的机器人或麦克风不一致");
+        }
+        try {
+            session.prepareToFinish();
+            return session.finish();
+        } catch (RuntimeException exception) {
+            session.abort();
+            throw exception;
+        } finally {
+            workflowRecordingTargets.remove(session.targetKey(), recordingId);
+        }
+    }
+
+    private void abortWorkflowRecordings(EdgeCommonVO edgeCommonVO) {
+        workflowRecordings.forEach((recordingId, session) -> {
+            if (session.matches(edgeCommonVO.getRobotId(), edgeCommonVO.getDeviceId())
+                    && workflowRecordings.remove(recordingId, session)) {
+                workflowRecordingTargets.remove(session.targetKey(), recordingId);
+                logger.info("停止麦克风并终止关联的工作流录音: recordingId={}, robotId={}, deviceId={}",
+                        recordingId, session.robotId, session.deviceId);
+                session.abort();
+            }
+        });
+    }
+
+    @Scheduled(fixedDelay = 60_000L)
+    public void cleanExpiredWorkflowRecordings() {
+        workflowRecordings.forEach((recordingId, session) -> {
+            if (session.isExpired() && workflowRecordings.remove(recordingId, session)) {
+                workflowRecordingTargets.remove(session.targetKey(), recordingId);
+                logger.warn("清理超时的工作流录音会话: recordingId={}, robotId={}, deviceId={}",
+                        recordingId, session.robotId, session.deviceId);
+                session.abort();
+            }
+        });
+    }
+
+    @PreDestroy
+    public void closeWorkflowRecordings() {
+        workflowRecordings.forEach((recordingId, session) -> session.abort());
+        workflowRecordings.clear();
+        workflowRecordingTargets.clear();
+    }
+
     /**
      * 暂停录音
      * 通过gRPC调用暂停麦克风的当前录音
@@ -198,4 +296,470 @@ public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService {
             throw new RuntimeException("获取麦克风音量失败", e);
         }
     }
+
+    private void requireSuccess(Common.CommandHeader.Feedback header, String operation) {
+        if (header == null || !header.getSuccess()) {
+            String detail = header == null || StrUtil.isBlank(header.getErrorMessage())
+                    ? "机器人未返回成功状态"
+                    : header.getErrorMessage();
+            throw new GlobalException(operation + "失败: " + detail);
+        }
+    }
+
+    private MicrophoneCommand.MicState getMicrophoneState(EdgeCommonVO edgeCommonVO) {
+        MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+                edgeCommonVO.getRobotId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
+        MicrophoneCommand.GetMicStateCommand.Request request =
+                MicrophoneCommand.GetMicStateCommand.Request.newBuilder()
+                        .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
+                        .build();
+        MicrophoneCommand.GetMicStateCommand.Feedback feedback = stub.getStatus(request);
+        requireSuccess(feedback.getHeader(), "获取麦克风状态");
+        return feedback.getState();
+    }
+
+    private void prepareWorkflowStreaming(EdgeCommonVO edgeCommonVO) {
+        MicrophoneCommand.MicState state = getMicrophoneState(edgeCommonVO);
+        if (!state.getIsRecording()) {
+            return;
+        }
+        if (!StrUtil.containsIgnoreCase(state.getErrorMessage(), RECORDING_STREAM_CONFLICT)) {
+            throw new GlobalException("麦克风正在执行文件录音，请先结束当前录音再启动工作流");
+        }
+
+        logger.warn("工作流启动前发现麦克风仍处于文件录音状态，将先停止遗留录音: robotId={}, deviceId={}, error={}",
+                edgeCommonVO.getRobotId(), edgeCommonVO.getDeviceId(), state.getErrorMessage());
+        stopTerminalRecording(edgeCommonVO);
+
+        for (int attempt = 0; attempt < RECORDING_STOP_CONFIRM_ATTEMPTS; attempt++) {
+            state = getMicrophoneState(edgeCommonVO);
+            if (!state.getIsRecording()) {
+                return;
+            }
+            try {
+                TimeUnit.MILLISECONDS.sleep(100L);
+            } catch (InterruptedException exception) {
+                Thread.currentThread().interrupt();
+                throw new GlobalException("等待麦克风停止文件录音时被中断");
+            }
+        }
+        throw new GlobalException("麦克风文件录音未能停止，无法启动工作流录音");
+    }
+
+    private void startTerminalRecording(EdgeCommonVO edgeCommonVO, String filePath) {
+        MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+                edgeCommonVO.getRobotId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
+        MicrophoneCommand.StartMicRecordingCommand.Request request =
+                MicrophoneCommand.StartMicRecordingCommand.Request.newBuilder()
+                        .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
+                        .setFilePath(filePath)
+                        .build();
+        MicrophoneCommand.StartMicRecordingCommand.Feedback feedback = stub.startRecord(request);
+        requireSuccess(feedback.getHeader(), "开始录音");
+    }
+
+    private Common.CommandHeader.Feedback stopTerminalRecording(EdgeCommonVO edgeCommonVO) {
+        MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+                edgeCommonVO.getRobotId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
+        MicrophoneCommand.StopMicRecordingCommand.Request request =
+                MicrophoneCommand.StopMicRecordingCommand.Request.newBuilder()
+                        .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
+                        .build();
+        Common.CommandHeader.Feedback header = stub.stopRecord(request).getHeader();
+        requireSuccess(header, "结束录音");
+        return header;
+    }
+
+    private String recordingTargetKey(String robotId, String deviceId) {
+        return String.valueOf(robotId) + '\0' + String.valueOf(deviceId);
+    }
+
+    private GlobalException operationFailure(String operation, Exception exception) {
+        if (exception instanceof GlobalException globalException) {
+            return globalException;
+        }
+        return new GlobalException(operation + "失败: " + exception.getMessage());
+    }
+
+    private final class WorkflowAudioRecordingSession {
+        private final String recordingId;
+        private final String robotId;
+        private final String deviceId;
+        private final File outputFile;
+        private final long startedAtMillis = System.currentTimeMillis();
+        private final Object fileLock = new Object();
+        private final AtomicBoolean stopped = new AtomicBoolean(false);
+        private final AtomicReference<Throwable> failure = new AtomicReference<>();
+        private final CountDownLatch firstAudioFrame = new CountDownLatch(1);
+        private final AtomicReference<ClientCallStreamObserver<MicrophoneCommand.StreamMicAudioCommand.Request>>
+                requestObserver = new AtomicReference<>();
+
+        private RandomAccessFile output;
+        private long pcmBytes;
+        private long sampleCount;
+        private long sampleSum;
+        private long nonZeroSamples;
+        private int peakAmplitude;
+        private int sampleRate;
+        private int channels;
+
+        private WorkflowAudioRecordingSession(String recordingId, String robotId, String deviceId, File outputFile) {
+            this.recordingId = recordingId;
+            this.robotId = robotId;
+            this.deviceId = deviceId;
+            this.outputFile = outputFile;
+        }
+
+        private void start() {
+            try {
+                output = new RandomAccessFile(outputFile, "rw");
+                output.setLength(0L);
+                output.write(new byte[WAV_HEADER_BYTES]);
+            } catch (IOException exception) {
+                throw new GlobalException("初始化录音文件失败: " + exception.getMessage());
+            }
+
+            MicPhoneServiceGrpc.MicPhoneServiceStub stub = grpcServiceManager.getGrpcClient(
+                    robotId, MicPhoneServiceGrpc.MicPhoneServiceStub.class);
+            MicrophoneCommand.StreamMicAudioCommand.Request request =
+                    MicrophoneCommand.StreamMicAudioCommand.Request.newBuilder()
+                            .setHeader(EdgeCommonUtil.buildRequest(deviceId))
+                            .build();
+
+            stub.streamAudio(request,
+                    new ClientResponseObserver<MicrophoneCommand.StreamMicAudioCommand.Request,
+                            MicrophoneCommand.StreamMicAudioCommand.Feedback>() {
+                        @Override
+                        public void beforeStart(ClientCallStreamObserver<MicrophoneCommand.StreamMicAudioCommand.Request> stream) {
+                            if (stopped.get()) {
+                                stream.cancel("workflow recording already stopped", null);
+                                return;
+                            }
+                            requestObserver.set(stream);
+                            if (stopped.get() && requestObserver.compareAndSet(stream, null)) {
+                                stream.cancel("workflow recording already stopped", null);
+                            }
+                        }
+
+                        @Override
+                        public void onNext(MicrophoneCommand.StreamMicAudioCommand.Feedback feedback) {
+                            if (stopped.get()) {
+                                return;
+                            }
+                            if (feedback.hasHeader() && !feedback.getHeader().getSuccess()) {
+                                fail(new GlobalException("录音音频流失败: " + feedback.getHeader().getErrorMessage()));
+                                firstAudioFrame.countDown();
+                                cancelStream("microphone feedback failed");
+                                return;
+                            }
+                            if (feedback.hasAudio()) {
+                                writeAudio(feedback.getAudio());
+                                firstAudioFrame.countDown();
+                            }
+                        }
+
+                        @Override
+                        public void onError(Throwable throwable) {
+                            if (!stopped.get() && Status.fromThrowable(throwable).getCode() != Status.Code.CANCELLED) {
+                                fail(throwable);
+                            }
+                            firstAudioFrame.countDown();
+                        }
+
+                        @Override
+                        public void onCompleted() {
+                            if (!stopped.get()) {
+                                fail(new GlobalException("麦克风音频流提前结束"));
+                            }
+                            firstAudioFrame.countDown();
+                        }
+                    });
+
+            awaitFirstAudioFrame();
+        }
+
+        private void awaitFirstAudioFrame() {
+            try {
+                if (!firstAudioFrame.await(FIRST_AUDIO_FRAME_TIMEOUT_SECONDS, TimeUnit.SECONDS)) {
+                    throw new GlobalException("启动录音失败: 5秒内未收到麦克风音频数据");
+                }
+            } catch (InterruptedException exception) {
+                Thread.currentThread().interrupt();
+                throw new GlobalException("等待麦克风音频数据时被中断");
+            }
+            Throwable streamFailure = failure.get();
+            if (streamFailure != null) {
+                throw new GlobalException("启动录音失败: " + streamFailure.getMessage());
+            }
+            if (pcmBytes == 0L) {
+                throw new GlobalException("启动录音失败: 麦克风首帧没有有效 PCM 数据");
+            }
+        }
+
+        private void writeAudio(Common.AudioData audio) {
+            if (audio.getFormat() != Common.AudioData.AudioFormat.PCM) {
+                fail(new GlobalException("不支持的录音音频格式: " + audio.getFormat()));
+                cancelStream("unsupported audio format");
+                return;
+            }
+            if (StrUtil.isNotBlank(audio.getCodec()) && !PCM_CODEC.equalsIgnoreCase(audio.getCodec())) {
+                fail(new GlobalException("不支持的录音音频编码: " + audio.getCodec()));
+                cancelStream("unsupported audio codec");
+                return;
+            }
+            byte[] pcm = audio.getData().toByteArray();
+            if (pcm.length == 0) {
+                return;
+            }
+            if ((pcm.length & 1) != 0) {
+                fail(new GlobalException("录音 PCM 数据长度不是 16 位采样的整数倍"));
+                cancelStream("invalid pcm data");
+                return;
+            }
+
+            int frameSampleRate = audio.getSampleRate() > 0 ? audio.getSampleRate() : DEFAULT_SAMPLE_RATE;
+            int frameChannels = audio.getChannels() > 0 ? audio.getChannels() : DEFAULT_CHANNELS;
+            synchronized (fileLock) {
+                if (stopped.get()) {
+                    return;
+                }
+                if (sampleRate == 0) {
+                    sampleRate = frameSampleRate;
+                    channels = frameChannels;
+                } else if (sampleRate != frameSampleRate || channels != frameChannels) {
+                    fail(new GlobalException("录音过程中音频采样格式发生变化"));
+                    cancelStream("audio format changed");
+                    return;
+                }
+                try {
+                    output.write(pcm);
+                    pcmBytes += pcm.length;
+                    updateSignalStats(pcm);
+                } catch (IOException exception) {
+                    fail(exception);
+                    cancelStream("write audio failed");
+                }
+            }
+        }
+
+        private void prepareToFinish() {
+            if (!stopped.compareAndSet(false, true)) {
+                throw new GlobalException("录音会话已结束: " + recordingId);
+            }
+            cancelStream("workflow recording stopped");
+        }
+
+        private File finish() {
+            synchronized (fileLock) {
+                Throwable recordingFailure = failure.get();
+                if (recordingFailure != null) {
+                    closeFile();
+                    deleteOutputFile();
+                    throw new GlobalException("录音失败: " + recordingFailure.getMessage());
+                }
+                if (pcmBytes == 0L) {
+                    closeFile();
+                    deleteOutputFile();
+                    throw new GlobalException("录音文件为空，请确认麦克风音频流正常");
+                }
+                if (nonZeroSamples == 0L) {
+                    closeFile();
+                    deleteOutputFile();
+                    throw new GlobalException("录音数据全为静音，请检查机器人麦克风采集状态和输入设备");
+                }
+                logger.info("工作流录音采集完成: recordingId={}, robotId={}, deviceId={}, pcmBytes={}, "
+                                + "nonZeroSamples={}, peakAmplitude={}, sampleRate={}, channels={}",
+                        recordingId, robotId, deviceId, pcmBytes, nonZeroSamples, peakAmplitude,
+                        sampleRate, channels);
+                try {
+                    RecordingSignalAdjustment adjustment = normalizePcmSignal(
+                            output, pcmBytes, sampleCount, sampleSum);
+                    if (adjustment.sourcePeak() == 0) {
+                        closeFile();
+                        deleteOutputFile();
+                        throw new GlobalException("录音数据仅包含固定偏置，没有采集到有效声音");
+                    }
+                    logger.info("工作流录音电平处理完成: recordingId={}, dcOffset={}, sourcePeak={}, "
+                                    + "normalizedPeak={}, gain={}",
+                            recordingId, adjustment.dcOffset(), adjustment.sourcePeak(),
+                            adjustment.normalizedPeak(), adjustment.gain());
+                    writeWavHeader(output, pcmBytes, sampleRate, channels);
+                    closeFile();
+                    return outputFile;
+                } catch (IOException exception) {
+                    closeFile();
+                    deleteOutputFile();
+                    throw new GlobalException("封装 WAV 录音失败: " + exception.getMessage());
+                }
+            }
+        }
+
+        private void updateSignalStats(byte[] pcm) {
+            for (int index = 0; index + 1 < pcm.length; index += 2) {
+                int sample = (short) ((pcm[index] & 0xff) | (pcm[index + 1] << 8));
+                if (sample != 0) {
+                    nonZeroSamples++;
+                }
+                sampleCount++;
+                sampleSum += sample;
+                peakAmplitude = Math.max(peakAmplitude, Math.abs(sample));
+            }
+        }
+
+        private void abort() {
+            stopped.set(true);
+            cancelStream("workflow recording aborted");
+            synchronized (fileLock) {
+                closeFile();
+                deleteOutputFile();
+            }
+        }
+
+        private boolean matches(String expectedRobotId, String expectedDeviceId) {
+            return StrUtil.equals(robotId, expectedRobotId) && StrUtil.equals(deviceId, expectedDeviceId);
+        }
+
+        private String targetKey() {
+            return recordingTargetKey(robotId, deviceId);
+        }
+
+        private boolean isExpired() {
+            return System.currentTimeMillis() - startedAtMillis > RECORDING_MAX_AGE_MILLIS;
+        }
+
+        private void fail(Throwable throwable) {
+            failure.compareAndSet(null, throwable);
+        }
+
+        private void cancelStream(String reason) {
+            ClientCallStreamObserver<MicrophoneCommand.StreamMicAudioCommand.Request> observer =
+                    requestObserver.getAndSet(null);
+            if (observer != null) {
+                observer.cancel(reason, null);
+            }
+        }
+
+        private void closeFile() {
+            if (output != null) {
+                try {
+                    output.close();
+                } catch (IOException exception) {
+                    fail(exception);
+                } finally {
+                    output = null;
+                }
+            }
+        }
+
+        private void deleteOutputFile() {
+            if (outputFile.exists() && !outputFile.delete()) {
+                outputFile.deleteOnExit();
+            }
+        }
+    }
+
+    private void writeWavHeader(RandomAccessFile output, long pcmBytes, int sampleRate, int channels)
+            throws IOException {
+        if (pcmBytes > 0xffff_ffffL - 36L) {
+            throw new IOException("录音文件超过 WAV 4GB 限制");
+        }
+        int blockAlign = channels * PCM_BITS_PER_SAMPLE / 8;
+        long byteRate = (long) sampleRate * blockAlign;
+        output.seek(0L);
+        output.writeBytes("RIFF");
+        writeLittleEndianInt(output, pcmBytes + 36L);
+        output.writeBytes("WAVE");
+        output.writeBytes("fmt ");
+        writeLittleEndianInt(output, 16L);
+        writeLittleEndianShort(output, 1);
+        writeLittleEndianShort(output, channels);
+        writeLittleEndianInt(output, sampleRate);
+        writeLittleEndianInt(output, byteRate);
+        writeLittleEndianShort(output, blockAlign);
+        writeLittleEndianShort(output, PCM_BITS_PER_SAMPLE);
+        output.writeBytes("data");
+        writeLittleEndianInt(output, pcmBytes);
+    }
+
+    private RecordingSignalAdjustment normalizePcmSignal(
+            RandomAccessFile output, long pcmBytes, long sampleCount, long sampleSum) throws IOException {
+        if (pcmBytes <= 0L || sampleCount <= 0L) {
+            return new RecordingSignalAdjustment(0, 0, 0, 1.0D);
+        }
+
+        int dcOffset = (int) Math.round(sampleSum / (double) sampleCount);
+        int sourcePeak = scanCenteredPeak(output, pcmBytes, dcOffset);
+        if (sourcePeak == 0) {
+            return new RecordingSignalAdjustment(dcOffset, 0, 0, 1.0D);
+        }
+        double gain = Math.min(MAX_RECORDING_GAIN,
+                NORMALIZED_PEAK_AMPLITUDE / (double) sourcePeak);
+        int normalizedPeak = rewritePcmSignal(output, pcmBytes, dcOffset, gain);
+        return new RecordingSignalAdjustment(dcOffset, sourcePeak, normalizedPeak, gain);
+    }
+
+    private int scanCenteredPeak(RandomAccessFile output, long pcmBytes, int dcOffset) throws IOException {
+        byte[] buffer = new byte[PCM_PROCESS_BUFFER_BYTES];
+        long remaining = pcmBytes;
+        int peak = 0;
+        output.seek(WAV_HEADER_BYTES);
+        while (remaining > 0L) {
+            int bytesToRead = (int) Math.min(buffer.length, remaining);
+            int bytesRead = output.read(buffer, 0, bytesToRead);
+            if (bytesRead < 0) {
+                throw new IOException("录音 PCM 数据提前结束");
+            }
+            for (int index = 0; index + 1 < bytesRead; index += 2) {
+                int sample = (short) ((buffer[index] & 0xff) | (buffer[index + 1] << 8));
+                peak = Math.max(peak, Math.abs(sample - dcOffset));
+            }
+            remaining -= bytesRead;
+        }
+        return peak;
+    }
+
+    private int rewritePcmSignal(RandomAccessFile output, long pcmBytes, int dcOffset, double gain)
+            throws IOException {
+        byte[] buffer = new byte[PCM_PROCESS_BUFFER_BYTES];
+        long remaining = pcmBytes;
+        long position = WAV_HEADER_BYTES;
+        int peak = 0;
+        while (remaining > 0L) {
+            int bytesToRead = (int) Math.min(buffer.length, remaining);
+            output.seek(position);
+            int bytesRead = output.read(buffer, 0, bytesToRead);
+            if (bytesRead < 0) {
+                throw new IOException("录音 PCM 数据提前结束");
+            }
+            for (int index = 0; index + 1 < bytesRead; index += 2) {
+                int sample = (short) ((buffer[index] & 0xff) | (buffer[index + 1] << 8));
+                int adjusted = (int) Math.round((sample - dcOffset) * gain);
+                adjusted = Math.max(Short.MIN_VALUE, Math.min(Short.MAX_VALUE, adjusted));
+                peak = Math.max(peak, Math.abs(adjusted));
+                buffer[index] = (byte) (adjusted & 0xff);
+                buffer[index + 1] = (byte) ((adjusted >>> 8) & 0xff);
+            }
+            output.seek(position);
+            output.write(buffer, 0, bytesRead);
+            position += bytesRead;
+            remaining -= bytesRead;
+        }
+        return peak;
+    }
+
+    private record RecordingSignalAdjustment(
+            int dcOffset, int sourcePeak, int normalizedPeak, double gain) {
+    }
+
+    private void writeLittleEndianInt(RandomAccessFile output, long value) throws IOException {
+        output.write((int) (value & 0xff));
+        output.write((int) ((value >>> 8) & 0xff));
+        output.write((int) ((value >>> 16) & 0xff));
+        output.write((int) ((value >>> 24) & 0xff));
+    }
+
+    private void writeLittleEndianShort(RandomAccessFile output, int value) throws IOException {
+        output.write(value & 0xff);
+        output.write((value >>> 8) & 0xff);
+    }
 }

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeSystemServiceImpl.java

@@ -2,6 +2,9 @@ package com.cmvr.edge.client.service.impl;
 
 import cmvr.api.Common;
 import cmvr.api.ArmServiceGrpc;
+import cmvr.api.ArmCommand;
+import cmvr.api.AgvCommand;
+import cmvr.msgs.AgvUtils;
 import cmvr.api.SystemCommand;
 import cmvr.api.SystemServiceGrpc;
 import com.alibaba.fastjson2.JSON;
@@ -9,6 +12,7 @@ import com.cmvr.device.domain.DeDeviceRegistration;
 import com.cmvr.edge.client.manage.GrpcServiceManager;
 import com.cmvr.edge.client.model.system.EdgeSystemJsonCommandVO;
 import com.cmvr.edge.client.model.system.EdgeSystemUpdateParamsVO;
+import com.cmvr.edge.client.model.system.EdgeActionQueueVO;
 import com.cmvr.edge.client.service.EdgeSystemService;
 import com.cmvr.edge.client.utils.EdgeCommonUtil;
 import com.cmvr.common.exception.GlobalException;
@@ -21,6 +25,10 @@ import org.springframework.stereotype.Service;
 import java.util.ArrayList;
 import java.util.Base64;
 import java.util.List;
+import java.util.HashSet;
+import java.util.Set;
+import java.util.UUID;
+import java.util.concurrent.TimeUnit;
 
 /**
  * 边缘系统服务实现类
@@ -69,6 +77,159 @@ public class EdgeSystemServiceImpl implements EdgeSystemService {
         return stub.executeJsonCommand(grpcRequest);
     }
 
+    @Override
+    public SystemCommand.ActionQueueCommand.Feedback executeActionQueue(EdgeActionQueueVO request) {
+        if (request == null || request.getRobotId() == null || request.getRobotId().trim().isEmpty()) {
+            throw new GlobalException("Robot ID cannot be empty");
+        }
+        if (request.getSteps() == null || request.getSteps().isEmpty()) {
+            throw new GlobalException("Action queue must contain at least one step");
+        }
+        SystemCommand.GetSystemInfoCommand.Feedback systemInfo = getSystemInfo(request.getRobotId());
+        if (systemInfo == null || !systemInfo.hasHeader() || !systemInfo.getHeader().getSuccess()) {
+            throw new GlobalException("Unable to read edge action service information");
+        }
+        String serviceInstanceId = systemInfo.getActionServiceInstanceId();
+        if (serviceInstanceId == null || serviceInstanceId.isEmpty()) {
+            throw new GlobalException("Edge action service instance ID is unavailable");
+        }
+        int totalTimeoutMs = request.getTotalTimeoutMs() == null ? 0 : Math.max(request.getTotalTimeoutMs(), 0);
+        String actionId = request.getActionId() == null || request.getActionId().trim().isEmpty()
+                ? UUID.randomUUID().toString() : request.getActionId().trim();
+        SystemCommand.ActionQueueCommand.Request.Builder builder = SystemCommand.ActionQueueCommand.Request.newBuilder()
+                .setActionId(actionId)
+                .setExpectedServiceInstanceId(serviceInstanceId)
+                .setTotalTimeoutMs(totalTimeoutMs);
+        Set<String> stepIds = new HashSet<>();
+        for (int index = 0; index < request.getSteps().size(); index++) {
+            EdgeActionQueueVO.Step step = request.getSteps().get(index);
+            String stepId = step.getStepId() == null || step.getStepId().trim().isEmpty()
+                    ? "step_" + (index + 1) : step.getStepId().trim();
+            if (!stepIds.add(stepId)) {
+                throw new GlobalException("Duplicate action queue step ID: " + stepId);
+            }
+            builder.addSteps(buildActionStep(step, stepId));
+        }
+        SystemServiceGrpc.SystemServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+                request.getRobotId(), SystemServiceGrpc.SystemServiceBlockingStub.class);
+        long deadlineMs = totalTimeoutMs > 0 ? totalTimeoutMs + 5000L : 65000L;
+        return stub.withDeadlineAfter(deadlineMs, TimeUnit.MILLISECONDS).executeActionQueue(builder.build());
+    }
+
+    private SystemCommand.ActionStep buildActionStep(EdgeActionQueueVO.Step step, String stepId) {
+        if (step == null || step.getType() == null) {
+            throw new GlobalException("Action queue step type cannot be empty");
+        }
+        com.alibaba.fastjson2.JSONObject params = step.getParams() == null
+                ? new com.alibaba.fastjson2.JSONObject() : step.getParams();
+        SystemCommand.ActionStep.Builder builder = SystemCommand.ActionStep.newBuilder().setStepId(stepId);
+        if (step.getTimeoutMs() != null && step.getTimeoutMs() > 0) builder.setTimeoutMs(step.getTimeoutMs());
+        switch (step.getType().trim().toUpperCase()) {
+            case "ARM_MOVE_J":
+                List<Double> positions = params.getList("positions", Double.class);
+                if (positions == null || positions.isEmpty()) {
+                    throw new GlobalException("Arm joint positions cannot be empty");
+                }
+                builder.setArmMoveJ(ArmCommand.MoveJ.Request.newBuilder()
+                        .setHeader(requiredDeviceHeader(step))
+                        .setTarget(ArmCommand.JointPositionCommand.newBuilder()
+                                .addAllPosition(positions))
+                        .setOptions(buildArmOptions(params)));
+                break;
+            case "ARM_MOVE_L":
+                builder.setArmMoveL(ArmCommand.MoveL.Request.newBuilder()
+                        .setHeader(requiredDeviceHeader(step))
+                        .setTarget(ArmCommand.CartesianPose.newBuilder()
+                                .setX(params.getDoubleValue("x")).setY(params.getDoubleValue("y"))
+                                .setZ(params.getDoubleValue("z")).setRx(params.getDoubleValue("rx"))
+                                .setRy(params.getDoubleValue("ry")).setRz(params.getDoubleValue("rz")))
+                        .setFrame(parseArmFrame(params.getString("frame")))
+                        .setOptions(buildArmOptions(params)));
+                break;
+            case "AGV_NAVIGATE_TO_POSE":
+                builder.setAgvNavigateToPose(AgvCommand.AgvNavigateToPoseCommand.Request.newBuilder()
+                        .setHeader(requiredDeviceHeader(step))
+                        .setPose(AgvUtils.AgvPose2d.newBuilder().setX(params.getDoubleValue("x"))
+                                .setY(params.getDoubleValue("y")).setTheta(params.getDoubleValue("theta")))
+                        .setOptions(buildAgvOptions(params)));
+                break;
+            case "AGV_NAVIGATE_TO_STATION":
+                builder.setAgvNavigateToStation(AgvCommand.AgvNavigateToStationCommand.Request.newBuilder()
+                        .setHeader(requiredDeviceHeader(step)).setStationId(requiredText(params, "stationId"))
+                        .setOptions(buildAgvOptions(params)));
+                break;
+            case "AGV_FOLLOW_PATH":
+                AgvCommand.AgvFollowPathCommand.Request.Builder path = AgvCommand.AgvFollowPathCommand.Request.newBuilder()
+                        .setHeader(requiredDeviceHeader(step)).setOptions(buildAgvOptions(params));
+                com.alibaba.fastjson2.JSONArray segments = params.getJSONArray("path");
+                if (segments == null || segments.isEmpty()) throw new GlobalException("AGV path cannot be empty");
+                for (int i = 0; i < segments.size(); i++) {
+                    com.alibaba.fastjson2.JSONObject segment = segments.getJSONObject(i);
+                    if (segment == null) throw new GlobalException("AGV path segment cannot be empty");
+                    path.addPath(AgvUtils.AgvPathSegment.newBuilder()
+                            .setSourceStation(requiredText(segment, "sourceStation"))
+                            .setTargetStation(requiredText(segment, "targetStation")));
+                }
+                builder.setAgvFollowPath(path);
+                break;
+            case "DELAY":
+                int durationMs = params.getIntValue("durationMs");
+                if (durationMs < 0) throw new GlobalException("Delay duration cannot be negative");
+                builder.setDelay(SystemCommand.DelayAction.newBuilder().setDurationMs(durationMs));
+                break;
+            default:
+                throw new GlobalException("Unsupported action queue step type: " + step.getType());
+        }
+        return builder.build();
+    }
+
+    private Common.CommandHeader.Request requiredDeviceHeader(EdgeActionQueueVO.Step step) {
+        if (step.getDeviceId() == null || step.getDeviceId().trim().isEmpty()) {
+            throw new GlobalException("Device ID cannot be empty for step " + step.getStepId());
+        }
+        return EdgeCommonUtil.buildRequest(step.getDeviceId().trim());
+    }
+
+    private ArmCommand.MotionOptions buildArmOptions(com.alibaba.fastjson2.JSONObject params) {
+        return ArmCommand.MotionOptions.newBuilder()
+                .setVelocity(params.getDoubleValue("velocity"))
+                .setAcceleration(params.getDoubleValue("acceleration"))
+                .setBlendRadius(params.getDoubleValue("blendRadius"))
+                .setJerk(params.getDoubleValue("jerk"))
+                .setAsynchronous(false)
+                .build();
+    }
+
+    private AgvUtils.AgvMotionOptions buildAgvOptions(com.alibaba.fastjson2.JSONObject params) {
+        return AgvUtils.AgvMotionOptions.newBuilder()
+                .setMaxSpeed(params.getDoubleValue("maxSpeed"))
+                .setMaxAngularSpeed(params.getDoubleValue("maxAngularSpeed"))
+                .setMaxAcceleration(params.getDoubleValue("maxAcceleration"))
+                .setMaxAngularAcceleration(params.getDoubleValue("maxAngularAcceleration"))
+                .setReachDistance(params.getDoubleValue("reachDistance"))
+                .setReachAngle(params.getDoubleValue("reachAngle"))
+                .setSpeedRatio(params.getDoubleValue("speedRatio"))
+                .setWaitTimeoutMs(params.getIntValue("waitTimeoutMs"))
+                .setPollIntervalMs(params.getIntValue("pollIntervalMs"))
+                .setAsynchronous(false)
+                .build();
+    }
+
+    private ArmCommand.ArmFrameType parseArmFrame(String value) {
+        if (value == null || value.trim().isEmpty()) return ArmCommand.ArmFrameType.ARM_FRAME_BASE;
+        try {
+            return ArmCommand.ArmFrameType.valueOf("ARM_FRAME_" + value.trim().toUpperCase());
+        } catch (IllegalArgumentException exception) {
+            throw new GlobalException("Unsupported arm frame: " + value);
+        }
+    }
+
+    private String requiredText(com.alibaba.fastjson2.JSONObject params, String name) {
+        String value = params.getString(name);
+        if (value == null || value.trim().isEmpty()) throw new GlobalException(name + " cannot be empty");
+        return value.trim();
+    }
+
     private Common.ConfigParam buildParam(EdgeSystemUpdateParamsVO.Param param) {
         if (param == null || param.getName() == null || param.getName().trim().isEmpty()) {
             throw new GlobalException("Parameter name cannot be empty");

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/utils/H265Fmp4Transcoder.java

@@ -14,7 +14,9 @@ import java.io.OutputStream;
 import java.util.ArrayDeque;
 import java.util.Deque;
 import java.util.Locale;
+import java.util.concurrent.TimeUnit;
 import java.util.concurrent.atomic.AtomicBoolean;
+import java.util.concurrent.CountDownLatch;
 import java.util.function.Consumer;
 
 /**
@@ -32,10 +34,13 @@ public final class H265Fmp4Transcoder implements AutoCloseable {
     private final LiveEncodedVideoInputStream inputStream;
     private final MediaChunkOutputStream outputStream;
     private final AtomicBoolean closed = new AtomicBoolean(false);
+    private final CountDownLatch firstFrameWritten = new CountDownLatch(1);
     private final Thread worker;
 
     private volatile FFmpegFrameGrabber grabber;
     private volatile FFmpegFrameRecorder recorder;
+    private volatile long writtenFrameCount;
+    private volatile long lastWrittenTimestampMicros = -1L;
 
     public H265Fmp4Transcoder(String streamName,
                               int configuredFrameRate,
@@ -66,6 +71,19 @@ public final class H265Fmp4Transcoder implements AutoCloseable {
         inputStream.offer(encodedFrame, keyFrame, codec);
     }
 
+    /** Waits until the transcoder has written its first decoded frame to MP4. */
+    public boolean awaitFirstFrame(long timeout, TimeUnit unit) throws InterruptedException {
+        return firstFrameWritten.await(timeout, unit);
+    }
+
+    public long getWrittenFrameCount() {
+        return writtenFrameCount;
+    }
+
+    public long getLastWrittenTimestampMicros() {
+        return lastWrittenTimestampMicros;
+    }
+
     private void transcode() {
         try {
             InputCodec inputCodec = inputStream.awaitInputCodec();
@@ -99,7 +117,6 @@ public final class H265Fmp4Transcoder implements AutoCloseable {
             sourceFrameRate = Math.max(5D, Math.min(sourceFrameRate, 60D));
             double outputFrameRate = Math.min(sourceFrameRate, 25D);
             int gopSize = Math.max(1, (int) Math.round(outputFrameRate * 0.4D));
-            long sourceFrameDurationMicros = Math.max(1L, Math.round(1_000_000D / sourceFrameRate));
             long outputFrameDurationMicros = Math.max(1L, Math.round(1_000_000D / outputFrameRate));
             log.info("Camera stream {} uses {} source fps, {} output fps and a {} frame GOP",
                     streamName, sourceFrameRate, outputFrameRate, gopSize);
@@ -119,17 +136,22 @@ public final class H265Fmp4Transcoder implements AutoCloseable {
             recorder.start();
             outputStream.publishAvailable();
 
-            long sourceFrameIndex = 0L;
+            long firstFrameMonotonicNanos = System.nanoTime();
-            long nextOutputTimestampMicros = 0L;
+            long previousTimestampMicros = -1L;
             do {
-                long sourceTimestampMicros = sourceFrameIndex * sourceFrameDurationMicros;
+                long timestampMicros = timelineTimestampMicros(
-                if (sourceTimestampMicros + sourceFrameDurationMicros / 2 >= nextOutputTimestampMicros) {
+                        firstFrameMonotonicNanos, System.nanoTime(), previousTimestampMicros,
-                    recorder.setTimestamp(nextOutputTimestampMicros);
+                        outputFrameDurationMicros);
-                    recorder.record(frame);
+                if (timestampMicros < 0L) {
-                    nextOutputTimestampMicros += outputFrameDurationMicros;
+                    continue;
-                    outputStream.publishAvailable();
                 }
-                sourceFrameIndex++;
+                recorder.setTimestamp(timestampMicros);
+                recorder.record(frame);
+                previousTimestampMicros = timestampMicros;
+                writtenFrameCount++;
+                lastWrittenTimestampMicros = timestampMicros;
+                firstFrameWritten.countDown();
+                outputStream.publishAvailable();
             } while (!closed.get() && (frame = grabber.grabImage()) != null);
         } catch (Throwable throwable) {
             if (!closed.get()) {
@@ -143,9 +165,23 @@ public final class H265Fmp4Transcoder implements AutoCloseable {
             }
             inputStream.close();
             closed.set(true);
+            firstFrameWritten.countDown();
         }
     }
 
+    static long timelineTimestampMicros(long firstFrameNanos, long currentFrameNanos,
+                                        long previousTimestampMicros, long frameDurationMicros) {
+        long elapsedMicros = TimeUnit.NANOSECONDS.toMicros(
+                Math.max(0L, currentFrameNanos - firstFrameNanos));
+        if (previousTimestampMicros < 0L) {
+            return 0L;
+        }
+        long safeFrameDuration = Math.max(1L, frameDurationMicros);
+        long alignedTimestamp = ((elapsedMicros + safeFrameDuration / 2L) / safeFrameDuration)
+                * safeFrameDuration;
+        return alignedTimestamp > previousTimestampMicros ? alignedTimestamp : -1L;
+    }
+
     @Override
     public void close() {
         if (!closed.compareAndSet(false, true)) {
@@ -155,6 +191,15 @@ public final class H265Fmp4Transcoder implements AutoCloseable {
         worker.interrupt();
     }
 
+    /**
+     * Waits for FFmpeg to flush and release the output container after close().
+     */
+    public boolean awaitTermination(long timeout, TimeUnit unit) throws InterruptedException {
+        long timeoutMillis = Math.max(1L, unit.toMillis(timeout));
+        worker.join(timeoutMillis);
+        return !worker.isAlive();
+    }
+
     private void releaseNativeResources() {
         FFmpegFrameRecorder currentRecorder = recorder;
         recorder = null;

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/SystemServiceGrpc.java

@@ -170,6 +170,37 @@ public final class SystemServiceGrpc {
     return getStopAllMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<cmvr.api.SystemCommand.ActionQueueCommand.Request,
+      cmvr.api.SystemCommand.ActionQueueCommand.Feedback> getExecuteActionQueueMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "ExecuteActionQueue",
+      requestType = cmvr.api.SystemCommand.ActionQueueCommand.Request.class,
+      responseType = cmvr.api.SystemCommand.ActionQueueCommand.Feedback.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<cmvr.api.SystemCommand.ActionQueueCommand.Request,
+      cmvr.api.SystemCommand.ActionQueueCommand.Feedback> getExecuteActionQueueMethod() {
+    io.grpc.MethodDescriptor<cmvr.api.SystemCommand.ActionQueueCommand.Request, cmvr.api.SystemCommand.ActionQueueCommand.Feedback> getExecuteActionQueueMethod;
+    if ((getExecuteActionQueueMethod = SystemServiceGrpc.getExecuteActionQueueMethod) == null) {
+      synchronized (SystemServiceGrpc.class) {
+        if ((getExecuteActionQueueMethod = SystemServiceGrpc.getExecuteActionQueueMethod) == null) {
+          SystemServiceGrpc.getExecuteActionQueueMethod = getExecuteActionQueueMethod =
+              io.grpc.MethodDescriptor.<cmvr.api.SystemCommand.ActionQueueCommand.Request, cmvr.api.SystemCommand.ActionQueueCommand.Feedback>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "ExecuteActionQueue"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.SystemCommand.ActionQueueCommand.Request.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.SystemCommand.ActionQueueCommand.Feedback.getDefaultInstance()))
+              .setSchemaDescriptor(new SystemServiceMethodDescriptorSupplier("ExecuteActionQueue"))
+              .build();
+        }
+      }
+    }
+    return getExecuteActionQueueMethod;
+  }
+
   /**
    * Creates a new async stub that supports all call types for the service
    */
@@ -253,6 +284,13 @@ public final class SystemServiceGrpc {
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getStopAllMethod(), responseObserver);
     }
 
+    /**
+     */
+    public void executeActionQueue(cmvr.api.SystemCommand.ActionQueueCommand.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.SystemCommand.ActionQueueCommand.Feedback> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getExecuteActionQueueMethod(), responseObserver);
+    }
+
     @java.lang.Override public final io.grpc.ServerServiceDefinition bindService() {
       return io.grpc.ServerServiceDefinition.builder(getServiceDescriptor())
           .addMethod(
@@ -290,6 +328,13 @@ public final class SystemServiceGrpc {
                 cmvr.api.SystemCommand.StopAllCommand.Request,
                 cmvr.api.SystemCommand.StopAllCommand.Feedback>(
                   this, METHODID_STOP_ALL)))
+          .addMethod(
+            getExecuteActionQueueMethod(),
+            io.grpc.stub.ServerCalls.asyncUnaryCall(
+              new MethodHandlers<
+                cmvr.api.SystemCommand.ActionQueueCommand.Request,
+                cmvr.api.SystemCommand.ActionQueueCommand.Feedback>(
+                  this, METHODID_EXECUTE_ACTION_QUEUE)))
           .build();
     }
   }
@@ -347,6 +392,14 @@ public final class SystemServiceGrpc {
       io.grpc.stub.ClientCalls.asyncUnaryCall(
           getChannel().newCall(getStopAllMethod(), getCallOptions()), request, responseObserver);
     }
+
+    /**
+     */
+    public void executeActionQueue(cmvr.api.SystemCommand.ActionQueueCommand.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.SystemCommand.ActionQueueCommand.Feedback> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getExecuteActionQueueMethod(), getCallOptions()), request, responseObserver);
+    }
   }
 
   /**
@@ -397,6 +450,13 @@ public final class SystemServiceGrpc {
       return io.grpc.stub.ClientCalls.blockingUnaryCall(
           getChannel(), getStopAllMethod(), getCallOptions(), request);
     }
+
+    /**
+     */
+    public cmvr.api.SystemCommand.ActionQueueCommand.Feedback executeActionQueue(cmvr.api.SystemCommand.ActionQueueCommand.Request request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getExecuteActionQueueMethod(), getCallOptions(), request);
+    }
   }
 
   /**
@@ -452,6 +512,14 @@ public final class SystemServiceGrpc {
       return io.grpc.stub.ClientCalls.futureUnaryCall(
           getChannel().newCall(getStopAllMethod(), getCallOptions()), request);
     }
+
+    /**
+     */
+    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.SystemCommand.ActionQueueCommand.Feedback> executeActionQueue(
+        cmvr.api.SystemCommand.ActionQueueCommand.Request request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getExecuteActionQueueMethod(), getCallOptions()), request);
+    }
   }
 
   private static final int METHODID_GET_SYSTEM_INFO = 0;
@@ -459,6 +527,7 @@ public final class SystemServiceGrpc {
   private static final int METHODID_GET_DEVICE_LIST = 2;
   private static final int METHODID_UPDATE_PARAMS = 3;
   private static final int METHODID_STOP_ALL = 4;
+  private static final int METHODID_EXECUTE_ACTION_QUEUE = 5;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -497,6 +566,10 @@ public final class SystemServiceGrpc {
           serviceImpl.stopAll((cmvr.api.SystemCommand.StopAllCommand.Request) request,
               (io.grpc.stub.StreamObserver<cmvr.api.SystemCommand.StopAllCommand.Feedback>) responseObserver);
           break;
+        case METHODID_EXECUTE_ACTION_QUEUE:
+          serviceImpl.executeActionQueue((cmvr.api.SystemCommand.ActionQueueCommand.Request) request,
+              (io.grpc.stub.StreamObserver<cmvr.api.SystemCommand.ActionQueueCommand.Feedback>) responseObserver);
+          break;
         default:
           throw new AssertionError();
       }
@@ -563,6 +636,7 @@ public final class SystemServiceGrpc {
               .addMethod(getGetDeviceListMethod())
               .addMethod(getUpdateParamsMethod())
               .addMethod(getStopAllMethod())
+              .addMethod(getExecuteActionQueueMethod())
               .build();
         }
       }

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/SystemServiceOuterClass.java

@@ -24,7 +24,7 @@ public final class SystemServiceOuterClass {
   static {
     java.lang.String[] descriptorData = {
       "\n\035cmvr/api/system_service.proto\022\010cmvr.ap" +
-      "i\032\035cmvr/api/system_command.proto2\364\003\n\rSys" +
+      "i\032\035cmvr/api/system_command.proto2\331\004\n\rSys" +
       "temService\022b\n\rGetSystemInfo\022&.cmvr.api.G" +
       "etSystemInfoCommand.Request\032\'.cmvr.api.G" +
       "etSystemInfoCommand.Feedback\"\000\022h\n\017GetSys" +
@@ -37,7 +37,10 @@ public final class SystemServiceOuterClass {
       "and.Request\032&.cmvr.api.UpdateParamsComma" +
       "nd.Feedback\"\000\022P\n\007StopAll\022 .cmvr.api.Stop" +
       "AllCommand.Request\032!.cmvr.api.StopAllCom" +
-      "mand.Feedback\"\000b\006proto3"
+      "mand.Feedback\"\000\022c\n\022ExecuteActionQueue\022$." +
+      "cmvr.api.ActionQueueCommand.Request\032%.cm" +
+      "vr.api.ActionQueueCommand.Feedback\"\000b\006pr" +
+      "oto3"
     };
     descriptor = com.google.protobuf.Descriptors.FileDescriptor
       .internalBuildGeneratedFileFrom(descriptorData,

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/system_command.proto

@@ -1,5 +1,7 @@
 syntax = "proto3";
 
+import "cmvr/api/agv_command.proto";
+import "cmvr/api/arm_command.proto";
 import "cmvr/api/common.proto";
 
 package cmvr.api;
@@ -103,6 +105,10 @@ message GetSystemInfoCommand {
         string os = 5;
         string kernel_version = 6;
         string architecture = 7;
+
+        // Changes whenever the in-process ActionQueue idempotency ledger is
+        // recreated. Clients bind submissions and retries to this value.
+        string action_service_instance_id = 8;
     }
 }
 
@@ -141,3 +147,97 @@ message StopAllCommand {
         CommandHeader.Feedback header = 1;
     }
 }
+
+// Final outcome of one ActionQueue execution.
+enum ActionResultCode {
+    ACTION_RESULT_CODE_UNSPECIFIED = 0;
+    ACTION_RESULT_CODE_COMPLETED = 1;
+    ACTION_RESULT_CODE_FAILED = 2;
+    ACTION_RESULT_CODE_CANCELED = 3;
+    ACTION_RESULT_CODE_TIMED_OUT = 4;
+    ACTION_RESULT_CODE_REJECTED = 5;
+}
+
+// Describes whether this RPC admitted a new action or observed an existing
+// idempotency record. Clients must not infer this from an error string.
+enum ActionDeduplicationStatus {
+    ACTION_DEDUPLICATION_STATUS_UNSPECIFIED = 0;
+    ACTION_DEDUPLICATION_STATUS_ACCEPTED_NEW = 1;
+    ACTION_DEDUPLICATION_STATUS_JOINED_IN_FLIGHT = 2;
+    ACTION_DEDUPLICATION_STATUS_CACHED_RESULT = 3;
+    ACTION_DEDUPLICATION_STATUS_RESULT_EVICTED = 4;
+    ACTION_DEDUPLICATION_STATUS_LEDGER_EXHAUSTED = 5;
+    ACTION_DEDUPLICATION_STATUS_ACTION_ID_CONFLICT = 6;
+    ACTION_DEDUPLICATION_STATUS_SERVICE_INSTANCE_MISMATCH = 7;
+}
+
+// Edge-local delay between two device commands.
+message DelayAction {
+    // Delay duration in milliseconds. The server applies a bounded maximum.
+    uint32 duration_ms = 1;
+}
+
+// One finite, synchronous command in an ActionQueue request.
+message ActionStep {
+    // Client-provided identifier used for diagnostics. It must be unique within
+    // one ActionQueue request.
+    string step_id = 1;
+
+    // Per-step timeout in milliseconds. Zero inherits the remaining action
+    // timeout or the server default.
+    uint32 timeout_ms = 2;
+
+    // Tags are grouped by domain so compatible commands can be added without
+    // renumbering existing alternatives: Arm 10-19, AGV 20-29, built-ins 90+.
+    oneof command {
+        MoveJ.Request arm_move_j = 10;
+        MoveL.Request arm_move_l = 11;
+
+        AgvNavigateToPoseCommand.Request agv_navigate_to_pose = 20;
+        AgvNavigateToStationCommand.Request agv_navigate_to_station = 21;
+        AgvFollowPathCommand.Request agv_follow_path = 22;
+
+        DelayAction delay = 90;
+    }
+}
+
+// Atomically submits a complete command sequence for edge-local serial
+// execution. Device motion alternatives must use synchronous execution.
+message ActionQueueCommand {
+    message Request {
+        // Client-generated globally unique idempotency key. During one Action
+        // service instance, retrying an identical accepted request with the
+        // same action_id does not dispatch its steps a second time. Recent
+        // terminal results can be returned; older accepted IDs are rejected
+        // fail-closed after their result is evicted. Deduplication is not
+        // persisted across an edge-service restart; the required instance
+        // epoch below prevents an old retry from being replayed after restart.
+        string action_id = 1;
+        repeated ActionStep steps = 2;
+
+        // Total queue-wait plus execution timeout in milliseconds. Zero uses a
+        // bounded server default.
+        uint32 total_timeout_ms = 3;
+
+        // Required instance epoch obtained from GetSystemInfo. A mismatch
+        // means the process-local deduplication ledger was recreated, so the
+        // server rejects the request instead of risking a replay.
+        string expected_service_instance_id = 4;
+    }
+
+    message Feedback {
+        CommandHeader.Feedback header = 1;
+        string action_id = 2;
+
+        // Number of steps which completed successfully before the final result.
+        uint32 completed_steps = 3;
+
+        // Present only when a particular step caused failure, cancellation,
+        // timeout, or rejection. Presence distinguishes index zero from no
+        // failed step.
+        optional uint32 failed_step_index = 4;
+        ActionResultCode result = 5;
+        string service_instance_id = 6;
+        ActionDeduplicationStatus deduplication_status = 7;
+    }
+}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/system_service.proto

@@ -13,4 +13,6 @@ service SystemService {
     rpc UpdateParams(UpdateParamsCommand.Request) returns (UpdateParamsCommand.Feedback) {}
 
     rpc StopAll(StopAllCommand.Request) returns (StopAllCommand.Feedback) {}
+
+    rpc ExecuteActionQueue(ActionQueueCommand.Request) returns (ActionQueueCommand.Feedback) {}
 }

cmvr-iot-common/src/main/java/com/cmvr/common/core/minio/MinioService.java

@@ -23,6 +23,7 @@ import java.io.InputStream;
 import java.nio.file.Files;
 import java.util.Date;
 import java.util.HashMap;
+import java.util.Locale;
 import java.util.Map;
 
 @Slf4j
@@ -134,7 +135,7 @@ public class MinioService {
                     .bucket(bucketName)
                     .object(path + "/" + objectName)
                     .stream(stream, file.length(), -1)  // 传入文件流
-                    .contentType("application/octet-stream")  // 可以根据需要修改文件类型
+                    .contentType(resolveContentType(file))
                     .build();
 
             // 上传文件到 MinIO
@@ -147,6 +148,24 @@ public class MinioService {
         return objectName;
     }
 
+    private String resolveContentType(File file) {
+        try {
+            String detected = Files.probeContentType(file.toPath());
+            if (StringUtils.isNotBlank(detected)) {
+                return detected;
+            }
+        } catch (Exception exception) {
+            log.debug("无法自动识别文件媒体类型: {}", file.getName(), exception);
+        }
+        String name = file.getName().toLowerCase(Locale.ROOT);
+        if (name.endsWith(".wav")) return "audio/wav";
+        if (name.endsWith(".mp3")) return "audio/mpeg";
+        if (name.endsWith(".mp4")) return "video/mp4";
+        if (name.endsWith(".jpg") || name.endsWith(".jpeg")) return "image/jpeg";
+        if (name.endsWith(".png")) return "image/png";
+        return "application/octet-stream";
+    }
+
     /**
      * 文件上传
      *

cmvr-iot-inspection/src/main/java/com/cmvr/inspection/domain/InspectionTaskLog.java

@@ -2,6 +2,7 @@ package com.cmvr.inspection.domain;
 
 import com.baomidou.mybatisplus.annotation.IdType;
 import com.baomidou.mybatisplus.annotation.TableId;
+import com.baomidou.mybatisplus.annotation.TableField;
 import io.swagger.annotations.ApiModel;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.AllArgsConstructor;
@@ -46,6 +47,14 @@ public class InspectionTaskLog extends BaseEntity
     @ApiModelProperty("检查项id")
     private String itemId;
 
+    /** 当前绑定项的执行位置，从 1 开始。 */
+    @TableField(exist = false)
+    private Integer itemOrder;
+
+    /** 同一检测项在任务中第几次出现。 */
+    @TableField(exist = false)
+    private Integer itemOccurrence;
+
     @Excel(name = "节点ID")
     @ApiModelProperty("节点ID")
     private String nodeId;

cmvr-iot-inspection/src/main/java/com/cmvr/inspection/domain/vo/InspectionTaskInstanceVo.java

@@ -55,6 +55,10 @@ public class InspectionTaskInstanceVo extends BaseEntity
     @ApiModelProperty("机器人名称")
     private String robotName;
 
+    /** 主要机器人的永久身份，用于兼容旧任务的执行默认值 */
+    @ApiModelProperty("主要机器人的永久身份ID")
+    private String robotIdentity;
+
     /** 地图ID */
     @Excel(name = "地图ID")
     @ApiModelProperty("地图ID")

cmvr-iot-inspection/src/main/java/com/cmvr/inspection/domain/vo/InspectionTaskStartVO.java

@@ -1,5 +1,6 @@
 package com.cmvr.inspection.domain.vo;
 
+import com.alibaba.fastjson2.JSONObject;
 import com.cmvr.test.model.vo.ResourceRuntimeAssignmentVO;
 import io.swagger.annotations.ApiModel;
 import io.swagger.annotations.ApiModelProperty;
@@ -17,4 +18,7 @@ public class InspectionTaskStartVO {
 
     @ApiModelProperty("机器人角色运行分配")
     private List<ResourceRuntimeAssignmentVO> runtimeAssignments = new ArrayList<>();
+
+    @ApiModelProperty("按检测项和出现序号组织的本次运行参数")
+    private JSONObject runParams = new JSONObject();
 }

cmvr-iot-inspection/src/main/java/com/cmvr/inspection/listener/InspectionFlowExecutionListener.java

@@ -2,6 +2,7 @@
 package com.cmvr.inspection.listener;
 
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson2.JSONObject;
 import com.cmvr.common.utils.DateUtils;
 import com.cmvr.framework.websocket.service.MessagePushService;
 import com.cmvr.device.service.InspectionAlertListenService;
@@ -15,6 +16,7 @@ import com.cmvr.inspection.service.IInspectionResultService;
 import com.cmvr.test.flow.runtime.event.FlowExecutionEvent;
 import com.cmvr.test.flow.runtime.event.FlowExecutionListener;
 import com.cmvr.test.flow.runtime.event.FlowExecutionModuleCodes;
+import com.cmvr.test.flow.runtime.operator.FlowMediaParamResolver;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
@@ -71,13 +73,14 @@ public class InspectionFlowExecutionListener implements FlowExecutionListener {
         // 1.节点完成才记录当前item下node
         if (StrUtil.isNotBlank(itemId) && StrUtil.isNotBlank(nodeId)
                 && FlowExecutionEvent.EventType.NODE_COMPLETED == event.getEventType()) {
-            itemNodeExecutMap.computeIfAbsent(itemExecutionKey(instId, itemId),
+            itemNodeExecutMap.computeIfAbsent(itemExecutionKey(instId, itemId, event.getItemOrder()),
                     k -> java.util.concurrent.ConcurrentHashMap.newKeySet()).add(nodeId);
         }
         // 任意事件：当前任务绑定item（item一启动就入Map，所以统计已完成item要-1）
         if (StrUtil.isNotBlank(instId) && StrUtil.isNotBlank(itemId)) {
             taskItemExecutMap.computeIfAbsent(instId,
-                    k -> java.util.concurrent.ConcurrentHashMap.newKeySet()).add(itemId);
+                    k -> java.util.concurrent.ConcurrentHashMap.newKeySet())
+                    .add(itemExecutionKey(instId, itemId, event.getItemOrder()));
         }
 
         InspectionTaskInstance taskInstance = findTaskInstance(instId);
@@ -133,11 +136,14 @@ public class InspectionFlowExecutionListener implements FlowExecutionListener {
 
                 // 当前item已完成节点数
                 Set<String> finishedNodeSet = itemNodeExecutMap.getOrDefault(
-                        itemExecutionKey(instId, itemId), new HashSet<>());
+                        itemExecutionKey(instId, itemId, event.getItemOrder()), new HashSet<>());
                 int finishedNode = finishedNodeSet.size();
                 int totalNode = event.getNodeCount() == 0 ? 1 : event.getNodeCount();
 
                 // 已完整跑完点位占比
+                if (event.getItemOrder() != null && event.getItemOrder() > 0) {
+                    finishedItemNum = event.getItemOrder() - 1;
+                }
                 double itemTotalRatio = finishedItemNum / (double) waypointCount;
                 // 当前运行item内部节点占比
                 double innerRatio = finishedNode / (double) totalNode / waypointCount;
@@ -153,16 +159,37 @@ public class InspectionFlowExecutionListener implements FlowExecutionListener {
             String logId = UUID.randomUUID().toString().replace("-", "");
             // 四舍五入保留2位小数
             progress = Math.round(progress * 100) / 100.0;
+            JSONObject outputParams = event.getOutputParams();
+            String imageUrl = FlowMediaParamResolver.lastUrl(outputParams, "imageUrl");
+            String videoUrl = FlowMediaParamResolver.lastUrl(outputParams, "videoUrl");
+            String audioUrl = FlowMediaParamResolver.lastUrl(outputParams, "audioUrl");
+            int logType = InspectionLogTypeEnum.TEXT.getCode();
+            String mediaUrl = null;
+            if (StrUtil.isNotBlank(imageUrl)) {
+                logType = InspectionLogTypeEnum.IMAGE.getCode();
+                mediaUrl = imageUrl;
+            } else if (StrUtil.isNotBlank(videoUrl)) {
+                logType = InspectionLogTypeEnum.VIDEO.getCode();
+                mediaUrl = videoUrl;
+            } else if (StrUtil.isNotBlank(audioUrl)) {
+                logType = InspectionLogTypeEnum.AUDIO.getCode();
+                mediaUrl = audioUrl;
+            }
             // 保存日志到数据库
             InspectionTaskLog taskLog = InspectionTaskLog.builder()
                     .id(logId)
                     .taskInstanceId(taskInstance.getId())
                     .taskId(taskInstance.getTaskId())
                     .itemId(itemId)
+                    .itemOrder(event.getItemOrder())
+                    .itemOccurrence(event.getItemOccurrence())
                     .nodeId(nodeId)
                     .nodeName(event.getNodeName())
-                    .logType(InspectionLogTypeEnum.TEXT.getCode())
+                    .logType(logType)
                     .logContent("节点【" + event.getNodeName() + "】" + info)
+                    .mediaUrl(mediaUrl)
+                    .extraInfo(outputParams == null || outputParams.isEmpty()
+                            ? null : outputParams.toJSONString())
                     .status(targetStatus)
                     .progress(progress)
                     .logTime(now)
@@ -185,7 +212,7 @@ public class InspectionFlowExecutionListener implements FlowExecutionListener {
     /** 任务结束统一清理缓存 */
     private void clearCache(String taskInsId) {
         Set<String> itemList = taskItemExecutMap.getOrDefault(taskInsId, new HashSet<>());
-        itemList.forEach(itemId -> itemNodeExecutMap.remove(itemExecutionKey(taskInsId, itemId)));
+        itemList.forEach(itemNodeExecutMap::remove);
         taskItemExecutMap.remove(taskInsId);
     }
 
@@ -193,6 +220,11 @@ public class InspectionFlowExecutionListener implements FlowExecutionListener {
         return taskInsId + "|" + itemId;
     }
 
+    private String itemExecutionKey(String taskInsId, String itemId, Integer itemOrder) {
+        return itemOrder != null && itemOrder > 0 ? taskInsId + "|" + itemOrder
+                : itemExecutionKey(taskInsId, itemId);
+    }
+
     /**
      * 工作流是异步启动的，首个节点事件可能略早于巡检实例写入task_ins_id，短暂重试消除该竞态。
      */

cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/InspectionRobotDeviceAssignmentValidator.java

@@ -6,10 +6,16 @@ import com.cmvr.test.flow.runtime.engine.RobotDeviceAssignmentValidator;
 import lombok.RequiredArgsConstructor;
 import org.springframework.stereotype.Service;
 
+import java.util.Locale;
+
 @Service
 @RequiredArgsConstructor
 public class InspectionRobotDeviceAssignmentValidator implements RobotDeviceAssignmentValidator {
 
+    private static final int MICROPHONE_DEVICE_KIND = 9;
+    private static final String RECORDING_STREAM_CONFLICT =
+            "cannot start streaming while microphone recording is active";
+
     private final InspectionRobotDeviceMapper deviceMapper;
 
     @Override
@@ -18,9 +24,28 @@ public class InspectionRobotDeviceAssignmentValidator implements RobotDeviceAssi
         if (devices.isEmpty()) {
             throw new GlobalException("设备[" + deviceId + "]不属于机器人[" + robotId + "]");
         }
-        Integer actualKind = devices.get(0).getDeviceKind();
+        var device = devices.get(0);
+        Integer actualKind = device.getDeviceKind();
         if (expectedDeviceKind != null && !expectedDeviceKind.equals(actualKind)) {
             throw new GlobalException("设备[" + deviceId + "]的类型与流程设备用途不匹配");
         }
+        if (!"1".equals(device.getOnlineStatus())) {
+            throw new GlobalException("设备[" + deviceId + "]当前离线，请重新选择在线设备");
+        }
+        if (!"1".equals(device.getEnabled())) {
+            throw new GlobalException("设备[" + deviceId + "]当前未启用");
+        }
+        boolean recoverableMicrophoneConflict = Integer.valueOf(MICROPHONE_DEVICE_KIND).equals(actualKind)
+                && device.getErrorMessage() != null
+                && device.getErrorMessage().toLowerCase(Locale.ROOT).contains(RECORDING_STREAM_CONFLICT);
+        if ("1".equals(device.getHasError()) && !recoverableMicrophoneConflict) {
+            String detail = device.getErrorMessage() == null || device.getErrorMessage().isBlank()
+                    ? "设备上报异常"
+                    : device.getErrorMessage();
+            throw new GlobalException("设备[" + deviceId + "]当前异常: " + detail);
+        }
+        if (Integer.valueOf(3).equals(device.getHealthStatus()) && !recoverableMicrophoneConflict) {
+            throw new GlobalException("设备[" + deviceId + "]当前处于故障状态");
+        }
     }
 }

cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/impl/InspectionTaskInstanceServiceImpl.java

@@ -2,9 +2,12 @@ package com.cmvr.inspection.service.impl;
 
 import java.util.List;
 import java.util.UUID;
+import java.util.HashMap;
+import java.util.Map;
 
 import com.alibaba.fastjson2.JSONObject;
 import com.baomidou.mybatisplus.spring.service.impl.ServiceImpl;
+import cn.hutool.core.util.StrUtil;
 import com.cmvr.common.exception.ServiceException;
 import com.cmvr.common.utils.SecurityUtils;
 import com.cmvr.inspection.domain.InspectionRobot;
@@ -18,6 +21,9 @@ import com.cmvr.test.flow.control.FlowControlService;
 import com.cmvr.test.flow.runtime.engine.FlowTaskRuntimeService;
 import com.cmvr.test.flow.runtime.event.FlowExecutionModuleCodes;
 import com.cmvr.test.model.vo.TeTaskExecuteNormalVO;
+import com.cmvr.test.model.vo.TeTaskOrchestraVO;
+import com.cmvr.test.model.vo.ResourceRuntimeAssignmentVO;
+import com.cmvr.test.model.vo.RobotRuntimeMemberVO;
 import com.cmvr.test.service.ITeTaskOrchestrationService;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.context.annotation.Lazy;
@@ -27,6 +33,7 @@ import com.cmvr.inspection.mapper.InspectionTaskInstanceMapper;
 import com.cmvr.inspection.domain.InspectionTaskInstance;
 import com.cmvr.inspection.domain.vo.InspectionTaskStartVO;
 import com.cmvr.inspection.service.IInspectionTaskInstanceService;
+import java.util.stream.Collectors;
 
 /**
  * 巡检任务执行实例Service业务层处理
@@ -160,18 +167,60 @@ public class InspectionTaskInstanceServiceImpl extends ServiceImpl<InspectionTas
         update.setUpdateTime(DateUtils.getNowDate());
         update.setUpdateBy(SecurityUtils.getUsername());
         InspectionTask inspectionTask = inspectionTaskService.selectInspectionTaskById(instance.getTaskId());
-        InspectionRobot robot = inspectionRobotMapper.selectInspectionRobotById(instance.getRobotId());
+        if (inspectionTask == null || StrUtil.isBlank(inspectionTask.getTaskConfigId())) {
-        if (robot == null) {
+            throw new ServiceException("巡检任务没有关联流程编排");
-            throw new ServiceException("巡检任务实例关联的机器人不存在");
         }
+        List<ResourceRuntimeAssignmentVO> runtimeAssignments = startVO == null
+                ? null : startVO.getRuntimeAssignments();
+        normalizeRuntimeRobotIdentities(runtimeAssignments);
+        String robotId = normalizeRobotIdentity(startVO == null ? null : startVO.getRobotId());
+        if (StrUtil.isBlank(robotId)) {
+            robotId = firstAssignedRobotId(runtimeAssignments);
+        }
+        if (StrUtil.isBlank(robotId) && StrUtil.isNotBlank(instance.getRobotId())) {
+            InspectionRobot legacyRobot = inspectionRobotMapper.selectInspectionRobotById(instance.getRobotId());
+            if (legacyRobot == null || StrUtil.isBlank(legacyRobot.getRobotId())) {
+                throw new ServiceException("巡检任务实例关联的旧机器人不存在");
+            }
+            robotId = legacyRobot.getRobotId();
+        }
+        InspectionRobot primaryRobot = findRobotByIdentity(robotId);
+        if (primaryRobot != null) {
+            update.setRobotId(primaryRobot.getId());
+        }
+        List<String> orderedItemIds = inspectionTaskService.selectWaypointsByTaskId(instance.getTaskId()).stream()
+                .map(com.cmvr.inspection.domain.InspectionWaypoint::getDetectItemId)
+                .filter(StrUtil::isNotBlank)
+                .collect(Collectors.toList());
+        if (orderedItemIds.isEmpty()) {
+            throw new ServiceException("巡检任务没有绑定可执行的巡检点位");
+        }
+        teTaskOrchestrationService.insertTeTaskOrchestration(TeTaskOrchestraVO.builder()
+                .taskId(inspectionTask.getTaskConfigId())
+                .itemIds(orderedItemIds)
+                .build());
         JSONObject runParams = new JSONObject();
+        JSONObject requestedRunParams = startVO == null ? null : startVO.getRunParams();
+        Map<String, Integer> itemOccurrences = new HashMap<>();
         // 获取所有的检测项id
-        teTaskOrchestrationService.queryByTaskId(inspectionTask.getTaskConfigId()).forEach(item -> runParams.put(item.getItemId(), new JSONObject()));
+        teTaskOrchestrationService.queryByTaskId(inspectionTask.getTaskConfigId()).forEach(item -> {
+            int occurrence = itemOccurrences.merge(item.getItemId(), 1, Integer::sum);
+            JSONObject submitted = requestedRunParams == null ? null
+                    : requestedRunParams.getJSONObject(item.getItemId() + ":" + occurrence);
+            if (submitted == null && requestedRunParams != null) {
+                submitted = requestedRunParams.getJSONObject(item.getItemId());
+            }
+            JSONObject itemParams = submitted == null ? new JSONObject() : new JSONObject(submitted);
+            itemParams.put("taskInstanceId", instance.getId());
+            itemParams.put("inspectionTaskId", inspectionTask.getId());
+            itemParams.put("mapId", inspectionTask.getMapId());
+            runParams.put(item.getItemId() + ":" + occurrence, itemParams);
+        });
         // 调用真正的执行
         String insId = flowTaskRuntimeService.executeTask(TeTaskExecuteNormalVO.builder()
                 .taskId(inspectionTask.getTaskConfigId())
-                .robotId(startVO != null && startVO.getRobotId() != null ? startVO.getRobotId() : robot.getRobotId())
+                .robotId(robotId)
-                .runtimeAssignments(startVO == null ? null : startVO.getRuntimeAssignments())
+                .runtimeAssignments(runtimeAssignments)
                 .moduleCode(FlowExecutionModuleCodes.INSPECTION)
                 .runParams(runParams)
                 .build());
@@ -179,6 +228,55 @@ public class InspectionTaskInstanceServiceImpl extends ServiceImpl<InspectionTas
         return inspectionTaskInstanceMapper.updateInspectionTaskInstance(update);
     }
 
+    private void normalizeRuntimeRobotIdentities(List<ResourceRuntimeAssignmentVO> assignments) {
+        if (assignments == null) {
+            return;
+        }
+        for (ResourceRuntimeAssignmentVO assignment : assignments) {
+            if (assignment == null || assignment.getMembers() == null) {
+                continue;
+            }
+            for (RobotRuntimeMemberVO member : assignment.getMembers()) {
+                if (member != null) {
+                    member.setRobotId(normalizeRobotIdentity(member.getRobotId()));
+                }
+            }
+        }
+    }
+
+    private String normalizeRobotIdentity(String value) {
+        if (StrUtil.isBlank(value)) {
+            return value;
+        }
+        InspectionRobot robot = inspectionRobotMapper.selectInspectionRobotById(value);
+        return robot != null && StrUtil.isNotBlank(robot.getRobotId()) ? robot.getRobotId() : value;
+    }
+
+    private String firstAssignedRobotId(List<ResourceRuntimeAssignmentVO> assignments) {
+        if (assignments == null) {
+            return null;
+        }
+        for (ResourceRuntimeAssignmentVO assignment : assignments) {
+            if (assignment == null || assignment.getMembers() == null) {
+                continue;
+            }
+            for (RobotRuntimeMemberVO member : assignment.getMembers()) {
+                if (member != null && StrUtil.isNotBlank(member.getRobotId())) {
+                    return member.getRobotId();
+                }
+            }
+        }
+        return null;
+    }
+
+    private InspectionRobot findRobotByIdentity(String robotId) {
+        if (StrUtil.isBlank(robotId)) {
+            return null;
+        }
+        List<InspectionRobot> robots = inspectionRobotMapper.selectByRobotId(robotId);
+        return robots == null || robots.isEmpty() ? null : robots.get(0);
+    }
+
     /**
      * 暂停任务实例
      */

cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/impl/InspectionTaskServiceImpl.java

@@ -16,6 +16,7 @@ import com.cmvr.test.service.ITeTaskConfigInfoService;
 import com.cmvr.test.service.ITeTaskOrchestrationService;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 import com.cmvr.common.utils.DateUtils;
 import com.cmvr.common.utils.SecurityUtils;
 import com.cmvr.inspection.mapper.InspectionTaskMapper;
@@ -144,11 +145,22 @@ public class InspectionTaskServiceImpl extends ServiceImpl<InspectionTaskMapper,
      * @return 结果
      */
     @Override
+    @Transactional(rollbackFor = Exception.class)
     public int bindWaypoints(String taskId, String[] waypointIds)
     {
+        inspectionTaskWaypointMapper.deleteTaskWaypointByTaskId(taskId);
+        InspectionTask inspectionTask = inspectionTaskMapper.selectInspectionTaskById(taskId);
+        if (inspectionTask == null) {
+            throw new IllegalArgumentException("巡检任务不存在: " + taskId);
+        }
         // 先删除旧的关联关系
         inspectionTaskWaypointMapper.deleteTaskWaypointByTaskId(taskId);
         if (waypointIds == null || waypointIds.length == 0) {
+            inspectionTask.setWaypointCount(0);
+            inspectionTaskMapper.updateInspectionTask(inspectionTask);
+            if (inspectionTask.getTaskConfigId() != null) {
+                teTaskOrchestrationService.deleteByTaskId(inspectionTask.getTaskConfigId());
+            }
             return 0;
         }
         // 批量插入新的关联关系
@@ -162,14 +174,24 @@ public class InspectionTaskServiceImpl extends ServiceImpl<InspectionTaskMapper,
         }
         inspectionTaskWaypointMapper.batchInsertTaskWaypoint(list);
         // 查询巡检任务,并修改点位数量
-        InspectionTask inspectionTask = inspectionTaskMapper.selectInspectionTaskById(taskId);
         inspectionTask.setWaypointCount(waypointIds.length);
         inspectionTaskMapper.updateInspectionTask(inspectionTask);
         // 查询点位
         List<InspectionWaypoint> waypoints = inspectionTaskWaypointMapper.selectWaypointsByTaskId(taskId);
         // 同步任务编排
-        TeTaskOrchestraVO teTaskOrchestraVO = TeTaskOrchestraVO.builder().taskId(inspectionTask.getTaskConfigId()).itemIds(waypoints.stream().map(InspectionWaypoint::getDetectItemId).collect(Collectors.toList())).build();
+        List<String> detectItemIds = waypoints.stream()
+                .map(InspectionWaypoint::getDetectItemId)
+                .filter(itemId -> itemId != null && !itemId.isEmpty())
+                .collect(Collectors.toList());
+        if (!detectItemIds.isEmpty() && inspectionTask.getTaskConfigId() != null) {
+            TeTaskOrchestraVO teTaskOrchestraVO = TeTaskOrchestraVO.builder()
+                    .taskId(inspectionTask.getTaskConfigId())
+                    .itemIds(detectItemIds)
+                    .build();
             teTaskOrchestrationService.insertTeTaskOrchestration(teTaskOrchestraVO);
+        } else if (inspectionTask.getTaskConfigId() != null) {
+            teTaskOrchestrationService.deleteByTaskId(inspectionTask.getTaskConfigId());
+        }
         return 1;
     }
 
@@ -180,8 +202,18 @@ public class InspectionTaskServiceImpl extends ServiceImpl<InspectionTaskMapper,
      * @return 结果
      */
     @Override
+    @Transactional(rollbackFor = Exception.class)
     public int unbindWaypoints(String taskId)
     {
-        return inspectionTaskWaypointMapper.deleteTaskWaypointByTaskId(taskId);
+        InspectionTask inspectionTask = inspectionTaskMapper.selectInspectionTaskById(taskId);
+        int deleted = inspectionTaskWaypointMapper.deleteTaskWaypointByTaskId(taskId);
+        if (inspectionTask != null) {
+            inspectionTask.setWaypointCount(0);
+            inspectionTaskMapper.updateInspectionTask(inspectionTask);
+            if (inspectionTask.getTaskConfigId() != null) {
+                teTaskOrchestrationService.deleteByTaskId(inspectionTask.getTaskConfigId());
+            }
+        }
+        return deleted;
     }
 }

cmvr-iot-inspection/src/main/resources/mapper/inspection/InspectionTaskInstanceMapper.xml

@@ -33,6 +33,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         <result property="taskCode"    column="task_code"    />
         <result property="robotId"    column="robot_id"    />
         <result property="robotName"    column="robot_name"    />
+        <result property="robotIdentity"    column="robot_identity"    />
         <result property="mapId"    column="robot_current_map_id"    />
         <result property="mapName"    column="map_name"    />
         <result property="status"    column="status"    />
@@ -129,7 +130,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
     <select id="selectInspectionTaskInstanceVoList" parameterType="InspectionTaskInstanceQuery" resultMap="InspectionTaskInstanceVoResult">
         select ti.id, ti.create_by, ti.create_time, ti.update_by, ti.update_time, ti.remark,ti.waypoint_count,
         ti.task_id, t.task_name, t.task_code,
-        ti.robot_id, r.robot_name,
+        ti.robot_id, r.robot_name, r.robot_id as robot_identity,
         r.current_map_id as robot_current_map_id, m.map_name,
         ti.status, ti.start_time, ti.end_time, ti.task_ins_id,
         u1.nick_name as create_by_name, u2.nick_name as update_by_name
@@ -168,7 +169,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
     <select id="selectInspectionTaskInstanceVoById" parameterType="String" resultMap="InspectionTaskInstanceVoResult">
         select ti.id, ti.create_by, ti.create_time, ti.update_by, ti.update_time, ti.remark,
                ti.task_id, t.task_name, t.task_code,
-               ti.robot_id, r.robot_name,
+               ti.robot_id, r.robot_name, r.robot_id as robot_identity,
                r.current_map_id as robot_current_map_id, m.map_name,
                ti.status, ti.start_time, ti.end_time, ti.task_ins_id
         from inspection_task_instance ti

cmvr-iot-inspection/src/main/resources/mapper/inspection/InspectionTaskWaypointMapper.xml

@@ -12,11 +12,11 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
 
     <select id="selectWaypointsByTaskId" parameterType="String" resultType="InspectionWaypoint">
         select w.id, w.create_by, w.create_time, w.update_by, w.update_time, w.remark,
-               w.waypoint_name, w.enabled, w.sort_order, w.detect_item_id
+               w.waypoint_name, w.enabled, tw.sort_order as sort_order, w.detect_item_id, w.map_id
         from inspection_task_waypoint tw
         inner join inspection_waypoint w on tw.waypoint_id = w.id
         where tw.task_id = #{taskId}
-        order by tw.sort_order
+        order by tw.sort_order, tw.waypoint_id
     </select>
 
     <select id="selectTaskIdsByWaypointId" parameterType="String" resultType="String">

cmvr-iot-test/src/main/java/com/cmvr/test/enums/ActionEnum.java

@@ -11,6 +11,7 @@ import java.util.Map;
 @Getter
 @AllArgsConstructor
 public enum ActionEnum {
+    SYSTEM_EXECUTE_ACTION_QUEUE("EDGE", "SYSTEM_EXECUTE_ACTION_QUEUE", "Execute edge action queue"),
     SPEAKER_PLAYAUDIO("EDGE", "SPEAKER_PLAYAUDIO", "Play audio"),
 
     // 平台控制类

cmvr-iot-test/src/main/java/com/cmvr/test/flow/context/TaskContext.java

@@ -43,6 +43,12 @@ public class TaskContext {
      */
     private String itemId;
 
+    /** 当前检测项在任务中的实际执行位置。 */
+    private Integer itemOrder;
+
+    /** 当前检测项在任务中的重复出现序号。 */
+    private Integer itemOccurrence;
+
     /** 机器人永久唯一 ID，用于执行路由和互斥。 */
     private String robotId;
 

cmvr-iot-test/src/main/java/com/cmvr/test/flow/context/TaskInstHolder.java

@@ -97,6 +97,8 @@ public class TaskInstHolder {
                 .taskId(taskId)
                 .moduleCode(moduleCode)
                 .itemId(itemId)
+                .itemOrder(ctx != null ? ctx.getItemOrder() : null)
+                .itemOccurrence(ctx != null ? ctx.getItemOccurrence() : null)
                 .status(TaskStatusEnum.SUCCESS)
                 .build());
 
@@ -133,6 +135,8 @@ public class TaskInstHolder {
                 .taskId(taskId)
                 .moduleCode(moduleCode)
                 .itemId(itemId)
+                .itemOrder(ctx != null ? ctx.getItemOrder() : null)
+                .itemOccurrence(ctx != null ? ctx.getItemOccurrence() : null)
                 .status(TaskStatusEnum.FAILED)
                 .errorMessage(message)
                 .build());
@@ -167,6 +171,7 @@ public class TaskInstHolder {
                 eventPublisher.publishEvent(FlowExecutionEvent.builder()
                         .eventType(FlowExecutionEvent.EventType.TASK_PAUSED)
                         .instId(instId).taskId(ctx.getTaskId()).itemId(ctx.getItemId())
+                        .itemOrder(ctx.getItemOrder()).itemOccurrence(ctx.getItemOccurrence())
                         .moduleCode(ctx.getModuleCode())
                         .status(status).build());
                 break;
@@ -174,6 +179,7 @@ public class TaskInstHolder {
                 eventPublisher.publishEvent(FlowExecutionEvent.builder()
                         .eventType(FlowExecutionEvent.EventType.TASK_STOPPED)
                         .instId(instId).taskId(ctx.getTaskId()).itemId(ctx.getItemId())
+                        .itemOrder(ctx.getItemOrder()).itemOccurrence(ctx.getItemOccurrence())
                         .moduleCode(ctx.getModuleCode())
                         .status(status).build());
                 break;
@@ -191,6 +197,7 @@ public class TaskInstHolder {
         eventPublisher.publishEvent(FlowExecutionEvent.builder()
                 .eventType(FlowExecutionEvent.EventType.TASK_RESUMED)
                 .instId(instId).taskId(ctx.getTaskId()).itemId(ctx.getItemId())
+                .itemOrder(ctx.getItemOrder()).itemOccurrence(ctx.getItemOccurrence())
                 .moduleCode(ctx.getModuleCode())
                 .status(TaskStatusEnum.RUNNING).build());
     }

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/engine/FlowRuntimeAssignmentScope.java

@@ -0,0 +1,60 @@
+package com.cmvr.test.flow.runtime.engine;
+
+import cn.hutool.core.util.StrUtil;
+import com.cmvr.test.model.vo.ResourceRuntimeAssignmentVO;
+
+import java.util.ArrayList;
+import java.util.LinkedHashMap;
+import java.util.List;
+import java.util.Map;
+
+/** Selects task-level runtime assignments for one detection item. */
+public final class FlowRuntimeAssignmentScope {
+
+    private FlowRuntimeAssignmentScope() {
+    }
+
+    public static List<ResourceRuntimeAssignmentVO> forItem(
+            List<ResourceRuntimeAssignmentVO> assignments, String itemId, int itemOccurrence) {
+        if (assignments == null || assignments.isEmpty()) {
+            return assignments == null ? new ArrayList<>() : assignments;
+        }
+        boolean containsScopedAssignments = assignments.stream()
+                .anyMatch(item -> item != null && StrUtil.isNotBlank(item.getItemId()));
+        if (!containsScopedAssignments) {
+            return assignments;
+        }
+
+        Map<String, ResourceRuntimeAssignmentVO> selectedByRole = new LinkedHashMap<>();
+        assignments.stream()
+                .filter(item -> item != null && StrUtil.isBlank(item.getItemId()))
+                .forEach(item -> selectedByRole.put(effectiveRoleKey(item), copyForFlow(item)));
+        assignments.stream()
+                .filter(item -> matches(item, itemId, itemOccurrence))
+                .forEach(item -> selectedByRole.put(effectiveRoleKey(item), copyForFlow(item)));
+        return new ArrayList<>(selectedByRole.values());
+    }
+
+    private static boolean matches(ResourceRuntimeAssignmentVO assignment, String itemId, int itemOccurrence) {
+        if (assignment == null || !StrUtil.equals(assignment.getItemId(), itemId)) {
+            return false;
+        }
+        return assignment.getItemOccurrence() == null
+                || assignment.getItemOccurrence() == itemOccurrence;
+    }
+
+    private static String effectiveRoleKey(ResourceRuntimeAssignmentVO assignment) {
+        return StrUtil.isNotBlank(assignment.getSourceRoleKey())
+                ? assignment.getSourceRoleKey() : assignment.getRoleKey();
+    }
+
+    private static ResourceRuntimeAssignmentVO copyForFlow(ResourceRuntimeAssignmentVO source) {
+        ResourceRuntimeAssignmentVO copy = new ResourceRuntimeAssignmentVO();
+        copy.setRoleKey(effectiveRoleKey(source));
+        copy.setSourceRoleKey(source.getSourceRoleKey());
+        copy.setItemId(source.getItemId());
+        copy.setItemOccurrence(source.getItemOccurrence());
+        copy.setMembers(source.getMembers());
+        return copy;
+    }
+}

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/engine/FlowRuntimeDefinitionValidator.java

@@ -48,6 +48,8 @@ public class FlowRuntimeDefinitionValidator {
             assignments.forEach(item -> assignmentByRole.put(item.getRoleKey(), item));
         }
         Map<String, Set<String>> slotKeysByRole = new HashMap<>();
+        Map<String, Boolean> physicalDeviceReuse = new HashMap<>();
+        Map<String, String> physicalDeviceUseName = new HashMap<>();
 
         for (int i = 0; i < roles.size(); i++) {
             JSONObject role = roles.getJSONObject(i);
@@ -79,10 +81,26 @@ public class FlowRuntimeDefinitionValidator {
                         throw new GlobalException("设备用途[" + slot.getString("displayName") + "]未分配真实设备");
                     }
                     validatePhysicalDevice(member, deviceId, slot.getInteger("deviceKind"));
+                    if (member != null && StrUtil.isNotBlank(member.getRobotId()) && StrUtil.isNotBlank(deviceId)) {
+                        String physicalKey = member.getRobotId() + ":" + deviceId;
+                        boolean allowReuse = Boolean.TRUE.equals(slot.getBoolean("allowReuse"));
+                        Boolean existingAllowReuse = physicalDeviceReuse.get(physicalKey);
+                        if (existingAllowReuse != null && (!existingAllowReuse || !allowReuse)) {
+                            throw new GlobalException("设备用途[" + physicalDeviceUseName.get(physicalKey)
+                                    + "]和[" + slot.getString("displayName") + "]不能使用同一个真实设备");
+                        }
+                        physicalDeviceReuse.put(physicalKey, allowReuse);
+                        physicalDeviceUseName.putIfAbsent(physicalKey, slot.getString("displayName"));
+                    }
                 }
             }
             slotKeysByRole.put(roleKey, slotKeys);
         }
+        for (String assignedRoleKey : assignmentByRole.keySet()) {
+            if (!slotKeysByRole.containsKey(assignedRoleKey)) {
+                throw new GlobalException("运行安排引用了流程中不存在的机器人角色：" + assignedRoleKey);
+            }
+        }
 
         for (int i = 0; i < nodes.size(); i++) {
             JSONObject node = nodes.getJSONObject(i);

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/engine/FlowTaskEngine.java

@@ -11,6 +11,8 @@ import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
 import java.util.List;
+import java.util.HashMap;
+import java.util.Map;
 import java.util.concurrent.CountDownLatch;
 
 @Slf4j
@@ -36,20 +38,28 @@ public class FlowTaskEngine {
             JSONObject runParams = context.getRunParams();
 
             int totalItemCount = items.size();
+            Map<String, Integer> itemOccurrences = new HashMap<>();
 
             for (int i = 0; i < totalItemCount; i++) {
                 TeQueryTaskDetailDTO item = items.get(i);
                 // 等待当前 item 完成后再执行下一个
                 CountDownLatch latch = new CountDownLatch(1);
                 String itemId = item.getDetectItemId();
+                int itemOccurrence = itemOccurrences.merge(itemId, 1, Integer::sum);
+                int itemOrder = i + 1;
                 context.setItemId(itemId);
+                context.setItemOrder(itemOrder);
+                context.setItemOccurrence(itemOccurrence);
 
                 TaskNodeExecuteMessage message = new TaskNodeExecuteMessage();
                 message.setInstId(instId);
                 message.setTaskId(taskId);
                 message.setRobotId(robotId);
-                message.setRuntimeAssignments(context.getRuntimeAssignments());
+                message.setRuntimeAssignments(FlowRuntimeAssignmentScope.forItem(
+                        context.getRuntimeAssignments(), itemId, itemOccurrence));
                 message.setItemId(itemId);
+                message.setItemOrder(itemOrder);
+                message.setItemOccurrence(itemOccurrence);
                 if (runMode.equals(RunModeEnum.VI_PROJECT)) {
                     message.setLoopDetail(item.getSchemeInfo());
                 }
@@ -57,7 +67,11 @@ public class FlowTaskEngine {
                 int pendingItemCount = totalItemCount - i - 1;
                 message.setPendingItemCount(pendingItemCount);
 
-                JSONObject jsonObject = runParams == null ? null : runParams.getJSONObject(itemId);
+                JSONObject jsonObject = runParams == null ? null
+                        : runParams.getJSONObject(itemId + ":" + itemOccurrence);
+                if (jsonObject == null && runParams != null) {
+                    jsonObject = runParams.getJSONObject(itemId);
+                }
                 if (!runMode.equals(RunModeEnum.TRIAL)) {
                     context.setRunParams(jsonObject);
                 }

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/engine/FlowTaskRuntimeEntry.java

@@ -31,6 +31,8 @@ import org.springframework.transaction.annotation.Transactional;
 
 import java.util.List;
 import java.util.ArrayList;
+import java.util.Comparator;
+import java.util.HashMap;
 import java.util.LinkedHashMap;
 import java.util.LinkedHashSet;
 import java.util.Map;
@@ -147,8 +149,16 @@ public class FlowTaskRuntimeEntry implements FlowTaskRuntimeService {
         String robotId = target.getRobotId();
         assertResourcesAvailable(resources);
         // 查询任务详情（检测项信息）
-        List<TeQueryTaskDetailDTO> details = taskOrchestrationService.queryTaskDetail(taskId);
+        List<TeQueryTaskDetailDTO> details = new ArrayList<>(taskOrchestrationService.queryTaskDetail(taskId));
-        details.forEach(detail -> runtimeDefinitionValidator.validate(detail.getFlowData(), resources.assignments()));
+        details.sort(Comparator.comparing(TeQueryTaskDetailDTO::getOrderNum,
+                Comparator.nullsLast(Integer::compareTo)));
+        Map<String, Integer> validationOccurrences = new HashMap<>();
+        details.forEach(detail -> {
+            int occurrence = validationOccurrences.merge(detail.getDetectItemId(), 1, Integer::sum);
+            runtimeDefinitionValidator.validate(detail.getFlowData(),
+                    FlowRuntimeAssignmentScope.forItem(
+                            resources.assignments(), detail.getDetectItemId(), occurrence));
+        });
         int count = (int) details.stream().filter(dto -> ObjUtil.equals(dto.getIsDeploy(), "1")).count();
         if (count > 0) {
             throw new GlobalException("当前任务存在未发布的检测项!");

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/event/FlowExecutionEvent.java

@@ -51,6 +51,12 @@ public class FlowExecutionEvent {
      */
     private String itemId;
 
+    /** 当前检测项在本次任务中的实际执行位置，从 1 开始。 */
+    private Integer itemOrder;
+
+    /** 同一检测项在本次任务中第几次出现，从 1 开始。 */
+    private Integer itemOccurrence;
+
     /**
      * 当前节点ID，节点级事件时有值。
      */

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/interceptor/FlowAfterInterceptor.java

@@ -57,6 +57,8 @@ public class FlowAfterInterceptor extends AbstractFlowMsgPreInterceptor{
                 .taskId(message.getTaskId())
                 .moduleCode(moduleCode)
                 .itemId(message.getItemId())
+                .itemOrder(message.getItemOrder())
+                .itemOccurrence(message.getItemOccurrence())
                 .nodeId(message.getNodeId())
                 .nodeCount(message.getGraph().allNodeIds().size())
                 .nodeType(message.getNodeType())

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/interceptor/FlowBeforeInterceptor.java

@@ -40,6 +40,8 @@ public class FlowBeforeInterceptor extends AbstractFlowMsgPreInterceptor{
                 .taskId(message.getTaskId())
                 .moduleCode(moduleCode)
                 .itemId(message.getItemId())
+                .itemOrder(message.getItemOrder())
+                .itemOccurrence(message.getItemOccurrence())
                 .nodeId(message.getNodeId())
                 .nodeCount(message.getGraph().allNodeIds().size())
                 .nodeName(message.getNodeName())

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/message/TaskNodeExecuteMessage.java

@@ -30,6 +30,12 @@ public class TaskNodeExecuteMessage {
      */
     private String itemId;
 
+    /** 当前检测项在本次任务中的实际执行位置，从 1 开始。 */
+    private int itemOrder;
+
+    /** 同一检测项在本次任务中第几次出现，从 1 开始。 */
+    private int itemOccurrence;
+
     /**
      * 节点ID
      */

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/FlowMediaParamResolver.java

@@ -0,0 +1,40 @@
+package com.cmvr.test.flow.runtime.operator;
+
+import com.alibaba.fastjson2.JSONObject;
+import org.apache.commons.lang3.StringUtils;
+
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.List;
+
+/** Resolves media parameters from both legacy scalar and current array outputs. */
+public final class FlowMediaParamResolver {
+
+    private FlowMediaParamResolver() {
+    }
+
+    public static String lastUrl(JSONObject params, String name) {
+        List<String> urls = urls(params, name);
+        return urls.isEmpty() ? null : urls.get(urls.size() - 1);
+    }
+
+    public static List<String> urls(JSONObject params, String name) {
+        Object value = params == null ? null : params.get(name);
+        if (value instanceof List<?> values) {
+            List<String> urls = new ArrayList<>();
+            for (Object item : values) {
+                String url = normalizeUrl(item);
+                if (url != null && !"null".equalsIgnoreCase(url)) {
+                    urls.add(url);
+                }
+            }
+            return urls;
+        }
+        String url = normalizeUrl(value);
+        return url == null ? Collections.emptyList() : List.of(url);
+    }
+
+    private static String normalizeUrl(Object value) {
+        return value == null ? null : StringUtils.trimToNull(String.valueOf(value));
+    }
+}

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeActionQueueOperateService.java

@@ -0,0 +1,95 @@
+package com.cmvr.test.flow.runtime.operator.edge;
+
+import cmvr.api.SystemCommand;
+import com.alibaba.fastjson2.JSON;
+import com.alibaba.fastjson2.JSONArray;
+import com.alibaba.fastjson2.JSONObject;
+import com.cmvr.common.exception.GlobalException;
+import com.cmvr.edge.client.model.system.EdgeActionQueueVO;
+import com.cmvr.edge.client.service.EdgeSystemService;
+import com.cmvr.test.enums.ActionEnum;
+import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
+import com.cmvr.test.flow.runtime.message.TaskNodeExecuteResult;
+import lombok.RequiredArgsConstructor;
+import org.apache.commons.lang3.StringUtils;
+import org.springframework.stereotype.Service;
+
+import java.util.ArrayList;
+import java.util.List;
+
+@Service
+@RequiredArgsConstructor
+public class EdgeActionQueueOperateService implements EdgeOperateService {
+
+    private final EdgeSystemService edgeSystemService;
+
+    @Override
+    public boolean supports(ActionEnum action) {
+        return ActionEnum.SYSTEM_EXECUTE_ACTION_QUEUE.equals(action);
+    }
+
+    @Override
+    public TaskNodeExecuteResult execute(TaskNodeExecuteMessage message) {
+        JSONObject input = message.getInputParams() == null ? new JSONObject() : message.getInputParams();
+        String robotId = StringUtils.defaultIfBlank(message.getRobotId(), input.getString("robotId"));
+        if (StringUtils.isBlank(robotId)) throw new GlobalException("Robot ID cannot be empty");
+        JSONArray steps = toSteps(input.get("steps"));
+        if (steps.isEmpty()) throw new GlobalException("Action queue must contain at least one step");
+
+        EdgeActionQueueVO request = new EdgeActionQueueVO();
+        request.setRobotId(robotId);
+        request.setActionId(StringUtils.trimToNull(input.getString("actionId")));
+        request.setTotalTimeoutMs(input.getInteger("totalTimeoutMs"));
+        List<EdgeActionQueueVO.Step> requestSteps = new ArrayList<>();
+        for (int i = 0; i < steps.size(); i++) {
+            JSONObject source = steps.getJSONObject(i);
+            EdgeActionQueueVO.Step step = new EdgeActionQueueVO.Step();
+            step.setStepId(StringUtils.defaultIfBlank(source.getString("stepId"), "step_" + (i + 1)));
+            step.setType(source.getString("type"));
+            step.setTimeoutMs(source.getInteger("timeoutMs"));
+            step.setParams(source.getJSONObject("params"));
+            String deviceId = source.getString("deviceId");
+            String bindingKey = source.getString("deviceBindingKey");
+            if (StringUtils.isNotBlank(bindingKey) && message.getResolvedDeviceBindings() != null) {
+                deviceId = message.getResolvedDeviceBindings().getString(bindingKey);
+            }
+            step.setDeviceId(deviceId);
+            requestSteps.add(step);
+        }
+        request.setSteps(requestSteps);
+
+        SystemCommand.ActionQueueCommand.Feedback feedback = edgeSystemService.executeActionQueue(request);
+        if (feedback == null || !feedback.hasHeader()) {
+            throw new GlobalException("Action queue response is missing status information");
+        }
+        if (!feedback.getHeader().getSuccess()
+                || feedback.getResult() != SystemCommand.ActionResultCode.ACTION_RESULT_CODE_COMPLETED) {
+            String failedAt = feedback.hasFailedStepIndex()
+                    ? ", failed step index: " + feedback.getFailedStepIndex() : "";
+            throw new GlobalException(StringUtils.defaultIfBlank(feedback.getHeader().getErrorMessage(),
+                    "Action queue execution failed") + failedAt);
+        }
+
+        JSONObject output = new JSONObject();
+        output.put("success", true);
+        output.put("actionId", feedback.getActionId());
+        output.put("completedSteps", feedback.getCompletedSteps());
+        output.put("result", feedback.getResult().name());
+        output.put("serviceInstanceId", feedback.getServiceInstanceId());
+        output.put("deduplicationStatus", feedback.getDeduplicationStatus().name());
+        return TaskNodeExecuteResult.success(output);
+    }
+
+    private JSONArray toSteps(Object raw) {
+        if (raw instanceof JSONArray) return (JSONArray) raw;
+        if (raw instanceof List<?>) return new JSONArray((List<?>) raw);
+        if (raw instanceof String && StringUtils.isNotBlank((String) raw)) {
+            try {
+                return JSON.parseArray((String) raw);
+            } catch (RuntimeException exception) {
+                throw new GlobalException("Action queue steps must be a JSON array");
+            }
+        }
+        return new JSONArray();
+    }
+}

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeCameraOperateService.java

@@ -10,6 +10,7 @@ import com.cmvr.edge.client.model.EdgeCommonVO;
 import com.cmvr.edge.client.service.EdgeCameraService;
 import com.cmvr.system.service.ISysFileService;
 import com.cmvr.test.enums.ActionEnum;
+import com.cmvr.test.flow.builder.FlowEdge;
 import com.cmvr.test.flow.builder.FlowNodeWrapper;
 import com.cmvr.test.flow.context.TaskInstHolder;
 import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
@@ -17,7 +18,13 @@ import com.cmvr.test.flow.runtime.message.TaskNodeExecuteResult;
 import lombok.RequiredArgsConstructor;
 import org.springframework.stereotype.Service;
 
-import java.util.concurrent.atomic.AtomicInteger;
+import java.io.File;
+import java.util.ArrayDeque;
+import java.util.Collections;
+import java.util.HashSet;
+import java.util.List;
+import java.util.Queue;
+import java.util.Set;
 
 @Service
 @RequiredArgsConstructor
@@ -32,15 +39,6 @@ public class EdgeCameraOperateService implements EdgeOperateService {
         return action.name().startsWith("CAMERA_");
     }
 
-    private static final String[] VIDEO_URLS = {
-            "http://192.168.0.100:9000/cmvr-iot/VIDEO/20260205/1770257486644.mp4",  // 单次 东北话中的那疙瘩什么意思
-            "http://192.168.0.100:9000/cmvr-iot/VIDEO/20260205/1770257510949.mp4",// 单次 打开视频
-            "http://192.168.0.100:9000/cmvr-iot/VIDEO/20260205/1770257536282.mp4",   // 连续 导航到解放碑
-            "http://192.168.0.100:9000/cmvr-iot/VIDEO/20260205/1770257552050.mp4"  // 连续 青花瓷
-    };
-
-    private AtomicInteger currentIndex = new AtomicInteger(0);
-
     @Override
     public TaskNodeExecuteResult execute(TaskNodeExecuteMessage message) {
 //        try {
@@ -48,8 +46,6 @@ public class EdgeCameraOperateService implements EdgeOperateService {
 //        } catch (InterruptedException e) {
 //            throw new RuntimeException(e);
 //        }
-        String instId = message.getInstId();
-        String nodeId = message.getNodeId();
         ActionEnum action = message.getAction();
         JSONObject inputParams = message.getInputParams();
         String deviceId = inputParams.getString("deviceId");
@@ -64,30 +60,18 @@ public class EdgeCameraOperateService implements EdgeOperateService {
 
         switch (action) {
             case CAMERA_START: {
-//                String result = edgeCameraService.start(robotId, deviceId);
+                String result = edgeCameraService.start(edgeCommonVO);
-                String result = StrUtil.format("id为 [{}] 的相机开启了", deviceId);
                 output.put("result", result);
                 break;
             }
 
             case CAMERA_STOP: {
-                String result = StrUtil.format("id为 [{}] 的相机关闭了", deviceId);
+                String result = edgeCameraService.stop(edgeCommonVO);
-//                String result = edgeCameraService.stop(robotId, deviceId);
                 output.put("result", result);
                 break;
             }
 
             case CAMERA_GETRGBIMAGE: {
-//                String imageUrl;
-//                String imageUrl = StrUtil.format("id为 [{}] 的相机拍照了", deviceId);
-//                if (message.getLoopNum() <= 1) {
-//                    // 车辆控制调节
-//                    imageUrl = "http://192.168.1.100:9000/cmvr-iot/FILE/20250821/1755761816340.jpg";
-//                } else {
-//                    // 驾驶偏好
-//                    imageUrl = "http://192.168.1.100:9000/cmvr-iot/FILE/20250822/1755849654731.jpg";
-//                }
-//                String imageUrl = "http://192.168.1.100:9000/cmvr-iot/IMAGE/20250901/1756718594725.jpg";
                 String imageUrl = edgeCameraService.getRGBImage(edgeCommonVO);
 
                 JSONArray imageUrls = new JSONArray();
@@ -99,51 +83,43 @@ public class EdgeCameraOperateService implements EdgeOperateService {
                 }
 
                 imageUrls.add(imageUrl);
-                output.put("imageUrl", imageUrl);
+                output.put("imageUrl", imageUrls);
                 output.put("type", FileType.IMAGE.code());
                 break;
             }
 
             case CAMERA_RECORDING_START: {
-                // 生成视频路径
+                String recordingId = edgeCameraService.startWorkflowRecording(edgeCommonVO);
-                String videoUrl = edgeCameraService.startRecording(edgeCommonVO);
-//                String videoUrl = StrUtil.format("{}/{}_{}.mp4", "/home/share/assets/video", deviceId, System.currentTimeMillis());
-//                String videoUrl = "/home/xtkuang/Projects/models/assets/video/IMG_0524_silent.mp4";
-                // 创建一个新的 JSONObject 来保存视频路径和其他信息
                 JSONObject videoInfo = new JSONObject();
-                videoInfo.put("videoUrl", videoUrl);
+                videoInfo.put("recordingId", recordingId);
-                videoInfo.put("isPlay", false);  // 初始状态为不可播放
+                videoInfo.put("robotId", robotId);
-                videoInfo.put("type", FileType.VIDEO.code());  // 文件类型为视频
+                videoInfo.put("deviceId", deviceId);
-
+                videoInfo.put("isPlay", false);
-                // 将视频路径数组保存到 output 中
+                videoInfo.put("type", FileType.VIDEO.code());
                 output.put("videoInfo", videoInfo);
                 break;
             }
 
             case CAMERA_RECORDING_STOP: {
-//                edgeCameraService.stopRecording(edgeCommonVO);
+                JSONObject preStart = findRecordingStartOutput(message, robotId, deviceId);
-                // todo 结束录像获取视频路径输出
-                // 获取视频录制开始节点的id
-                FlowNodeWrapper startRecordNode = message.getGraph()
-                        .getNodeMap()
-                        .values()
-                        .stream()
-                        .filter(node -> ActionEnum.CAMERA_RECORDING_START.equals(node.getAction()))
-                        .findFirst()
-                        .orElseThrow(() -> new IllegalStateException("未找到视频录制开始节点"));
-
-                // 从上下文获取上游节点存储的参数 获取视频地址
-                JSONObject preStart = taskInstHolder.getNodeOutParams(instId, startRecordNode.getNodeId(), message.getIterations());
-
                 JSONObject videoInfo = preStart.getJSONObject("videoInfo");
-                videoInfo.put("isPlay", true);
+                String recordingId = videoInfo.getString("recordingId");
-//                String videoUrl = videoInfo.getString("videoUrl");
+                if (StrUtil.isBlank(recordingId)) {
-//                String url = sysFileService.uploadFile(new File(videoUrl), FileType.VIDEO.code());
+                    throw new GlobalException("开始录像节点缺少录像会话信息，请重新执行流程");
-//                videoInfo.put("videoUrl", url);
+                }
-                String videoUrl = VIDEO_URLS[currentIndex.getAndUpdate(i -> (i + 1) % VIDEO_URLS.length)];
+
-                videoInfo.put("videoUrl", videoUrl);
+                File videoFile = edgeCameraService.stopWorkflowRecording(edgeCommonVO, recordingId);
-                // 将视频路径数组保存到 output 中
+                try {
-                output.put("videoUrl", videoInfo);
+                    String videoUrl = sysFileService.uploadFile(videoFile, FileType.VIDEO.code());
+                    JSONArray videoUrls = new JSONArray();
+                    videoUrls.add(videoUrl);
+                    output.put("videoUrl", videoUrls);
+                    output.put("type", FileType.VIDEO.code());
+                } finally {
+                    if (videoFile.exists() && !videoFile.delete()) {
+                        videoFile.deleteOnExit();
+                    }
+                }
                 break;
             }
             default:
@@ -152,4 +128,44 @@ public class EdgeCameraOperateService implements EdgeOperateService {
 
         return TaskNodeExecuteResult.success(output);
     }
+
+    private JSONObject findRecordingStartOutput(TaskNodeExecuteMessage message, String robotId, String deviceId) {
+        Queue<String> pending = new ArrayDeque<>();
+        Set<String> visited = new HashSet<>();
+        pending.add(message.getNodeId());
+
+        while (!pending.isEmpty()) {
+            String nodeId = pending.remove();
+            if (!visited.add(nodeId)) {
+                continue;
+            }
+            List<FlowEdge> predecessors = message.getGraph().getPredecessors()
+                    .getOrDefault(nodeId, Collections.emptyList());
+            for (FlowEdge edge : predecessors) {
+                FlowNodeWrapper predecessor = message.getGraph().getNode(edge.getFrom());
+                if (predecessor == null) {
+                    continue;
+                }
+                if (ActionEnum.CAMERA_RECORDING_START.equals(predecessor.getAction())) {
+                    JSONObject output = taskInstHolder.getNodeOutParams(
+                            message.getInstId(), predecessor.getNodeId(), message.getIterations());
+                    if (isMatchingRecording(output, robotId, deviceId)) {
+                        return output;
+                    }
+                }
+                pending.add(predecessor.getNodeId());
+            }
+        }
+        throw new GlobalException("未找到与当前机器人和摄像头匹配的上游开始录像节点");
+    }
+
+    private boolean isMatchingRecording(JSONObject output, String robotId, String deviceId) {
+        if (output == null) {
+            return false;
+        }
+        JSONObject videoInfo = output.getJSONObject("videoInfo");
+        return videoInfo != null
+                && StrUtil.equals(robotId, videoInfo.getString("robotId"))
+                && StrUtil.equals(deviceId, videoInfo.getString("deviceId"));
+    }
 }

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeMicrophoneOperateService.java

@@ -1,5 +1,7 @@
 package com.cmvr.test.flow.runtime.operator.edge;
 
+import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson2.JSONArray;
 import com.alibaba.fastjson2.JSONObject;
 import com.cmvr.common.enums.FileType;
 import com.cmvr.common.exception.GlobalException;
@@ -7,6 +9,7 @@ import com.cmvr.edge.client.model.EdgeCommonVO;
 import com.cmvr.edge.client.service.EdgeMicrophoneService;
 import com.cmvr.system.service.ISysFileService;
 import com.cmvr.test.enums.ActionEnum;
+import com.cmvr.test.flow.builder.FlowEdge;
 import com.cmvr.test.flow.builder.FlowNodeWrapper;
 import com.cmvr.test.flow.context.TaskInstHolder;
 import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
@@ -14,7 +17,13 @@ import com.cmvr.test.flow.runtime.message.TaskNodeExecuteResult;
 import lombok.RequiredArgsConstructor;
 import org.springframework.stereotype.Service;
 
-import java.util.concurrent.atomic.AtomicInteger;
+import java.io.File;
+import java.util.ArrayDeque;
+import java.util.Collections;
+import java.util.HashSet;
+import java.util.List;
+import java.util.Queue;
+import java.util.Set;
 
 @Service
 @RequiredArgsConstructor
@@ -29,19 +38,8 @@ public class EdgeMicrophoneOperateService implements EdgeOperateService {
         return action.name().startsWith("MICROPHONE_");
     }
 
-    private static final String[] AUDIO_URLS = {
-            "http://192.168.0.100:9000/cmvr-iot/AUDIO/20260205/1770257444584.wav",  // 单次 东北话中的那疙瘩什么意思
-            "http://192.168.0.100:9000/cmvr-iot/AUDIO/20260205/1770255964713.wav",// 单次 打开视频
-            "http://192.168.0.100:9000/cmvr-iot/AUDIO/20260205/1770257150877.wav",   // 连续 导航到解放碑
-            "http://192.168.0.100:9000/cmvr-iot/AUDIO/20260205/1770257188864.wav"  // 连续 青花瓷
-    };
-
-    private AtomicInteger currentIndex = new AtomicInteger(0);
-
     @Override
     public TaskNodeExecuteResult execute(TaskNodeExecuteMessage message) {
-        String instId = message.getInstId();
-        String nodeId = message.getNodeId();
         ActionEnum action = message.getAction();
         JSONObject inputParams = message.getInputParams();
         String deviceId = inputParams.getString("deviceId");
@@ -53,45 +51,40 @@ public class EdgeMicrophoneOperateService implements EdgeOperateService {
         edgeCommonVO.setRobotId(robotId);
         switch (action) {
             case MICROPHONE_START: {
-//                String audioPath = edgeMicrophoneService.startRecord(edgeCommonVO);
+                String recordingId = edgeMicrophoneService.startWorkflowRecording(edgeCommonVO);
-
-//                String audioPath = StrUtil.format("{}/{}_{}.wav", "/home/share/assets/audio", deviceId, System.currentTimeMillis());
-                String audioPath = "/home/xtkuang/Projects/models/assets/video/IMG_0524_audio.wav";
-                output.put("audioUrl", audioPath);
-
-                // 创建一个新的 JSONObject 来保存音频路径和其他信息
                 JSONObject audioInfo = new JSONObject();
-                audioInfo.put("audioUrl", audioPath);
+                audioInfo.put("recordingId", recordingId);
-                audioInfo.put("isPlay", false);  // 初始状态为不可播放
+                audioInfo.put("robotId", robotId);
+                audioInfo.put("deviceId", deviceId);
+                audioInfo.put("isPlay", false);
                 audioInfo.put("type", FileType.AUDIO.code());
-
                 output.put("audioInfo", audioInfo);
                 break;
             }
 
             case MICROPHONE_STOP: {
-//                edgeMicrophoneService.stopRecord(edgeCommonVO);
+                JSONObject preStart = findRecordingStartOutput(message, robotId, deviceId);
-                // 获取视频录制开始节点的id
-                FlowNodeWrapper startRecordNode = message.getGraph()
-                        .getNodeMap()
-                        .values()
-                        .stream()
-                        .filter(node -> ActionEnum.MICROPHONE_START.equals(node.getAction()))
-                        .findFirst()
-                        .orElseThrow(() -> new IllegalStateException("未找到音频录制开始节点"));
-
-                // 从上下文获取上游节点存储的参数 获取音频地址
-                JSONObject preStart = taskInstHolder.getNodeOutParams(instId, startRecordNode.getNodeId(), message.getIterations());
-
                 JSONObject audioInfo = preStart.getJSONObject("audioInfo");
-                audioInfo.put("isPlay", true);
+                String recordingId = audioInfo.getString("recordingId");
-//                String audioUrl = audioInfo.getString("audioUrl");
+                if (StrUtil.isBlank(recordingId)) {
-//                String url = sysFileService.uploadFile(new File(audioUrl), FileType.AUDIO.code());
+                    throw new GlobalException("开始录音节点缺少录音会话信息，请重新执行流程");
-//                audioInfo.put("audioUrl", url);
+                }
-                String audioUrl = AUDIO_URLS[currentIndex.getAndUpdate(i -> (i + 1) % AUDIO_URLS.length)];
+
-                audioInfo.put("audioUrl", audioUrl);
+                File audioFile = edgeMicrophoneService.stopWorkflowRecording(edgeCommonVO, recordingId);
-                // 将视频路径数组保存到 output 中
+                try {
-                output.put("audioUrl", audioInfo);
+                    String audioUrl = sysFileService.uploadFile(audioFile, FileType.AUDIO.code());
+                    if (StrUtil.isBlank(audioUrl)) {
+                        throw new GlobalException("录音文件上传未返回访问地址");
+                    }
+                    JSONArray audioUrls = new JSONArray();
+                    audioUrls.add(audioUrl);
+                    output.put("audioUrl", audioUrls);
+                    output.put("type", FileType.AUDIO.code());
+                } finally {
+                    if (audioFile.exists() && !audioFile.delete()) {
+                        audioFile.deleteOnExit();
+                    }
+                }
                 break;
             }
 
@@ -101,4 +94,44 @@ public class EdgeMicrophoneOperateService implements EdgeOperateService {
 
         return TaskNodeExecuteResult.success(output);
     }
+
+    private JSONObject findRecordingStartOutput(TaskNodeExecuteMessage message, String robotId, String deviceId) {
+        Queue<String> pending = new ArrayDeque<>();
+        Set<String> visited = new HashSet<>();
+        pending.add(message.getNodeId());
+
+        while (!pending.isEmpty()) {
+            String nodeId = pending.remove();
+            if (!visited.add(nodeId)) {
+                continue;
+            }
+            List<FlowEdge> predecessors = message.getGraph().getPredecessors()
+                    .getOrDefault(nodeId, Collections.emptyList());
+            for (FlowEdge edge : predecessors) {
+                FlowNodeWrapper predecessor = message.getGraph().getNode(edge.getFrom());
+                if (predecessor == null) {
+                    continue;
+                }
+                if (ActionEnum.MICROPHONE_START.equals(predecessor.getAction())) {
+                    JSONObject startOutput = taskInstHolder.getNodeOutParams(
+                            message.getInstId(), predecessor.getNodeId(), message.getIterations());
+                    if (isMatchingRecording(startOutput, robotId, deviceId)) {
+                        return startOutput;
+                    }
+                }
+                pending.add(predecessor.getNodeId());
+            }
+        }
+        throw new GlobalException("未找到与当前机器人和麦克风匹配的上游开始录音节点");
+    }
+
+    private boolean isMatchingRecording(JSONObject output, String robotId, String deviceId) {
+        if (output == null) {
+            return false;
+        }
+        JSONObject audioInfo = output.getJSONObject("audioInfo");
+        return audioInfo != null
+                && StrUtil.equals(robotId, audioInfo.getString("robotId"))
+                && StrUtil.equals(deviceId, audioInfo.getString("deviceId"));
+    }
 }

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/ti/TiTouchOperateService.java

@@ -11,6 +11,7 @@ import com.cmvr.llm.config.AgentConfig;
 import com.cmvr.test.enums.ActionEnum;
 import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
 import com.cmvr.test.flow.runtime.message.TaskNodeExecuteResult;
+import com.cmvr.test.flow.runtime.operator.FlowMediaParamResolver;
 import com.cmvr.test.flow.runtime.operator.edge.EdgeOperateService;
 import com.cmvr.test.service.ex.ExTiVehicleFunctionService;
 import com.cmvr.test.service.ShangdaoFileService;
@@ -74,7 +75,7 @@ public class TiTouchOperateService implements EdgeOperateService {
             }
             case TI_TOUCH_COORDINATES: {
                 // 页面图片(相机)
-                String imageUrl = inputParams.getString("imageUrl");
+                String imageUrl = FlowMediaParamResolver.lastUrl(inputParams, "imageUrl");
                 String pageImageUrl = shangdaoFileService.uploadFromMinio(imageUrl);
 
                 // icon图片

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/llm/InspectionMeterRecognizeOperateService.java

@@ -8,6 +8,7 @@ import com.cmvr.llm.service.LLMAiAgentPlatformService;
 import com.cmvr.test.enums.ActionEnum;
 import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
 import com.cmvr.test.flow.runtime.message.TaskNodeExecuteResult;
+import com.cmvr.test.flow.runtime.operator.FlowMediaParamResolver;
 import com.cmvr.test.model.vo.inspection.InspectionAlarmRuleVO;
 import com.cmvr.test.model.vo.inspection.InspectionMeterRecognizeConfigVO;
 import com.cmvr.test.service.ShangdaoFileService;
@@ -56,8 +57,10 @@ public class InspectionMeterRecognizeOperateService implements LLMOperateService
     public TaskNodeExecuteResult execute(TaskNodeExecuteMessage message)
     {
         JSONObject input = message.getInputParams() == null ? new JSONObject() : message.getInputParams();
-        InspectionMeterRecognizeConfigVO config = input.to(InspectionMeterRecognizeConfigVO.class);
+        String imageUrl = FlowMediaParamResolver.lastUrl(input, "imageUrl");
-        String imageUrl = StringUtils.trimToNull(config.getImageUrl());
+        JSONObject normalizedInput = new JSONObject(input);
+        normalizedInput.put("imageUrl", imageUrl);
+        InspectionMeterRecognizeConfigVO config = normalizedInput.to(InspectionMeterRecognizeConfigVO.class);
         String resultName = StringUtils.defaultIfBlank(config.getResultName(), "仪表读数");
         String configuredUnit = StringUtils.trimToNull(config.getUnit());
         JSONArray ruleArray = input.getJSONArray("alarmRules");

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/llm/LLMCurrentPageOperateService.java

@@ -10,6 +10,7 @@ import com.cmvr.llm.config.APIProperties;
 import com.cmvr.test.enums.ActionEnum;
 import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
 import com.cmvr.test.flow.runtime.message.TaskNodeExecuteResult;
+import com.cmvr.test.flow.runtime.operator.FlowMediaParamResolver;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
@@ -32,7 +33,7 @@ public class LLMCurrentPageOperateService implements LLMOperateService {
     public TaskNodeExecuteResult execute(TaskNodeExecuteMessage message) {
         JSONObject inputParams = message.getInputParams();
 
-        String fileUrl = inputParams.getString("url");          // 原图片地址
+        String fileUrl = FlowMediaParamResolver.lastUrl(inputParams, "url");
         String targetUrl = apiProperties.getCurrentPage();  // 目标接口地址
 
         File tempFile = null;

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/llm/LLMTouchOperateService.java

@@ -12,6 +12,7 @@ import com.cmvr.test.enums.ActionEnum;
 import com.cmvr.test.flow.context.TaskInstHolder;
 import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
 import com.cmvr.test.flow.runtime.message.TaskNodeExecuteResult;
+import com.cmvr.test.flow.runtime.operator.FlowMediaParamResolver;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
@@ -59,8 +60,7 @@ public class LLMTouchOperateService implements LLMOperateService {
 //                JSONArray imageUrl = pre.getJSONArray("imageUrl");
 //                String url = imageUrl.getString(imageUrl.size() - 1);
 
-                // 直接从 inputParams 获取上游相机的输出（单个 imageUrl）
+                String url = FlowMediaParamResolver.lastUrl(inputParams, "imageUrl");
-                String url = inputParams.getString("imageUrl");
                 if (StrUtil.isEmpty(url)) {
                     throw new IllegalStateException("未找到上游相机输出的图片地址");
                 }

cmvr-iot-test/src/main/java/com/cmvr/test/model/vo/FlowiseStartRequestVO.java

@@ -2,8 +2,17 @@ package com.cmvr.test.model.vo;
 
 import lombok.Data;
 
+import java.util.ArrayList;
+import java.util.List;
+
 @Data
 public class FlowiseStartRequestVO {
 
     private String question;
+
+    private String taskId;
+
+    private String robotId;
+
+    private List<ResourceRuntimeAssignmentVO> runtimeAssignments = new ArrayList<>();
 }

cmvr-iot-test/src/main/java/com/cmvr/test/model/vo/ResourceRuntimeAssignmentVO.java

@@ -14,6 +14,15 @@ public class ResourceRuntimeAssignmentVO {
     @ApiModelProperty("流程内稳定的机器人角色标识")
     private String roleKey;
 
+    @ApiModelProperty("任务级安排对应的流程内原始角色标识")
+    private String sourceRoleKey;
+
+    @ApiModelProperty("任务级安排对应的检测项ID；为空表示适用于整个任务")
+    private String itemId;
+
+    @ApiModelProperty("同一检测项在任务编排中的出现序号，从1开始")
+    private Integer itemOccurrence;
+
     @ApiModelProperty("本次执行绑定的机器人成员")
     private List<RobotRuntimeMemberVO> members = new ArrayList<>();
 }

cmvr-iot-test/src/main/java/com/cmvr/test/service/impl/ITeNodeInstServiceImpl.java

@@ -28,7 +28,8 @@ public class ITeNodeInstServiceImpl extends ServiceImpl<TeNodeInstMapper, TeNode
         LambdaQueryWrapper<TeNodeInst> wrapper = Wrappers.lambdaQuery();
         wrapper.eq(TeNodeInst::getInstId, flowViewVO.getInstId())
                 .eq(TeNodeInst::getItemId, flowViewVO.getItemId())
-                .eq(StrUtil.isNotEmpty(flowViewVO.getTaskId()), TeNodeInst::getTaskId, flowViewVO.getTaskId());
+                .eq(StrUtil.isNotEmpty(flowViewVO.getTaskId()), TeNodeInst::getTaskId, flowViewVO.getTaskId())
+                .orderByAsc(TeNodeInst::getId);
         return this.list(wrapper);
     }
 

cmvr-iot-test/src/main/java/com/cmvr/test/service/impl/TeTaskOrchestrationServiceImpl.java

@@ -45,7 +45,8 @@ public class TeTaskOrchestrationServiceImpl extends ServiceImpl<TeTaskOrchestrat
                 .selectAs(TeDetectionItem::getDetectName, TeQueryTaskOrchestraItemVO::getItemName)
                 .selectAs(TeDetectionItem::getConfig, TeQueryTaskOrchestraItemVO::getConfig)
                 .eq(TeTaskOrchestration::getTaskId, taskId)
-                .orderByAsc(TeTaskOrchestration::getOrderNum);
+                .orderByAsc(TeTaskOrchestration::getOrderNum)
+                .orderByAsc(TeTaskOrchestration::getId);
 
         return baseMapper.selectJoinList(TeQueryTaskOrchestraItemVO.class, wrapper);
     }
@@ -65,6 +66,9 @@ public class TeTaskOrchestrationServiceImpl extends ServiceImpl<TeTaskOrchestrat
         deleteByTaskId(taskOrchestraVO.getTaskId());
 
         List<String> itemIds = taskOrchestraVO.getItemIds();
+        if (itemIds == null || itemIds.isEmpty()) {
+            return true;
+        }
 
         List<TeTaskOrchestration> list = new ArrayList<>();
         for (int i = 0; i < itemIds.size(); i++) {
@@ -112,7 +116,8 @@ public class TeTaskOrchestrationServiceImpl extends ServiceImpl<TeTaskOrchestrat
                 .select(TeDetectionItem::getFlowData)
                 .eq(TeTaskOrchestration::getTaskId, taskId)
                 .leftJoin(TeDetectionItem.class, TeDetectionItem::getId, TeTaskOrchestration::getItemId)
-                .orderByAsc(TeTaskOrchestration::getOrderNum);
+                .orderByAsc(TeTaskOrchestration::getOrderNum)
+                .orderByAsc(TeTaskOrchestration::getId);
 
         return this.baseMapper.selectJoinList(TeQueryTaskDetailDTO.class, wrapper);
     }

cmvr-iot-test/src/test/java/com/cmvr/test/flow/runtime/engine/FlowRuntimeAssignmentScopeTest.java

@@ -0,0 +1,49 @@
+package com.cmvr.test.flow.runtime.engine;
+
+import com.cmvr.test.model.vo.ResourceRuntimeAssignmentVO;
+import com.cmvr.test.model.vo.RobotRuntimeMemberVO;
+import org.junit.Test;
+
+import java.util.List;
+
+import static org.junit.Assert.assertEquals;
+
+public class FlowRuntimeAssignmentScopeTest {
+
+    @Test
+    public void selectsAndRestoresRoleForCurrentItemOccurrence() {
+        ResourceRuntimeAssignmentVO first = assignment("camera-check:1:executor", "executor", "camera-check", 1, "robot-1");
+        ResourceRuntimeAssignmentVO second = assignment("camera-check:2:executor", "executor", "camera-check", 2, "robot-2");
+        ResourceRuntimeAssignmentVO other = assignment("audio-check:1:executor", "executor", "audio-check", 1, "robot-3");
+
+        List<ResourceRuntimeAssignmentVO> selected = FlowRuntimeAssignmentScope.forItem(
+                List.of(first, second, other), "camera-check", 2);
+
+        assertEquals(1, selected.size());
+        assertEquals("executor", selected.get(0).getRoleKey());
+        assertEquals("robot-2", selected.get(0).getMembers().get(0).getRobotId());
+    }
+
+    @Test
+    public void keepsLegacyUnscopedAssignments() {
+        ResourceRuntimeAssignmentVO legacy = assignment("executor", null, null, null, "robot-1");
+
+        List<ResourceRuntimeAssignmentVO> selected = FlowRuntimeAssignmentScope.forItem(
+                List.of(legacy), "camera-check", 1);
+
+        assertEquals(legacy, selected.get(0));
+    }
+
+    private ResourceRuntimeAssignmentVO assignment(String roleKey, String sourceRoleKey,
+                                                    String itemId, Integer occurrence, String robotId) {
+        RobotRuntimeMemberVO member = new RobotRuntimeMemberVO();
+        member.setRobotId(robotId);
+        ResourceRuntimeAssignmentVO assignment = new ResourceRuntimeAssignmentVO();
+        assignment.setRoleKey(roleKey);
+        assignment.setSourceRoleKey(sourceRoleKey);
+        assignment.setItemId(itemId);
+        assignment.setItemOccurrence(occurrence);
+        assignment.setMembers(List.of(member));
+        return assignment;
+    }
+}

cmvr-iot-test/src/test/java/com/cmvr/test/flow/runtime/operator/edge/EdgeActionQueueOperateServiceTest.java

@@ -0,0 +1,78 @@
+package com.cmvr.test.flow.runtime.operator.edge;
+
+import cmvr.api.Common;
+import cmvr.api.SystemCommand;
+import com.alibaba.fastjson2.JSONArray;
+import com.alibaba.fastjson2.JSONObject;
+import com.cmvr.edge.client.model.system.EdgeActionQueueVO;
+import com.cmvr.edge.client.service.EdgeSystemService;
+import com.cmvr.test.enums.ActionEnum;
+import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
+import com.cmvr.test.flow.runtime.message.TaskNodeExecuteResult;
+import org.junit.Test;
+
+import java.lang.reflect.Proxy;
+import java.util.concurrent.atomic.AtomicReference;
+
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertTrue;
+
+public class EdgeActionQueueOperateServiceTest {
+
+    @Test
+    public void resolvesEachStepDeviceBindingAndReturnsQueueResult() {
+        AtomicReference<EdgeActionQueueVO> captured = new AtomicReference<>();
+        EdgeSystemService edgeSystemService = proxy((method, args) -> {
+            if (!"executeActionQueue".equals(method.getName())) return defaultValue(method.getReturnType());
+            captured.set((EdgeActionQueueVO) args[0]);
+            return SystemCommand.ActionQueueCommand.Feedback.newBuilder()
+                    .setHeader(Common.CommandHeader.Feedback.newBuilder().setSuccess(true))
+                    .setActionId("action-1")
+                    .setCompletedSteps(2)
+                    .setResult(SystemCommand.ActionResultCode.ACTION_RESULT_CODE_COMPLETED)
+                    .setServiceInstanceId("instance-1")
+                    .setDeduplicationStatus(SystemCommand.ActionDeduplicationStatus.ACTION_DEDUPLICATION_STATUS_ACCEPTED_NEW)
+                    .build();
+        });
+        EdgeActionQueueOperateService service = new EdgeActionQueueOperateService(edgeSystemService);
+
+        JSONArray steps = new JSONArray()
+                .fluentAdd(new JSONObject().fluentPut("stepId", "move")
+                        .fluentPut("type", "AGV_NAVIGATE_TO_STATION")
+                        .fluentPut("deviceBindingKey", "queue_agv")
+                        .fluentPut("params", new JSONObject().fluentPut("stationId", "station-2")))
+                .fluentAdd(new JSONObject().fluentPut("stepId", "wait")
+                        .fluentPut("type", "DELAY")
+                        .fluentPut("params", new JSONObject().fluentPut("durationMs", 500)));
+        TaskNodeExecuteMessage message = new TaskNodeExecuteMessage();
+        message.setAction(ActionEnum.SYSTEM_EXECUTE_ACTION_QUEUE);
+        message.setRobotId("robot-1");
+        message.setResolvedDeviceBindings(new JSONObject().fluentPut("queue_agv", "agv-2"));
+        message.setInputParams(new JSONObject().fluentPut("totalTimeoutMs", 10000).fluentPut("steps", steps));
+
+        TaskNodeExecuteResult result = service.execute(message);
+
+        assertTrue(result.isSuccess());
+        assertEquals("agv-2", captured.get().getSteps().get(0).getDeviceId());
+        assertEquals("robot-1", captured.get().getRobotId());
+        assertEquals(2, result.getOutputParams().getIntValue("completedSteps"));
+    }
+
+    @SuppressWarnings("unchecked")
+    private EdgeSystemService proxy(Invocation invocation) {
+        return (EdgeSystemService) Proxy.newProxyInstance(EdgeSystemService.class.getClassLoader(),
+                new Class<?>[]{EdgeSystemService.class}, (proxy, method, args) -> invocation.invoke(method, args));
+    }
+
+    private Object defaultValue(Class<?> type) {
+        if (!type.isPrimitive()) return null;
+        if (type == boolean.class) return false;
+        if (type == char.class) return '\0';
+        return 0;
+    }
+
+    @FunctionalInterface
+    private interface Invocation {
+        Object invoke(java.lang.reflect.Method method, Object[] args) throws Throwable;
+    }
+}

cmvr-iot-test/src/test/java/com/cmvr/test/flow/runtime/operator/edge/EdgeCameraOperateServiceTest.java

@@ -0,0 +1,185 @@
+package com.cmvr.test.flow.runtime.operator.edge;
+
+import com.alibaba.fastjson2.JSONArray;
+import com.alibaba.fastjson2.JSONObject;
+import com.cmvr.edge.client.model.EdgeCommonVO;
+import com.cmvr.edge.client.service.EdgeCameraService;
+import com.cmvr.system.service.ISysFileService;
+import com.cmvr.test.enums.ActionEnum;
+import com.cmvr.test.flow.builder.FlowEdge;
+import com.cmvr.test.flow.builder.FlowGraph;
+import com.cmvr.test.flow.builder.FlowNodeWrapper;
+import com.cmvr.test.flow.context.TaskContext;
+import com.cmvr.test.flow.context.TaskContextManager;
+import com.cmvr.test.flow.context.TaskInstHolder;
+import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
+import com.cmvr.test.flow.runtime.message.TaskNodeExecuteResult;
+import com.cmvr.test.flow.runtime.operator.FlowMediaParamResolver;
+import org.junit.Test;
+
+import java.io.File;
+import java.lang.reflect.Proxy;
+import java.nio.file.Files;
+import java.util.Collections;
+import java.util.List;
+import java.util.ArrayList;
+import java.util.concurrent.atomic.AtomicReference;
+
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertFalse;
+import static org.junit.Assert.assertTrue;
+
+public class EdgeCameraOperateServiceTest {
+
+    @Test
+    public void resolvesLegacyScalarAndArrayMediaParameters() {
+        JSONObject legacy = new JSONObject().fluentPut("imageUrl", " https://files.example/legacy.jpg ");
+        JSONObject current = new JSONObject().fluentPut("imageUrl", new JSONArray()
+                .fluentAdd("https://files.example/first.jpg")
+                .fluentAdd("https://files.example/latest.jpg"));
+
+        assertEquals("https://files.example/legacy.jpg",
+                FlowMediaParamResolver.lastUrl(legacy, "imageUrl"));
+        assertEquals("https://files.example/latest.jpg",
+                FlowMediaParamResolver.lastUrl(current, "imageUrl"));
+        assertEquals(2, FlowMediaParamResolver.urls(current, "imageUrl").size());
+    }
+
+    @Test
+    public void executesCameraStartImageAndStopAgainstResolvedTarget() {
+        List<String> calls = new ArrayList<>();
+        EdgeCameraService cameraService = proxy(EdgeCameraService.class, (method, args) -> {
+            if ("start".equals(method.getName())
+                    || "getRGBImage".equals(method.getName())
+                    || "stop".equals(method.getName())) {
+                EdgeCommonVO target = (EdgeCommonVO) args[0];
+                calls.add(method.getName() + ":" + target.getRobotId() + ":" + target.getDeviceId());
+            }
+            if ("getRGBImage".equals(method.getName())) {
+                return "https://files.example/current.jpg";
+            }
+            if ("start".equals(method.getName()) || "stop".equals(method.getName())) {
+                return "{\"success\":true}";
+            }
+            return defaultValue(method.getReturnType());
+        });
+        EdgeCameraOperateService service = new EdgeCameraOperateService(cameraService, null, null);
+
+        service.execute(cameraMessage(ActionEnum.CAMERA_START));
+        TaskNodeExecuteMessage imageMessage = cameraMessage(ActionEnum.CAMERA_GETRGBIMAGE);
+        imageMessage.setUpStreamOutput(new JSONObject().fluentPut(
+                "imageUrl", new JSONArray().fluentAdd("https://files.example/previous.jpg")));
+        TaskNodeExecuteResult imageResult = service.execute(imageMessage);
+        service.execute(cameraMessage(ActionEnum.CAMERA_STOP));
+
+        assertEquals("start:robot-1:camera-1", calls.get(0));
+        assertEquals("getRGBImage:robot-1:camera-1", calls.get(1));
+        assertEquals("stop:robot-1:camera-1", calls.get(2));
+        JSONArray imageUrls = imageResult.getOutputParams().getJSONArray("imageUrl");
+        assertEquals(2, imageUrls.size());
+        assertEquals("https://files.example/previous.jpg", imageUrls.getString(0));
+        assertEquals("https://files.example/current.jpg", imageUrls.getString(1));
+    }
+
+    @Test
+    public void stopsNearestMatchingUpstreamRecordingAndReturnsVideoUrlArray() throws Exception {
+        File recording = File.createTempFile("camera-recording-test-", ".mp4");
+        Files.write(recording.toPath(), new byte[]{1, 2, 3});
+        AtomicReference<EdgeCommonVO> stoppedTarget = new AtomicReference<>();
+        AtomicReference<String> stoppedRecordingId = new AtomicReference<>();
+
+        EdgeCameraService cameraService = proxy(EdgeCameraService.class, (method, args) -> {
+            if ("stopWorkflowRecording".equals(method.getName())) {
+                stoppedTarget.set((EdgeCommonVO) args[0]);
+                stoppedRecordingId.set((String) args[1]);
+                return recording;
+            }
+            return defaultValue(method.getReturnType());
+        });
+        ISysFileService fileService = proxy(ISysFileService.class, (method, args) -> {
+            if ("uploadFile".equals(method.getName()) && args[0] instanceof File) {
+                return "https://files.example/recording.mp4";
+            }
+            return defaultValue(method.getReturnType());
+        });
+
+        TaskContextManager contextManager = new TaskContextManager();
+        TaskContext context = new TaskContext();
+        context.setInstId("inst-1");
+        contextManager.register(context);
+        JSONObject videoInfo = new JSONObject()
+                .fluentPut("recordingId", "recording-1")
+                .fluentPut("robotId", "robot-1")
+                .fluentPut("deviceId", "camera-1");
+        context.setNodeOutput("record-start", Collections.emptyList(),
+                new JSONObject().fluentPut("videoInfo", videoInfo));
+
+        TaskInstHolder holder = new TaskInstHolder(null, contextManager, null, null);
+        EdgeCameraOperateService service = new EdgeCameraOperateService(cameraService, holder, fileService);
+        TaskNodeExecuteResult result = service.execute(stopMessage(graph(), "robot-1", "camera-1"));
+
+        assertTrue(result.isSuccess());
+        assertEquals("robot-1", stoppedTarget.get().getRobotId());
+        assertEquals("camera-1", stoppedTarget.get().getDeviceId());
+        assertEquals("recording-1", stoppedRecordingId.get());
+        JSONArray videoUrls = result.getOutputParams().getJSONArray("videoUrl");
+        assertEquals(1, videoUrls.size());
+        assertEquals("https://files.example/recording.mp4", videoUrls.getString(0));
+        assertFalse(recording.exists());
+    }
+
+    private TaskNodeExecuteMessage stopMessage(FlowGraph graph, String robotId, String deviceId) {
+        TaskNodeExecuteMessage message = new TaskNodeExecuteMessage();
+        message.setInstId("inst-1");
+        message.setNodeId("record-stop");
+        message.setAction(ActionEnum.CAMERA_RECORDING_STOP);
+        message.setRobotId(robotId);
+        message.setGraph(graph);
+        message.setInputParams(new JSONObject().fluentPut("deviceId", deviceId));
+        message.setIterations(Collections.emptyList());
+        return message;
+    }
+
+    private TaskNodeExecuteMessage cameraMessage(ActionEnum action) {
+        TaskNodeExecuteMessage message = new TaskNodeExecuteMessage();
+        message.setAction(action);
+        message.setRobotId("robot-1");
+        message.setInputParams(new JSONObject().fluentPut("deviceId", "camera-1"));
+        return message;
+    }
+
+    private FlowGraph graph() {
+        FlowGraph graph = new FlowGraph();
+        graph.getNodeMap().put("record-start", node("record-start", ActionEnum.CAMERA_RECORDING_START));
+        graph.getNodeMap().put("sleep", node("sleep", ActionEnum.SLEEP));
+        graph.getNodeMap().put("record-stop", node("record-stop", ActionEnum.CAMERA_RECORDING_STOP));
+        graph.addEdge(new FlowEdge("record-start", "sleep", "a", null));
+        graph.addEdge(new FlowEdge("sleep", "record-stop", "b", null));
+        return graph;
+    }
+
+    private FlowNodeWrapper node(String nodeId, ActionEnum action) {
+        FlowNodeWrapper node = new FlowNodeWrapper();
+        node.setNodeId(nodeId);
+        node.setAction(action);
+        return node;
+    }
+
+    @SuppressWarnings("unchecked")
+    private <T> T proxy(Class<T> type, Invocation invocation) {
+        return (T) Proxy.newProxyInstance(type.getClassLoader(), new Class<?>[]{type},
+                (proxy, method, args) -> invocation.invoke(method, args));
+    }
+
+    private Object defaultValue(Class<?> type) {
+        if (!type.isPrimitive()) return null;
+        if (type == boolean.class) return false;
+        if (type == char.class) return '\0';
+        return 0;
+    }
+
+    @FunctionalInterface
+    private interface Invocation {
+        Object invoke(java.lang.reflect.Method method, Object[] args) throws Throwable;
+    }
+}

cmvr-iot-test/src/test/java/com/cmvr/test/flow/runtime/operator/edge/EdgeMicrophoneOperateServiceTest.java

@@ -0,0 +1,153 @@
+package com.cmvr.test.flow.runtime.operator.edge;
+
+import com.alibaba.fastjson2.JSONArray;
+import com.alibaba.fastjson2.JSONObject;
+import com.cmvr.edge.client.model.EdgeCommonVO;
+import com.cmvr.edge.client.service.EdgeMicrophoneService;
+import com.cmvr.system.service.ISysFileService;
+import com.cmvr.test.enums.ActionEnum;
+import com.cmvr.test.flow.builder.FlowEdge;
+import com.cmvr.test.flow.builder.FlowGraph;
+import com.cmvr.test.flow.builder.FlowNodeWrapper;
+import com.cmvr.test.flow.context.TaskContext;
+import com.cmvr.test.flow.context.TaskContextManager;
+import com.cmvr.test.flow.context.TaskInstHolder;
+import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
+import com.cmvr.test.flow.runtime.message.TaskNodeExecuteResult;
+import org.junit.Test;
+
+import java.io.File;
+import java.lang.reflect.Proxy;
+import java.nio.file.Files;
+import java.util.Collections;
+import java.util.concurrent.atomic.AtomicReference;
+
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertFalse;
+import static org.junit.Assert.assertTrue;
+
+public class EdgeMicrophoneOperateServiceTest {
+
+    @Test
+    public void startsRecordingAgainstResolvedRobotAndMicrophone() {
+        AtomicReference<EdgeCommonVO> startedTarget = new AtomicReference<>();
+        EdgeMicrophoneService microphoneService = proxy(EdgeMicrophoneService.class, (method, args) -> {
+            if ("startWorkflowRecording".equals(method.getName())) {
+                startedTarget.set((EdgeCommonVO) args[0]);
+                return "recording-1";
+            }
+            return defaultValue(method.getReturnType());
+        });
+        EdgeMicrophoneOperateService service = new EdgeMicrophoneOperateService(microphoneService, null, null);
+
+        TaskNodeExecuteResult result = service.execute(message(ActionEnum.MICROPHONE_START, null));
+
+        assertTrue(result.isSuccess());
+        assertEquals("robot-1", startedTarget.get().getRobotId());
+        assertEquals("microphone-1", startedTarget.get().getDeviceId());
+        assertEquals("recording-1",
+                result.getOutputParams().getJSONObject("audioInfo").getString("recordingId"));
+    }
+
+    @Test
+    public void stopsMatchingUpstreamRecordingAndReturnsAudioUrlArray() throws Exception {
+        File recording = File.createTempFile("microphone-recording-test-", ".wav");
+        Files.write(recording.toPath(), new byte[]{'R', 'I', 'F', 'F', 1, 2, 3});
+        AtomicReference<EdgeCommonVO> stoppedTarget = new AtomicReference<>();
+        AtomicReference<String> stoppedRecordingId = new AtomicReference<>();
+
+        EdgeMicrophoneService microphoneService = proxy(EdgeMicrophoneService.class, (method, args) -> {
+            if ("stopWorkflowRecording".equals(method.getName())) {
+                stoppedTarget.set((EdgeCommonVO) args[0]);
+                stoppedRecordingId.set((String) args[1]);
+                return recording;
+            }
+            return defaultValue(method.getReturnType());
+        });
+        ISysFileService fileService = proxy(ISysFileService.class, (method, args) -> {
+            if ("uploadFile".equals(method.getName()) && args[0] instanceof File) {
+                return "https://files.example/recording.wav";
+            }
+            return defaultValue(method.getReturnType());
+        });
+
+        TaskContextManager contextManager = new TaskContextManager();
+        TaskContext context = new TaskContext();
+        context.setInstId("inst-1");
+        contextManager.register(context);
+        JSONObject matchingInfo = new JSONObject()
+                .fluentPut("recordingId", "recording-1")
+                .fluentPut("robotId", "robot-1")
+                .fluentPut("deviceId", "microphone-1");
+        JSONObject otherInfo = new JSONObject()
+                .fluentPut("recordingId", "recording-other")
+                .fluentPut("robotId", "robot-2")
+                .fluentPut("deviceId", "microphone-2");
+        context.setNodeOutput("matching-start", Collections.emptyList(),
+                new JSONObject().fluentPut("audioInfo", matchingInfo));
+        context.setNodeOutput("other-start", Collections.emptyList(),
+                new JSONObject().fluentPut("audioInfo", otherInfo));
+
+        EdgeMicrophoneOperateService service = new EdgeMicrophoneOperateService(
+                microphoneService, new TaskInstHolder(null, contextManager, null, null), fileService);
+        TaskNodeExecuteResult result = service.execute(message(ActionEnum.MICROPHONE_STOP, graph()));
+
+        assertTrue(result.isSuccess());
+        assertEquals("robot-1", stoppedTarget.get().getRobotId());
+        assertEquals("microphone-1", stoppedTarget.get().getDeviceId());
+        assertEquals("recording-1", stoppedRecordingId.get());
+        JSONArray urls = result.getOutputParams().getJSONArray("audioUrl");
+        assertEquals(1, urls.size());
+        assertEquals("https://files.example/recording.wav", urls.getString(0));
+        assertFalse(recording.exists());
+    }
+
+    private TaskNodeExecuteMessage message(ActionEnum action, FlowGraph graph) {
+        TaskNodeExecuteMessage message = new TaskNodeExecuteMessage();
+        message.setInstId("inst-1");
+        message.setNodeId(action == ActionEnum.MICROPHONE_STOP ? "record-stop" : "record-start");
+        message.setAction(action);
+        message.setRobotId("robot-1");
+        message.setGraph(graph);
+        message.setInputParams(new JSONObject().fluentPut("deviceId", "microphone-1"));
+        message.setIterations(Collections.emptyList());
+        return message;
+    }
+
+    private FlowGraph graph() {
+        FlowGraph graph = new FlowGraph();
+        graph.getNodeMap().put("matching-start", node("matching-start", ActionEnum.MICROPHONE_START));
+        graph.getNodeMap().put("other-start", node("other-start", ActionEnum.MICROPHONE_START));
+        graph.getNodeMap().put("sleep", node("sleep", ActionEnum.SLEEP));
+        graph.getNodeMap().put("record-stop", node("record-stop", ActionEnum.MICROPHONE_STOP));
+        graph.addEdge(new FlowEdge("matching-start", "sleep", "a", null));
+        graph.addEdge(new FlowEdge("other-start", "sleep", "b", null));
+        graph.addEdge(new FlowEdge("sleep", "record-stop", "c", null));
+        return graph;
+    }
+
+    private FlowNodeWrapper node(String nodeId, ActionEnum action) {
+        FlowNodeWrapper node = new FlowNodeWrapper();
+        node.setNodeId(nodeId);
+        node.setAction(action);
+        return node;
+    }
+
+    @SuppressWarnings("unchecked")
+    private <T> T proxy(Class<T> type, Invocation invocation) {
+        return (T) Proxy.newProxyInstance(type.getClassLoader(), new Class<?>[]{type},
+                (proxy, method, args) -> invocation.invoke(method, args));
+    }
+
+    private Object defaultValue(Class<?> type) {
+        if (!type.isPrimitive()) return null;
+        if (type == boolean.class) return false;
+        if (type == char.class) return '\0';
+        return 0;
+    }
+
+    @FunctionalInterface
+    private interface Invocation {
+        Object invoke(java.lang.reflect.Method method, Object[] args) throws Throwable;
+    }
+}

cmvr-iot-test/src/test/java/com/cmvr/test/flow/runtime/operator/edge/EdgeMicrophoneSignalProcessingTest.java

@@ -0,0 +1,62 @@
+package com.cmvr.test.flow.runtime.operator.edge;
+
+import com.cmvr.edge.client.service.impl.EdgeMicrophoneServiceImpl;
+import org.junit.Test;
+
+import java.io.File;
+import java.io.RandomAccessFile;
+import java.lang.reflect.Method;
+
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertTrue;
+
+public class EdgeMicrophoneSignalProcessingTest {
+
+    @Test
+    public void removesDcOffsetAndAmplifiesQuietPcmWithoutClipping() throws Exception {
+        short[] source = {100, 1_100, -900};
+        short[] normalized = normalize(source);
+
+        assertEquals(0, normalized[0]);
+        assertEquals(8_000, normalized[1]);
+        assertEquals(-8_000, normalized[2]);
+    }
+
+    @Test
+    public void attenuatesLoudPcmToLeaveHeadroom() throws Exception {
+        short[] normalized = normalize(new short[]{-30_000, 30_000});
+
+        assertEquals(-26_000, normalized[0]);
+        assertEquals(26_000, normalized[1]);
+        assertTrue(Math.abs(normalized[0]) < Short.MAX_VALUE);
+        assertTrue(Math.abs(normalized[1]) < Short.MAX_VALUE);
+    }
+
+    private short[] normalize(short[] samples) throws Exception {
+        File file = File.createTempFile("microphone-signal-test-", ".wav");
+        long sum = 0L;
+        try (RandomAccessFile output = new RandomAccessFile(file, "rw")) {
+            output.write(new byte[44]);
+            for (short sample : samples) {
+                output.write(sample & 0xff);
+                output.write((sample >>> 8) & 0xff);
+                sum += sample;
+            }
+
+            Method normalize = EdgeMicrophoneServiceImpl.class.getDeclaredMethod(
+                    "normalizePcmSignal", RandomAccessFile.class, long.class, long.class, long.class);
+            normalize.setAccessible(true);
+            normalize.invoke(new EdgeMicrophoneServiceImpl(null), output,
+                    samples.length * 2L, (long) samples.length, sum);
+
+            output.seek(44L);
+            short[] result = new short[samples.length];
+            for (int index = 0; index < result.length; index++) {
+                result[index] = (short) (output.readUnsignedByte() | (output.readUnsignedByte() << 8));
+            }
+            return result;
+        } finally {
+            file.delete();
+        }
+    }
+}

cmvr-iot-test/src/test/java/com/cmvr/test/flow/runtime/operator/edge/H265Fmp4TranscoderTimingTest.java

@@ -0,0 +1,37 @@
+package com.cmvr.test.flow.runtime.operator.edge;
+
+import com.cmvr.edge.client.utils.H265Fmp4Transcoder;
+import org.junit.Test;
+
+import java.lang.reflect.Method;
+import java.util.concurrent.TimeUnit;
+
+import static org.junit.Assert.assertEquals;
+
+public class H265Fmp4TranscoderTimingTest {
+
+    @Test
+    public void timelineUsesElapsedTimeInsteadOfConfiguredFrameCount() throws Exception {
+        Method method = H265Fmp4Transcoder.class.getDeclaredMethod(
+                "timelineTimestampMicros", long.class, long.class, long.class, long.class);
+        method.setAccessible(true);
+
+        long firstFrameNanos = 1_000_000_000L;
+        long fiveSecondsLater = firstFrameNanos + TimeUnit.SECONDS.toNanos(5L);
+        long timestamp = (long) method.invoke(null, firstFrameNanos, fiveSecondsLater,
+                1_880_000L, 40_000L);
+
+        assertEquals(5_000_000L, timestamp);
+    }
+
+    @Test
+    public void timelineSkipsFramesThatMapToAnOccupiedOutputSlot() throws Exception {
+        Method method = H265Fmp4Transcoder.class.getDeclaredMethod(
+                "timelineTimestampMicros", long.class, long.class, long.class, long.class);
+        method.setAccessible(true);
+
+        long timestamp = (long) method.invoke(null, 1_000L, 1_001L, 0L, 40_000L);
+
+        assertEquals(-1L, timestamp);
+    }
+}

sql/aima_module.sql

@@ -103,7 +103,7 @@ CREATE TABLE `aima_task_test_case` (
   `task_id` varchar(64) NOT NULL COMMENT '任务ID',
   `test_case_id` varchar(64) NOT NULL COMMENT '测试用例ID',
   `sort_order` int(11) DEFAULT '0' COMMENT '排序号',
-  PRIMARY KEY (`task_id`, `test_case_id`),
+  PRIMARY KEY (`task_id`, `sort_order`),
   KEY `idx_task_id` (`task_id`),
   KEY `idx_test_case_id` (`test_case_id`)
 ) ENGINE=InnoDB DEFAULT CHARSET=utf8mb4 COLLATE=utf8mb4_unicode_ci COMMENT='爱玛任务与测试用例关联表';

sql/inspection_module.sql

@@ -125,7 +125,7 @@ CREATE TABLE `inspection_task_waypoint` (
   `task_id` varchar(64) NOT NULL COMMENT '任务ID',
   `waypoint_id` varchar(64) NOT NULL COMMENT '点位ID',
   `sort_order` int(11) DEFAULT '0' COMMENT '排序号',
-  PRIMARY KEY (`task_id`, `waypoint_id`),
+  PRIMARY KEY (`task_id`, `sort_order`),
   KEY `idx_task_id` (`task_id`),
   KEY `idx_waypoint_id` (`waypoint_id`)
 ) ENGINE=InnoDB DEFAULT CHARSET=utf8mb4 COLLATE=utf8mb4_unicode_ci COMMENT='任务与点位关联表';

sql/task_binding_allow_duplicates.sql

@@ -0,0 +1,12 @@
+-- Allow the same test case or waypoint to appear more than once in a task.
+-- The task position, rather than the bound resource ID, identifies a row.
+
+ALTER TABLE `aima_task_test_case`
+    DROP PRIMARY KEY,
+    MODIFY COLUMN `sort_order` int NOT NULL,
+    ADD PRIMARY KEY (`task_id`, `sort_order`);
+
+ALTER TABLE `inspection_task_waypoint`
+    DROP PRIMARY KEY,
+    MODIFY COLUMN `sort_order` int NOT NULL,
+    ADD PRIMARY KEY (`task_id`, `sort_order`);