feat(agv): 添加AGV重定位功能并扩展导航选项

- 新增AgvRelocalizeCommand消息定义，支持在当前活动地图中重新设置AGV定位位姿
- 在AgvService服务中添加relocalize RPC方法，调用前需确保AGV已停止
- 生成相应的Java gRPC服务端和客户端代码实现
- 扩展AgvMotionOptions添加blocked_timeout_ms参数，用于设置连续遇障时最大等待时间
- 更新导航等待工具类支持传入运动选项参数

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

@@ -6,6 +6,7 @@ import com.cmvr.edge.client.model.EdgeCommonVO;
 import com.cmvr.edge.client.model.agv.EdgeAgvMapNameVO;
 import com.cmvr.edge.client.model.agv.EdgeAgvNavigateToPoseVO;
 import com.cmvr.edge.client.model.agv.EdgeAgvNavigateToStationVO;
+import com.cmvr.edge.client.model.agv.EdgeAgvRelocalizeVO;
 import com.cmvr.edge.client.model.agv.EdgeAgvStartMappingVO;
 import com.cmvr.edge.client.model.agv.EdgeAgvUploadMapVO;
 import com.cmvr.edge.client.model.agv.EdgeAgvVelocityVO;
@@ -101,6 +102,21 @@ public class EdgeAgvController {
         return AjaxResult.ok();
     }
 
+    /**
+     * 在当前活动地图中重新设置 AGV 定位位姿。
+     */
+    @ApiOperation("AGV重定位")
+    @PostMapping("/relocalize")
+    public AjaxResult relocalize(@RequestBody @Validated EdgeAgvRelocalizeVO vo) {
+        AgvUtils.AgvPose2d pose = AgvUtils.AgvPose2d.newBuilder()
+                .setX(vo.getX())
+                .setY(vo.getY())
+                .setTheta(vo.getTheta())
+                .build();
+        edgeAgvService.relocalize(vo, pose);
+        return AjaxResult.ok();
+    }
+
     @ApiOperation("固定距离平移")
     @PostMapping("/translate")
     public AjaxResult translate(@RequestBody @Validated EdgeAgvTranslateVO vo) {
@@ -131,7 +147,7 @@ public class EdgeAgvController {
                 .setY(vo.getY())
                 .setTheta(vo.getTheta())
                 .build();
-        edgeAgvService.navigateToPose(vo, pose);
+        edgeAgvService.navigateToPose(vo, pose, navigationOptions(vo.getBlockedTimeoutMs()));
         return AjaxResult.ok();
     }
 
@@ -141,7 +157,7 @@ public class EdgeAgvController {
     @ApiOperation("导航到站点")
     @PostMapping("/navigateToStation")
     public AjaxResult navigateToStation(@RequestBody @Validated EdgeAgvNavigateToStationVO vo) {
-        edgeAgvService.navigateToStation(vo, vo.getStationId());
+        edgeAgvService.navigateToStation(vo, vo.getStationId(), navigationOptions(vo.getBlockedTimeoutMs()));
         return AjaxResult.ok();
     }
 
@@ -311,6 +327,15 @@ public class EdgeAgvController {
         return vo;
     }
 
+    private AgvUtils.AgvMotionOptions navigationOptions(Integer blockedTimeoutMs) {
+        int timeout = blockedTimeoutMs == null
+                ? EdgeAgvService.DEFAULT_BLOCKED_TIMEOUT_MS : blockedTimeoutMs;
+        return AgvUtils.AgvMotionOptions.newBuilder()
+                .setAsynchronous(false)
+                .setBlockedTimeoutMs(timeout)
+                .build();
+    }
+
     private Map<String, Object> toRuntimeStateMap(AgvUtils.AgvRuntimeState state) {
         Map<String, Object> resultMap = new HashMap<>();
         resultMap.put("timestamp", state.getTimestamp());

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

@@ -166,6 +166,13 @@ public class AimaFlowExecutionListener implements FlowExecutionListener {
             // 四舍五入保留2位小数
             progress = Math.round(progress * 100) / 100.0;
             JSONObject outputParams = event.getOutputParams();
+            boolean nodeFailed = event.getEventType() == FlowExecutionEvent.EventType.NODE_FAILED;
+            String nodeError = nodeFailed ? StrUtil.trim(event.getErrorMessage()) : null;
+            JSONObject logOutputParams = outputParams == null
+                    ? new JSONObject() : JSONObject.parseObject(outputParams.toJSONString());
+            if (StrUtil.isNotBlank(nodeError)) {
+                logOutputParams.put("errorMessage", nodeError);
+            }
             String imageUrl = FlowMediaParamResolver.lastUrl(outputParams, "imageUrl");
             String videoUrl = FlowMediaParamResolver.lastUrl(outputParams, "videoUrl");
             String testCaseId = resolveTestCaseId(instId, taskInstance.getTaskId(), event);
@@ -181,15 +188,16 @@ public class AimaFlowExecutionListener implements FlowExecutionListener {
                     .itemId(itemId)
                     .itemOrder(event.getItemOrder())
                     .itemOccurrence(event.getItemOccurrence())
-                    .logLevel("INFO")
+                    .logLevel(nodeFailed ? "ERROR" : "INFO")
-                    .logType("执行日志")
+                    .logType(nodeFailed ? "异常日志" : "执行日志")
-                    .logContent("节点【" + event.getNodeName() + "】" + info)
+                    .logContent("节点【" + event.getNodeName() + "】" + info
-                    .actualResult(AimaLogExecutionContext.attach(outputParams, itemId,
+                            + (StrUtil.isBlank(nodeError) ? "" : "：" + StrUtil.sub(nodeError, 0, 300)))
+                    .actualResult(AimaLogExecutionContext.attach(logOutputParams, itemId,
                             event.getItemOrder(), event.getItemOccurrence(),
                             event.getEventType().name(), event.getNodeType()))
                     .screenshotUrl(imageUrl)
                     .videoUrl(videoUrl)
-                    .errorStack(event.getErrorMessage())
+                    .errorStack(nodeError)
                     .logTime(now)
                     .status(nodeLogStatus)
                     .executionStep(event.getNodeName())

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/agv/EdgeAgvNavigateToPoseVO.java

@@ -6,6 +6,8 @@ import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 import lombok.EqualsAndHashCode;
 
+import jakarta.validation.constraints.Min;
+
 /**
  * AGV 导航到指定坐标的请求参数。
  */
@@ -22,4 +24,8 @@ public class EdgeAgvNavigateToPoseVO extends EdgeCommonVO {
 
     @ApiModelProperty(value = "目标朝向角，单位：弧度", required = true)
     private double theta;
+
+    @Min(value = 1, message = "连续遇障超时时间必须大于0")
+    @ApiModelProperty(value = "连续遇障且底盘停止的超时时间，单位：毫秒", example = "60000")
+    private Integer blockedTimeoutMs = 60_000;
 }

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/agv/EdgeAgvNavigateToStationVO.java

@@ -7,6 +7,7 @@ import lombok.Data;
 import lombok.EqualsAndHashCode;
 
 import jakarta.validation.constraints.NotEmpty;
+import jakarta.validation.constraints.Min;
 
 /**
  * AGV 导航到站点的请求参数。
@@ -19,4 +20,8 @@ public class EdgeAgvNavigateToStationVO extends EdgeCommonVO {
     @NotEmpty(message = "站点ID不能为空")
     @ApiModelProperty(value = "站点ID", required = true)
     private String stationId;
+
+    @Min(value = 1, message = "连续遇障超时时间必须大于0")
+    @ApiModelProperty(value = "连续遇障且底盘停止的超时时间，单位：毫秒", example = "60000")
+    private Integer blockedTimeoutMs = 60_000;
 }

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/agv/EdgeAgvRelocalizeVO.java

@@ -0,0 +1,23 @@
+package com.cmvr.edge.client.model.agv;
+
+import com.cmvr.edge.client.model.EdgeCommonVO;
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+/** AGV 在当前地图中重新设置定位位姿的请求参数。 */
+@Data
+@EqualsAndHashCode(callSuper = true)
+@ApiModel("AGV重定位参数")
+public class EdgeAgvRelocalizeVO extends EdgeCommonVO {
+
+    @ApiModelProperty(value = "定位 X 坐标，单位：米", required = true)
+    private double x;
+
+    @ApiModelProperty(value = "定位 Y 坐标，单位：米", required = true)
+    private double y;
+
+    @ApiModelProperty(value = "定位朝向角，单位：弧度，逆时针为正", required = true)
+    private double theta;
+}

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

@@ -15,6 +15,8 @@ import java.util.List;
  */
 public interface EdgeAgvService {
 
+    int DEFAULT_BLOCKED_TIMEOUT_MS = 60_000;
+
     /**
      * 获取AGV运行时状态
      *
@@ -45,6 +47,11 @@ public interface EdgeAgvService {
      */
     void clearFault(EdgeCommonVO edgeCommonVO);
 
+    /**
+     * 在当前地图中重新设置 AGV 定位位姿。
+     */
+    void relocalize(EdgeCommonVO edgeCommonVO, AgvUtils.AgvPose2d pose);
+
     /**
      * 按指定速度平移固定距离。
      */
@@ -58,6 +65,9 @@ public interface EdgeAgvService {
      */
     void navigateToPose(EdgeCommonVO edgeCommonVO, AgvUtils.AgvPose2d pose);
 
+    void navigateToPose(EdgeCommonVO edgeCommonVO, AgvUtils.AgvPose2d pose,
+                        AgvUtils.AgvMotionOptions options);
+
     /**
      * 导航到站点
      *
@@ -66,6 +76,9 @@ public interface EdgeAgvService {
      */
     void navigateToStation(EdgeCommonVO edgeCommonVO, String stationId);
 
+    void navigateToStation(EdgeCommonVO edgeCommonVO, String stationId,
+                           AgvUtils.AgvMotionOptions options);
+
     /**
      * 跟随路径
      *
@@ -74,6 +87,9 @@ public interface EdgeAgvService {
      */
     void followPath(EdgeCommonVO edgeCommonVO, List<AgvUtils.AgvPathSegment> pathSegments);
 
+    void followPath(EdgeCommonVO edgeCommonVO, List<AgvUtils.AgvPathSegment> pathSegments,
+                    AgvUtils.AgvMotionOptions options);
+
     /**
      * 暂停导航
      *

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

@@ -65,6 +65,20 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
         executeGrpcCall(() -> stub.clearFault(request));
     }
 
+    @Override
+    public void relocalize(EdgeCommonVO edgeCommonVO, AgvUtils.AgvPose2d pose) {
+        if (pose == null) {
+            throw new GlobalException("重定位位姿不能为空");
+        }
+        AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+                edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+        AgvCommand.AgvRelocalizeCommand.Request request = AgvCommand.AgvRelocalizeCommand.Request.newBuilder()
+                .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
+                .setPose(pose)
+                .build();
+        executeGrpcCall(() -> stub.relocalize(request));
+    }
+
     @Override
     public void translate(EdgeCommonVO edgeCommonVO, AgvUtils.AgvTranslation translation) {
         if (translation == null || translation.getDistance() <= 0) {
@@ -81,6 +95,12 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
 
     @Override
     public void navigateToPose(EdgeCommonVO edgeCommonVO, AgvUtils.AgvPose2d pose) {
+        navigateToPose(edgeCommonVO, pose, null);
+    }
+
+    @Override
+    public void navigateToPose(EdgeCommonVO edgeCommonVO, AgvUtils.AgvPose2d pose,
+                               AgvUtils.AgvMotionOptions options) {
         if (pose == null) {
             throw new GlobalException("目标位姿不能为空");
         }
@@ -90,12 +110,19 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
         AgvCommand.AgvNavigateToPoseCommand.Request request = AgvCommand.AgvNavigateToPoseCommand.Request.newBuilder()
             .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
             .setPose(pose)
+            .setOptions(normalizeNavigationOptions(options))
             .build();
         executeGrpcCall(() -> stub.navigateToPose(request));
     }
 
     @Override
     public void navigateToStation(EdgeCommonVO edgeCommonVO, String stationId) {
+        navigateToStation(edgeCommonVO, stationId, null);
+    }
+
+    @Override
+    public void navigateToStation(EdgeCommonVO edgeCommonVO, String stationId,
+                                  AgvUtils.AgvMotionOptions options) {
         if (StrUtil.isBlank(stationId)) {
             throw new GlobalException("站点ID不能为空");
         }
@@ -104,9 +131,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
             edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
         AgvCommand.AgvNavigateToStationCommand.Request request = AgvCommand.AgvNavigateToStationCommand.Request.newBuilder()
             .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
-            .setOptions(AgvUtils.AgvMotionOptions.newBuilder()
+            .setOptions(normalizeNavigationOptions(options))
-                .setAsynchronous(false)
-                .build())
             .setStationId(stationId)
             .build();
         executeGrpcCall(() -> stub.navigateToStation(request));
@@ -114,6 +139,12 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
 
     @Override
     public void followPath(EdgeCommonVO edgeCommonVO, List<AgvUtils.AgvPathSegment> pathSegments) {
+        followPath(edgeCommonVO, pathSegments, null);
+    }
+
+    @Override
+    public void followPath(EdgeCommonVO edgeCommonVO, List<AgvUtils.AgvPathSegment> pathSegments,
+                           AgvUtils.AgvMotionOptions options) {
         if (pathSegments == null || pathSegments.isEmpty()) {
             throw new GlobalException("路径段不能为空");
         }
@@ -123,6 +154,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
         AgvCommand.AgvFollowPathCommand.Request request = AgvCommand.AgvFollowPathCommand.Request.newBuilder()
             .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
             .addAllPath(pathSegments)
+            .setOptions(normalizeNavigationOptions(options))
             .build();
         executeGrpcCall(() -> stub.followPath(request));
     }
@@ -268,6 +300,15 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
         executeGrpcCall(() -> stub.stopMapping(request));
     }
 
+    AgvUtils.AgvMotionOptions normalizeNavigationOptions(AgvUtils.AgvMotionOptions options) {
+        AgvUtils.AgvMotionOptions.Builder builder = options == null
+                ? AgvUtils.AgvMotionOptions.newBuilder() : options.toBuilder();
+        if (builder.getBlockedTimeoutMs() <= 0) {
+            builder.setBlockedTimeoutMs(EdgeAgvService.DEFAULT_BLOCKED_TIMEOUT_MS);
+        }
+        return builder.build();
+    }
+
     /**
      * 执行gRPC调用并处理异常
      *

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

@@ -14,6 +14,7 @@ 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.EdgeAgvService;
 import com.cmvr.edge.client.service.EdgeSystemService;
 import com.cmvr.edge.client.utils.EdgeCommonUtil;
 import com.cmvr.common.exception.GlobalException;
@@ -314,6 +315,8 @@ public class EdgeSystemServiceImpl implements EdgeSystemService {
                 .setSpeedRatio(params.getDoubleValue("speedRatio"))
                 .setWaitTimeoutMs(params.getIntValue("waitTimeoutMs"))
                 .setPollIntervalMs(params.getIntValue("pollIntervalMs"))
+                .setBlockedTimeoutMs(params.getIntValue(
+                        "blockedTimeoutMs", EdgeAgvService.DEFAULT_BLOCKED_TIMEOUT_MS))
                 .setAsynchronous(false)
                 .build();
     }

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/test/java/com/cmvr/edge/client/service/impl/EdgeSystemServiceImplTest.java

@@ -1,6 +1,8 @@
 package com.cmvr.edge.client.service.impl;
 
 import cmvr.api.SafetyCommand;
+import cmvr.msgs.AgvUtils;
+import com.cmvr.edge.client.service.EdgeAgvService;
 import org.junit.Test;
 
 import static org.junit.Assert.assertEquals;
@@ -38,4 +40,16 @@ public class EdgeSystemServiceImplTest {
         assertEquals(1000, minimum.getTimeoutMs());
         assertEquals(120000, maximum.getTimeoutMs());
     }
+
+    @Test
+    public void appliesDefaultAgvBlockedTimeoutWithoutOverwritingExplicitValue() {
+        EdgeAgvServiceImpl agvService = new EdgeAgvServiceImpl(null);
+
+        AgvUtils.AgvMotionOptions defaults = agvService.normalizeNavigationOptions(null);
+        AgvUtils.AgvMotionOptions explicit = agvService.normalizeNavigationOptions(
+                AgvUtils.AgvMotionOptions.newBuilder().setBlockedTimeoutMs(12_000).build());
+
+        assertEquals(EdgeAgvService.DEFAULT_BLOCKED_TIMEOUT_MS, defaults.getBlockedTimeoutMs());
+        assertEquals(12_000, explicit.getBlockedTimeoutMs());
+    }
 }

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

@@ -143,6 +143,37 @@ public final class AgvServiceGrpc {
     return getClearFaultMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<cmvr.api.AgvCommand.AgvRelocalizeCommand.Request,
+      cmvr.api.AgvCommand.AgvRelocalizeCommand.Feedback> getRelocalizeMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "relocalize",
+      requestType = cmvr.api.AgvCommand.AgvRelocalizeCommand.Request.class,
+      responseType = cmvr.api.AgvCommand.AgvRelocalizeCommand.Feedback.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<cmvr.api.AgvCommand.AgvRelocalizeCommand.Request,
+      cmvr.api.AgvCommand.AgvRelocalizeCommand.Feedback> getRelocalizeMethod() {
+    io.grpc.MethodDescriptor<cmvr.api.AgvCommand.AgvRelocalizeCommand.Request, cmvr.api.AgvCommand.AgvRelocalizeCommand.Feedback> getRelocalizeMethod;
+    if ((getRelocalizeMethod = AgvServiceGrpc.getRelocalizeMethod) == null) {
+      synchronized (AgvServiceGrpc.class) {
+        if ((getRelocalizeMethod = AgvServiceGrpc.getRelocalizeMethod) == null) {
+          AgvServiceGrpc.getRelocalizeMethod = getRelocalizeMethod =
+              io.grpc.MethodDescriptor.<cmvr.api.AgvCommand.AgvRelocalizeCommand.Request, cmvr.api.AgvCommand.AgvRelocalizeCommand.Feedback>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "relocalize"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.AgvCommand.AgvRelocalizeCommand.Request.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.AgvCommand.AgvRelocalizeCommand.Feedback.getDefaultInstance()))
+              .setSchemaDescriptor(new AgvServiceMethodDescriptorSupplier("relocalize"))
+              .build();
+        }
+      }
+    }
+    return getRelocalizeMethod;
+  }
+
   private static volatile io.grpc.MethodDescriptor<cmvr.api.AgvCommand.AgvNavigateToPoseCommand.Request,
       cmvr.api.AgvCommand.AgvNavigateToPoseCommand.Feedback> getNavigateToPoseMethod;
 
@@ -762,6 +793,16 @@ public final class AgvServiceGrpc {
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getClearFaultMethod(), responseObserver);
     }
 
+    /**
+     * <pre>
+     * 在当前活动地图中重新设置定位位姿。调用前 AGV 必须已经停止。
+     * </pre>
+     */
+    public void relocalize(cmvr.api.AgvCommand.AgvRelocalizeCommand.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.AgvRelocalizeCommand.Feedback> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getRelocalizeMethod(), responseObserver);
+    }
+
     /**
      * <pre>
      * 导航到指定地图位姿。目标位姿 x/y 单位为米，theta 单位为弧度。
@@ -964,6 +1005,13 @@ public final class AgvServiceGrpc {
                 cmvr.api.Common.CommandHeader.Request,
                 cmvr.api.Common.CommandHeader.Feedback>(
                   this, METHODID_CLEAR_FAULT)))
+          .addMethod(
+            getRelocalizeMethod(),
+            io.grpc.stub.ServerCalls.asyncUnaryCall(
+              new MethodHandlers<
+                cmvr.api.AgvCommand.AgvRelocalizeCommand.Request,
+                cmvr.api.AgvCommand.AgvRelocalizeCommand.Feedback>(
+                  this, METHODID_RELOCALIZE)))
           .addMethod(
             getNavigateToPoseMethod(),
             io.grpc.stub.ServerCalls.asyncUnaryCall(
@@ -1149,6 +1197,17 @@ public final class AgvServiceGrpc {
           getChannel().newCall(getClearFaultMethod(), getCallOptions()), request, responseObserver);
     }
 
+    /**
+     * <pre>
+     * 在当前活动地图中重新设置定位位姿。调用前 AGV 必须已经停止。
+     * </pre>
+     */
+    public void relocalize(cmvr.api.AgvCommand.AgvRelocalizeCommand.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.AgvRelocalizeCommand.Feedback> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getRelocalizeMethod(), getCallOptions()), request, responseObserver);
+    }
+
     /**
      * <pre>
      * 导航到指定地图位姿。目标位姿 x/y 单位为米，theta 单位为弧度。
@@ -1397,6 +1456,16 @@ public final class AgvServiceGrpc {
           getChannel(), getClearFaultMethod(), getCallOptions(), request);
     }
 
+    /**
+     * <pre>
+     * 在当前活动地图中重新设置定位位姿。调用前 AGV 必须已经停止。
+     * </pre>
+     */
+    public cmvr.api.AgvCommand.AgvRelocalizeCommand.Feedback relocalize(cmvr.api.AgvCommand.AgvRelocalizeCommand.Request request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getRelocalizeMethod(), getCallOptions(), request);
+    }
+
     /**
      * <pre>
      * 导航到指定地图位姿。目标位姿 x/y 单位为米，theta 单位为弧度。
@@ -1633,6 +1702,17 @@ public final class AgvServiceGrpc {
           getChannel().newCall(getClearFaultMethod(), getCallOptions()), request);
     }
 
+    /**
+     * <pre>
+     * 在当前活动地图中重新设置定位位姿。调用前 AGV 必须已经停止。
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.AgvCommand.AgvRelocalizeCommand.Feedback> relocalize(
+        cmvr.api.AgvCommand.AgvRelocalizeCommand.Request request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getRelocalizeMethod(), getCallOptions()), request);
+    }
+
     /**
      * <pre>
      * 导航到指定地图位姿。目标位姿 x/y 单位为米，theta 单位为弧度。
@@ -1815,23 +1895,24 @@ public final class AgvServiceGrpc {
   private static final int METHODID_GET_NAVIGATION_STATUS = 1;
   private static final int METHODID_EMERGENCY_STOP = 2;
   private static final int METHODID_CLEAR_FAULT = 3;
-  private static final int METHODID_NAVIGATE_TO_POSE = 4;
+  private static final int METHODID_RELOCALIZE = 4;
-  private static final int METHODID_NAVIGATE_TO_STATION = 5;
+  private static final int METHODID_NAVIGATE_TO_POSE = 5;
-  private static final int METHODID_FOLLOW_PATH = 6;
+  private static final int METHODID_NAVIGATE_TO_STATION = 6;
-  private static final int METHODID_PAUSE_NAVIGATION = 7;
+  private static final int METHODID_FOLLOW_PATH = 7;
-  private static final int METHODID_RESUME_NAVIGATION = 8;
+  private static final int METHODID_PAUSE_NAVIGATION = 8;
-  private static final int METHODID_CANCEL_NAVIGATION = 9;
+  private static final int METHODID_RESUME_NAVIGATION = 9;
-  private static final int METHODID_SET_VELOCITY = 10;
+  private static final int METHODID_CANCEL_NAVIGATION = 10;
-  private static final int METHODID_STOP_VELOCITY_CONTROL = 11;
+  private static final int METHODID_SET_VELOCITY = 11;
-  private static final int METHODID_LIST_MAPS = 12;
+  private static final int METHODID_STOP_VELOCITY_CONTROL = 12;
-  private static final int METHODID_LIST_STATIONS = 13;
+  private static final int METHODID_LIST_MAPS = 13;
-  private static final int METHODID_SWITCH_MAP = 14;
+  private static final int METHODID_LIST_STATIONS = 14;
-  private static final int METHODID_UPLOAD_MAP = 15;
+  private static final int METHODID_SWITCH_MAP = 15;
-  private static final int METHODID_DOWNLOAD_MAP = 16;
+  private static final int METHODID_UPLOAD_MAP = 16;
-  private static final int METHODID_START_MAPPING = 17;
+  private static final int METHODID_DOWNLOAD_MAP = 17;
-  private static final int METHODID_STREAM_MAP = 18;
+  private static final int METHODID_START_MAPPING = 18;
-  private static final int METHODID_STOP_MAPPING = 19;
+  private static final int METHODID_STREAM_MAP = 19;
-  private static final int METHODID_TRANSLATE = 20;
+  private static final int METHODID_STOP_MAPPING = 20;
+  private static final int METHODID_TRANSLATE = 21;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -1866,6 +1947,10 @@ public final class AgvServiceGrpc {
           serviceImpl.clearFault((cmvr.api.Common.CommandHeader.Request) request,
               (io.grpc.stub.StreamObserver<cmvr.api.Common.CommandHeader.Feedback>) responseObserver);
           break;
+        case METHODID_RELOCALIZE:
+          serviceImpl.relocalize((cmvr.api.AgvCommand.AgvRelocalizeCommand.Request) request,
+              (io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.AgvRelocalizeCommand.Feedback>) responseObserver);
+          break;
         case METHODID_NAVIGATE_TO_POSE:
           serviceImpl.navigateToPose((cmvr.api.AgvCommand.AgvNavigateToPoseCommand.Request) request,
               (io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.AgvNavigateToPoseCommand.Feedback>) responseObserver);
@@ -1999,6 +2084,7 @@ public final class AgvServiceGrpc {
               .addMethod(getGetNavigationStatusMethod())
               .addMethod(getEmergencyStopMethod())
               .addMethod(getClearFaultMethod())
+              .addMethod(getRelocalizeMethod())
               .addMethod(getNavigateToPoseMethod())
               .addMethod(getNavigateToStationMethod())
               .addMethod(getFollowPathMethod())

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

@@ -25,7 +25,7 @@ public final class AgvServiceOuterClass {
     java.lang.String[] descriptorData = {
       "\n\032cmvr/api/agv_service.proto\022\010cmvr.api\032\025" +
       "cmvr/api/common.proto\032\032cmvr/api/agv_comm" +
-      "and.proto2\254\017\n\nAgvService\022f\n\017getRuntimeSt" +
+      "and.proto2\213\020\n\nAgvService\022f\n\017getRuntimeSt" +
       "ate\022(.cmvr.api.AgvRuntimeStateCommand.Re" +
       "quest\032).cmvr.api.AgvRuntimeStateCommand." +
       "Feedback\022r\n\023getNavigationStatus\022,.cmvr.a" +
@@ -35,46 +35,48 @@ public final class AgvServiceOuterClass {
       "Header.Request\032 .cmvr.api.CommandHeader." +
       "Feedback\022O\n\nclearFault\022\037.cmvr.api.Comman" +
       "dHeader.Request\032 .cmvr.api.CommandHeader" +
-      ".Feedback\022i\n\016navigateToPose\022*.cmvr.api.A" +
+      ".Feedback\022]\n\nrelocalize\022&.cmvr.api.AgvRe" +
-      "gvNavigateToPoseCommand.Request\032+.cmvr.a" +
+      "localizeCommand.Request\032\'.cmvr.api.AgvRe" +
-      "pi.AgvNavigateToPoseCommand.Feedback\022r\n\021" +
+      "localizeCommand.Feedback\022i\n\016navigateToPo" +
-      "navigateToStation\022-.cmvr.api.AgvNavigate" +
+      "se\022*.cmvr.api.AgvNavigateToPoseCommand.R" +
-      "ToStationCommand.Request\032..cmvr.api.AgvN" +
+      "equest\032+.cmvr.api.AgvNavigateToPoseComma" +
-      "avigateToStationCommand.Feedback\022]\n\nfoll" +
+      "nd.Feedback\022r\n\021navigateToStation\022-.cmvr." +
-      "owPath\022&.cmvr.api.AgvFollowPathCommand.R" +
+      "api.AgvNavigateToStationCommand.Request\032" +
-      "equest\032\'.cmvr.api.AgvFollowPathCommand.F" +
+      "..cmvr.api.AgvNavigateToStationCommand.F" +
-      "eedback\022T\n\017pauseNavigation\022\037.cmvr.api.Co" +
+      "eedback\022]\n\nfollowPath\022&.cmvr.api.AgvFoll" +
-      "mmandHeader.Request\032 .cmvr.api.CommandHe" +
+      "owPathCommand.Request\032\'.cmvr.api.AgvFoll" +
-      "ader.Feedback\022U\n\020resumeNavigation\022\037.cmvr" +
+      "owPathCommand.Feedback\022T\n\017pauseNavigatio" +
-      ".api.CommandHeader.Request\032 .cmvr.api.Co" +
+      "n\022\037.cmvr.api.CommandHeader.Request\032 .cmv" +
-      "mmandHeader.Feedback\022U\n\020cancelNavigation" +
+      "r.api.CommandHeader.Feedback\022U\n\020resumeNa" +
-      "\022\037.cmvr.api.CommandHeader.Request\032 .cmvr" +
+      "vigation\022\037.cmvr.api.CommandHeader.Reques" +
-      ".api.CommandHeader.Feedback\022`\n\013setVeloci" +
+      "t\032 .cmvr.api.CommandHeader.Feedback\022U\n\020c" +
-      "ty\022\'.cmvr.api.AgvSetVelocityCommand.Requ" +
+      "ancelNavigation\022\037.cmvr.api.CommandHeader" +
-      "est\032(.cmvr.api.AgvSetVelocityCommand.Fee" +
+      ".Request\032 .cmvr.api.CommandHeader.Feedba" +
-      "dback\022X\n\023stopVelocityControl\022\037.cmvr.api." +
+      "ck\022`\n\013setVelocity\022\'.cmvr.api.AgvSetVeloc" +
-      "CommandHeader.Request\032 .cmvr.api.Command" +
+      "ityCommand.Request\032(.cmvr.api.AgvSetVelo" +
-      "Header.Feedback\022W\n\010listMaps\022$.cmvr.api.A" +
+      "cityCommand.Feedback\022X\n\023stopVelocityCont" +
-      "gvListMapsCommand.Request\032%.cmvr.api.Agv" +
+      "rol\022\037.cmvr.api.CommandHeader.Request\032 .c" +
-      "ListMapsCommand.Feedback\022c\n\014listStations" +
+      "mvr.api.CommandHeader.Feedback\022W\n\010listMa" +
-      "\022(.cmvr.api.AgvListStationsCommand.Reque" +
+      "ps\022$.cmvr.api.AgvListMapsCommand.Request" +
-      "st\032).cmvr.api.AgvListStationsCommand.Fee" +
+      "\032%.cmvr.api.AgvListMapsCommand.Feedback\022" +
-      "dback\022N\n\tswitchMap\022\037.cmvr.api.AgvMapComm" +
+      "c\n\014listStations\022(.cmvr.api.AgvListStatio" +
-      "and.Request\032 .cmvr.api.AgvMapCommand.Fee" +
+      "nsCommand.Request\032).cmvr.api.AgvListStat" +
-      "dback\022N\n\tuploadMap\022\037.cmvr.api.AgvMapComm" +
+      "ionsCommand.Feedback\022N\n\tswitchMap\022\037.cmvr" +
-      "and.Request\032 .cmvr.api.AgvMapCommand.Fee" +
+      ".api.AgvMapCommand.Request\032 .cmvr.api.Ag" +
-      "dback\022P\n\013downloadMap\022\037.cmvr.api.AgvMapCo" +
+      "vMapCommand.Feedback\022N\n\tuploadMap\022\037.cmvr" +
-      "mmand.Request\032 .cmvr.api.AgvMapCommand.F" +
+      ".api.AgvMapCommand.Request\032 .cmvr.api.Ag" +
-      "eedback\022c\n\014startMapping\022(.cmvr.api.AgvSt" +
+      "vMapCommand.Feedback\022P\n\013downloadMap\022\037.cm" +
-      "artMappingCommand.Request\032).cmvr.api.Agv" +
+      "vr.api.AgvMapCommand.Request\032 .cmvr.api." +
-      "StartMappingCommand.Feedback\022\\\n\tstreamMa" +
+      "AgvMapCommand.Feedback\022c\n\014startMapping\022(" +
-      "p\022%.cmvr.api.AgvMapStreamCommand.Request" +
+      ".cmvr.api.AgvStartMappingCommand.Request" +
-      "\032&.cmvr.api.AgvMapStreamCommand.Feedback" +
+      "\032).cmvr.api.AgvStartMappingCommand.Feedb" +
-      "0\001\022P\n\013stopMapping\022\037.cmvr.api.CommandHead" +
+      "ack\022\\\n\tstreamMap\022%.cmvr.api.AgvMapStream" +
-      "er.Request\032 .cmvr.api.CommandHeader.Feed" +
+      "Command.Request\032&.cmvr.api.AgvMapStreamC" +
-      "back\022Z\n\ttranslate\022%.cmvr.api.AgvTranslat" +
+      "ommand.Feedback0\001\022P\n\013stopMapping\022\037.cmvr." +
-      "eCommand.Request\032&.cmvr.api.AgvTranslate" +
+      "api.CommandHeader.Request\032 .cmvr.api.Com" +
-      "Command.Feedbackb\006proto3"
+      "mandHeader.Feedback\022Z\n\ttranslate\022%.cmvr." +
+      "api.AgvTranslateCommand.Request\032&.cmvr.a" +
+      "pi.AgvTranslateCommand.Feedbackb\006proto3"
     };
     descriptor = com.google.protobuf.Descriptors.FileDescriptor
       .internalBuildGeneratedFileFrom(descriptorData,

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

@@ -3863,6 +3863,17 @@ public final class AgvUtils {
      * @return The pollIntervalMs.
      */
     int getPollIntervalMs();
+
+    /**
+     * <pre>
+     * 连续遇障且底盘停止时的最大等待时间，单位：毫秒；
+     * 0 或未传表示使用适配器默认值 60000 毫秒。
+     * </pre>
+     *
+     * <code>int32 blocked_timeout_ms = 11;</code>
+     * @return The blockedTimeoutMs.
+     */
+    int getBlockedTimeoutMs();
   }
   /**
    * <pre>
@@ -4060,6 +4071,22 @@ public final class AgvUtils {
       return pollIntervalMs_;
     }
 
+    public static final int BLOCKED_TIMEOUT_MS_FIELD_NUMBER = 11;
+    private int blockedTimeoutMs_;
+    /**
+     * <pre>
+     * 连续遇障且底盘停止时的最大等待时间，单位：毫秒；
+     * 0 或未传表示使用适配器默认值 60000 毫秒。
+     * </pre>
+     *
+     * <code>int32 blocked_timeout_ms = 11;</code>
+     * @return The blockedTimeoutMs.
+     */
+    @java.lang.Override
+    public int getBlockedTimeoutMs() {
+      return blockedTimeoutMs_;
+    }
+
     private byte memoizedIsInitialized = -1;
     @java.lang.Override
     public final boolean isInitialized() {
@@ -4104,6 +4131,9 @@ public final class AgvUtils {
       if (pollIntervalMs_ != 0) {
         output.writeInt32(10, pollIntervalMs_);
       }
+      if (blockedTimeoutMs_ != 0) {
+        output.writeInt32(11, blockedTimeoutMs_);
+      }
       getUnknownFields().writeTo(output);
     }
 
@@ -4153,6 +4183,10 @@ public final class AgvUtils {
         size += com.google.protobuf.CodedOutputStream
           .computeInt32Size(10, pollIntervalMs_);
       }
+      if (blockedTimeoutMs_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(11, blockedTimeoutMs_);
+      }
       size += getUnknownFields().getSerializedSize();
       memoizedSize = size;
       return size;
@@ -4195,6 +4229,8 @@ public final class AgvUtils {
           != other.getWaitTimeoutMs()) return false;
       if (getPollIntervalMs()
           != other.getPollIntervalMs()) return false;
+      if (getBlockedTimeoutMs()
+          != other.getBlockedTimeoutMs()) return false;
       if (!getUnknownFields().equals(other.getUnknownFields())) return false;
       return true;
     }
@@ -4234,6 +4270,8 @@ public final class AgvUtils {
       hash = (53 * hash) + getWaitTimeoutMs();
       hash = (37 * hash) + POLL_INTERVAL_MS_FIELD_NUMBER;
       hash = (53 * hash) + getPollIntervalMs();
+      hash = (37 * hash) + BLOCKED_TIMEOUT_MS_FIELD_NUMBER;
+      hash = (53 * hash) + getBlockedTimeoutMs();
       hash = (29 * hash) + getUnknownFields().hashCode();
       memoizedHashCode = hash;
       return hash;
@@ -4386,6 +4424,8 @@ public final class AgvUtils {
 
         pollIntervalMs_ = 0;
 
+        blockedTimeoutMs_ = 0;
+
         return this;
       }
 
@@ -4422,6 +4462,7 @@ public final class AgvUtils {
         result.asynchronous_ = asynchronous_;
         result.waitTimeoutMs_ = waitTimeoutMs_;
         result.pollIntervalMs_ = pollIntervalMs_;
+        result.blockedTimeoutMs_ = blockedTimeoutMs_;
         onBuilt();
         return result;
       }
@@ -4500,6 +4541,9 @@ public final class AgvUtils {
         if (other.getPollIntervalMs() != 0) {
           setPollIntervalMs(other.getPollIntervalMs());
         }
+        if (other.getBlockedTimeoutMs() != 0) {
+          setBlockedTimeoutMs(other.getBlockedTimeoutMs());
+        }
         this.mergeUnknownFields(other.getUnknownFields());
         onChanged();
         return this;
@@ -4576,6 +4620,11 @@ public final class AgvUtils {
 
                 break;
               } // case 80
+              case 88: {
+                blockedTimeoutMs_ = input.readInt32();
+
+                break;
+              } // case 88
               default: {
                 if (!super.parseUnknownField(input, extensionRegistry, tag)) {
                   done = true; // was an endgroup tag
@@ -5027,6 +5076,52 @@ public final class AgvUtils {
         onChanged();
         return this;
       }
+
+      private int blockedTimeoutMs_ ;
+      /**
+       * <pre>
+       * 连续遇障且底盘停止时的最大等待时间，单位：毫秒；
+       * 0 或未传表示使用适配器默认值 60000 毫秒。
+       * </pre>
+       *
+       * <code>int32 blocked_timeout_ms = 11;</code>
+       * @return The blockedTimeoutMs.
+       */
+      @java.lang.Override
+      public int getBlockedTimeoutMs() {
+        return blockedTimeoutMs_;
+      }
+      /**
+       * <pre>
+       * 连续遇障且底盘停止时的最大等待时间，单位：毫秒；
+       * 0 或未传表示使用适配器默认值 60000 毫秒。
+       * </pre>
+       *
+       * <code>int32 blocked_timeout_ms = 11;</code>
+       * @param value The blockedTimeoutMs to set.
+       * @return This builder for chaining.
+       */
+      public Builder setBlockedTimeoutMs(int value) {
+        
+        blockedTimeoutMs_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 连续遇障且底盘停止时的最大等待时间，单位：毫秒；
+       * 0 或未传表示使用适配器默认值 60000 毫秒。
+       * </pre>
+       *
+       * <code>int32 blocked_timeout_ms = 11;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearBlockedTimeoutMs() {
+        
+        blockedTimeoutMs_ = 0;
+        onChanged();
+        return this;
+      }
       @java.lang.Override
       public final Builder setUnknownFields(
           final com.google.protobuf.UnknownFieldSet unknownFields) {
@@ -23730,84 +23825,85 @@ java.lang.String defaultValue);
       "elocity\022\n\n\002vx\030\001 \001(\001\022\n\n\002vy\030\002 \001(\001\022\n\n\002wz\030\003 " +
       "\001(\001\"n\n\017AgvBatteryState\022\022\n\npercentage\030\001 \001" +
       "(\001\022\017\n\007voltage\030\002 \001(\001\022\017\n\007current\030\003 \001(\001\022\023\n\013" +
-      "temperature\030\004 \001(\001\022\020\n\010charging\030\005 \001(\010\"\207\002\n\020" +
+      "temperature\030\004 \001(\001\022\020\n\010charging\030\005 \001(\010\"\243\002\n\020" +
       "AgvMotionOptions\022\021\n\tmax_speed\030\001 \001(\001\022\031\n\021m" +
       "ax_angular_speed\030\002 \001(\001\022\030\n\020max_accelerati" +
       "on\030\003 \001(\001\022 \n\030max_angular_acceleration\030\004 \001" +
       "(\001\022\026\n\016reach_distance\030\005 \001(\001\022\023\n\013reach_angl" +
       "e\030\006 \001(\001\022\023\n\013speed_ratio\030\007 \001(\001\022\024\n\014asynchro" +
       "nous\030\010 \001(\010\022\027\n\017wait_timeout_ms\030\t \001(\005\022\030\n\020p" +
-      "oll_interval_ms\030\n \001(\005\"z\n\020AgvAdapterParam" +
+      "oll_interval_ms\030\n \001(\005\022\032\n\022blocked_timeout" +
-      "s\0227\n\006values\030\001 \003(\0132\'.cmvr.msgs.AgvAdapter" +
+      "_ms\030\013 \001(\005\"z\n\020AgvAdapterParams\0227\n\006values\030" +
-      "Params.ValuesEntry\032-\n\013ValuesEntry\022\013\n\003key" +
+      "\001 \003(\0132\'.cmvr.msgs.AgvAdapterParams.Value" +
-      "\030\001 \001(\t\022\r\n\005value\030\002 \001(\t:\0028\001\"\317\002\n\017AgvRuntime" +
+      "sEntry\032-\n\013ValuesEntry\022\013\n\003key\030\001 \001(\t\022\r\n\005va" +
-      "State\022\021\n\ttimestamp\030\001 \001(\001\022\014\n\004mode\030\002 \001(\005\022\021" +
+      "lue\030\002 \001(\t:\0028\001\"\317\002\n\017AgvRuntimeState\022\021\n\ttim" +
-      "\n\tconnected\030\003 \001(\010\022\021\n\tlocalized\030\004 \001(\010\022\016\n\006" +
+      "estamp\030\001 \001(\001\022\014\n\004mode\030\002 \001(\005\022\021\n\tconnected\030" +
-      "moving\030\005 \001(\010\022\r\n\005fault\030\006 \001(\010\022\031\n\021emergency" +
+      "\003 \001(\010\022\021\n\tlocalized\030\004 \001(\010\022\016\n\006moving\030\005 \001(\010" +
-      "_stopped\030\007 \001(\010\022\"\n\004pose\030\010 \001(\0132\024.cmvr.msgs" +
+      "\022\r\n\005fault\030\006 \001(\010\022\031\n\021emergency_stopped\030\007 \001" +
-      ".AgvPose2d\022(\n\010velocity\030\t \001(\0132\026.cmvr.msgs" +
+      "(\010\022\"\n\004pose\030\010 \001(\0132\024.cmvr.msgs.AgvPose2d\022(" +
-      ".AgvVelocity\022+\n\007battery\030\n \001(\0132\032.cmvr.msg" +
+      "\n\010velocity\030\t \001(\0132\026.cmvr.msgs.AgvVelocity" +
-      "s.AgvBatteryState\022\023\n\013current_map\030\013 \001(\t\022\027" +
+      "\022+\n\007battery\030\n \001(\0132\032.cmvr.msgs.AgvBattery" +
-      "\n\017current_station\030\014 \001(\t\022\022\n\nlast_error\030\r " +
+      "State\022\023\n\013current_map\030\013 \001(\t\022\027\n\017current_st" +
-      "\001(\t\"_\n\nAgvStation\022\n\n\002id\030\001 \001(\t\022\014\n\004type\030\002 " +
+      "ation\030\014 \001(\t\022\022\n\nlast_error\030\r \001(\t\"_\n\nAgvSt" +
-      "\001(\t\022\"\n\004pose\030\003 \001(\0132\024.cmvr.msgs.AgvPose2d\022" +
+      "ation\022\n\n\002id\030\001 \001(\t\022\014\n\004type\030\002 \001(\t\022\"\n\004pose\030" +
-      "\023\n\013description\030\004 \001(\t\"@\n\016AgvPathSegment\022\026" +
+      "\003 \001(\0132\024.cmvr.msgs.AgvPose2d\022\023\n\013descripti" +
-      "\n\016source_station\030\001 \001(\t\022\026\n\016target_station" +
+      "on\030\004 \001(\t\"@\n\016AgvPathSegment\022\026\n\016source_sta" +
-      "\030\002 \001(\t\"0\n\rAgvMapPoint3D\022\t\n\001x\030\001 \001(\001\022\t\n\001y\030" +
+      "tion\030\001 \001(\t\022\026\n\016target_station\030\002 \001(\t\"0\n\rAg" +
-      "\002 \001(\001\022\t\n\001z\030\003 \001(\001\"\307\001\n\017AgvUnifiedMap2D\022\020\n\010" +
+      "vMapPoint3D\022\t\n\001x\030\001 \001(\001\022\t\n\001y\030\002 \001(\001\022\t\n\001z\030\003" +
-      "frame_id\030\001 \001(\t\022\021\n\ttimestamp\030\002 \001(\001\022\022\n\nres" +
+      " \001(\001\"\307\001\n\017AgvUnifiedMap2D\022\020\n\010frame_id\030\001 \001" +
-      "olution\030\003 \001(\001\022\r\n\005width\030\004 \001(\r\022\016\n\006height\030\005" +
+      "(\t\022\021\n\ttimestamp\030\002 \001(\001\022\022\n\nresolution\030\003 \001(" +
-      " \001(\r\022$\n\006origin\030\006 \001(\0132\024.cmvr.msgs.AgvPose" +
+      "\001\022\r\n\005width\030\004 \001(\r\022\016\n\006height\030\005 \001(\r\022$\n\006orig" +
-      "2d\022\014\n\004data\030\007 \003(\005\022(\n\007objects\030\010 \003(\0132\027.cmvr" +
+      "in\030\006 \001(\0132\024.cmvr.msgs.AgvPose2d\022\014\n\004data\030\007" +
-      ".msgs.AgvMapObject\"l\n\023AgvMapPointSample3" +
+      " \003(\005\022(\n\007objects\030\010 \003(\0132\027.cmvr.msgs.AgvMap" +
-      "D\022\t\n\001x\030\001 \001(\001\022\t\n\001y\030\002 \001(\001\022\t\n\001z\030\003 \001(\001\022\021\n\tin" +
+      "Object\"l\n\023AgvMapPointSample3D\022\t\n\001x\030\001 \001(\001" +
-      "tensity\030\004 \001(\002\022\014\n\004ring\030\005 \001(\r\022\023\n\013time_offs" +
+      "\022\t\n\001y\030\002 \001(\001\022\t\n\001z\030\003 \001(\001\022\021\n\tintensity\030\004 \001(" +
-      "et\030\006 \001(\001\"E\n\rAgvMapVoxel3D\022\t\n\001x\030\001 \001(\005\022\t\n\001" +
+      "\002\022\014\n\004ring\030\005 \001(\r\022\023\n\013time_offset\030\006 \001(\001\"E\n\r" +
-      "y\030\002 \001(\005\022\t\n\001z\030\003 \001(\005\022\023\n\013probability\030\004 \001(\002\"" +
+      "AgvMapVoxel3D\022\t\n\001x\030\001 \001(\005\022\t\n\001y\030\002 \001(\005\022\t\n\001z" +
-      "~\n\rAgvMapPlane3D\022(\n\006center\030\001 \001(\0132\030.cmvr." +
+      "\030\003 \001(\005\022\023\n\013probability\030\004 \001(\002\"~\n\rAgvMapPla" +
-      "msgs.AgvMapPoint3D\022(\n\006normal\030\002 \001(\0132\030.cmv" +
+      "ne3D\022(\n\006center\030\001 \001(\0132\030.cmvr.msgs.AgvMapP" +
-      "r.msgs.AgvMapPoint3D\022\t\n\001d\030\003 \001(\001\022\016\n\006radiu" +
+      "oint3D\022(\n\006normal\030\002 \001(\0132\030.cmvr.msgs.AgvMa" +
-      "s\030\004 \001(\001\"\360\001\n\014AgvMapObject\022\n\n\002id\030\001 \001(\t\022)\n\004" +
+      "pPoint3D\022\t\n\001d\030\003 \001(\001\022\016\n\006radius\030\004 \001(\001\"\360\001\n\014" +
-      "type\030\002 \001(\0162\033.cmvr.msgs.AgvMapObjectType\022" +
+      "AgvMapObject\022\n\n\002id\030\001 \001(\t\022)\n\004type\030\002 \001(\0162\033" +
-      "(\n\006points\030\003 \003(\0132\030.cmvr.msgs.AgvMapPoint3" +
+      ".cmvr.msgs.AgvMapObjectType\022(\n\006points\030\003 " +
-      "D\022\017\n\007heading\030\004 \001(\001\022;\n\nproperties\030\005 \003(\0132\'" +
+      "\003(\0132\030.cmvr.msgs.AgvMapPoint3D\022\017\n\007heading" +
-      ".cmvr.msgs.AgvMapObject.PropertiesEntry\032" +
+      "\030\004 \001(\001\022;\n\nproperties\030\005 \003(\0132\'.cmvr.msgs.A" +
-      "1\n\017PropertiesEntry\022\013\n\003key\030\001 \001(\t\022\r\n\005value" +
+      "gvMapObject.PropertiesEntry\0321\n\017Propertie" +
-      "\030\002 \001(\t:\0028\001\"\376\001\n\017AgvUnifiedMap3D\022\020\n\010frame_" +
+      "sEntry\022\013\n\003key\030\001 \001(\t\022\r\n\005value\030\002 \001(\t:\0028\001\"\376" +
-      "id\030\001 \001(\t\022\021\n\ttimestamp\030\002 \001(\001\022\030\n\020voxel_res" +
+      "\001\n\017AgvUnifiedMap3D\022\020\n\010frame_id\030\001 \001(\t\022\021\n\t" +
-      "olution\030\003 \001(\001\022.\n\006points\030\004 \003(\0132\036.cmvr.msg" +
+      "timestamp\030\002 \001(\001\022\030\n\020voxel_resolution\030\003 \001(" +
-      "s.AgvMapPointSample3D\022(\n\006voxels\030\005 \003(\0132\030." +
+      "\001\022.\n\006points\030\004 \003(\0132\036.cmvr.msgs.AgvMapPoin" +
-      "cmvr.msgs.AgvMapVoxel3D\022(\n\006planes\030\006 \003(\0132" +
+      "tSample3D\022(\n\006voxels\030\005 \003(\0132\030.cmvr.msgs.Ag" +
-      "\030.cmvr.msgs.AgvMapPlane3D\022(\n\007objects\030\007 \003" +
+      "vMapVoxel3D\022(\n\006planes\030\006 \003(\0132\030.cmvr.msgs." +
-      "(\0132\027.cmvr.msgs.AgvMapObject\"\246\003\n\023AgvUnifi" +
+      "AgvMapPlane3D\022(\n\007objects\030\007 \003(\0132\027.cmvr.ms" +
-      "edMapUpdate\022\016\n\006map_id\030\001 \001(\t\022\022\n\nsession_i" +
+      "gs.AgvMapObject\"\246\003\n\023AgvUnifiedMapUpdate\022" +
-      "d\030\002 \001(\t\022\020\n\010sequence\030\003 \001(\004\022\024\n\014resume_toke" +
+      "\016\n\006map_id\030\001 \001(\t\022\022\n\nsession_id\030\002 \001(\t\022\020\n\010s" +
-      "n\030\004 \001(\t\022-\n\tdimension\030\005 \001(\0162\032.cmvr.msgs.A" +
+      "equence\030\003 \001(\004\022\024\n\014resume_token\030\004 \001(\t\022-\n\td" +
-      "gvMapDimension\0220\n\013update_type\030\006 \001(\0162\033.cm" +
+      "imension\030\005 \001(\0162\032.cmvr.msgs.AgvMapDimensi" +
-      "vr.msgs.AgvMapUpdateType\022\020\n\010frame_id\030\007 \001" +
+      "on\0220\n\013update_type\030\006 \001(\0162\033.cmvr.msgs.AgvM" +
-      "(\t\022\021\n\ttimestamp\030\010 \001(\001\022\026\n\016snapshot_begin\030" +
+      "apUpdateType\022\020\n\010frame_id\030\007 \001(\t\022\021\n\ttimest" +
-      "\t \001(\010\022\024\n\014snapshot_end\030\n \001(\010\022\023\n\013chunk_ind" +
+      "amp\030\010 \001(\001\022\026\n\016snapshot_begin\030\t \001(\010\022\024\n\014sna" +
-      "ex\030\013 \001(\r\022\023\n\013chunk_count\030\014 \001(\r\022,\n\006map_2d\030" +
+      "pshot_end\030\n \001(\010\022\023\n\013chunk_index\030\013 \001(\r\022\023\n\013" +
-      "\024 \001(\0132\032.cmvr.msgs.AgvUnifiedMap2DH\000\022,\n\006m" +
+      "chunk_count\030\014 \001(\r\022,\n\006map_2d\030\024 \001(\0132\032.cmvr" +
-      "ap_3d\030\025 \001(\0132\032.cmvr.msgs.AgvUnifiedMap3DH" +
+      ".msgs.AgvUnifiedMap2DH\000\022,\n\006map_3d\030\025 \001(\0132" +
-      "\000B\t\n\007payload\"U\n\023AgvNavigationStatus\022\r\n\005s" +
+      "\032.cmvr.msgs.AgvUnifiedMap3DH\000B\t\n\007payload" +
-      "tate\030\001 \001(\005\022\014\n\004type\030\002 \001(\005\022\020\n\010progress\030\003 \001" +
+      "\"U\n\023AgvNavigationStatus\022\r\n\005state\030\001 \001(\005\022\014" +
-      "(\001\022\017\n\007message\030\004 \001(\t*^\n\022AgvTranslationMod" +
+      "\n\004type\030\002 \001(\005\022\020\n\010progress\030\003 \001(\001\022\017\n\007messag" +
-      "e\022!\n\035AGV_TRANSLATION_MODE_ODOMETRY\020\000\022%\n!" +
+      "e\030\004 \001(\t*^\n\022AgvTranslationMode\022!\n\035AGV_TRA" +
-      "AGV_TRANSLATION_MODE_LOCALIZATION\020\001*k\n\017A" +
+      "NSLATION_MODE_ODOMETRY\020\000\022%\n!AGV_TRANSLAT" +
-      "gvMapDimension\022!\n\035AGV_MAP_DIMENSION_UNSP" +
+      "ION_MODE_LOCALIZATION\020\001*k\n\017AgvMapDimensi" +
-      "ECIFIED\020\000\022\016\n\nAGV_MAP_2D\020\001\022\016\n\nAGV_MAP_3D\020" +
+      "on\022!\n\035AGV_MAP_DIMENSION_UNSPECIFIED\020\000\022\016\n" +
-      "\002\022\025\n\021AGV_MAP_2D_AND_3D\020\003*\211\001\n\020AgvMapUpdat" +
+      "\nAGV_MAP_2D\020\001\022\016\n\nAGV_MAP_3D\020\002\022\025\n\021AGV_MAP" +
-      "eType\022\036\n\032AGV_MAP_UPDATE_UNSPECIFIED\020\000\022\033\n" +
+      "_2D_AND_3D\020\003*\211\001\n\020AgvMapUpdateType\022\036\n\032AGV" +
-      "\027AGV_MAP_UPDATE_SNAPSHOT\020\001\022\036\n\032AGV_MAP_UP" +
+      "_MAP_UPDATE_UNSPECIFIED\020\000\022\033\n\027AGV_MAP_UPD" +
-      "DATE_INCREMENTAL\020\002\022\030\n\024AGV_MAP_UPDATE_RES" +
+      "ATE_SNAPSHOT\020\001\022\036\n\032AGV_MAP_UPDATE_INCREME" +
-      "ET\020\003*\376\001\n\020AgvMapObjectType\022\036\n\032AGV_MAP_OBJ" +
+      "NTAL\020\002\022\030\n\024AGV_MAP_UPDATE_RESET\020\003*\376\001\n\020Agv" +
-      "ECT_UNSPECIFIED\020\000\022\032\n\026AGV_MAP_OBJECT_STAT" +
+      "MapObjectType\022\036\n\032AGV_MAP_OBJECT_UNSPECIF" +
-      "ION\020\001\022\027\n\023AGV_MAP_OBJECT_LINE\020\002\022\027\n\023AGV_MA" +
+      "IED\020\000\022\032\n\026AGV_MAP_OBJECT_STATION\020\001\022\027\n\023AGV" +
-      "P_OBJECT_AREA\020\003\022\031\n\025AGV_MAP_OBJECT_QR_TAG" +
+      "_MAP_OBJECT_LINE\020\002\022\027\n\023AGV_MAP_OBJECT_ARE" +
-      "\020\004\022\034\n\030AGV_MAP_OBJECT_REFLECTOR\020\005\022\037\n\033AGV_" +
+      "A\020\003\022\031\n\025AGV_MAP_OBJECT_QR_TAG\020\004\022\034\n\030AGV_MA" +
-      "MAP_OBJECT_BIN_LOCATION\020\006\022\"\n\036AGV_MAP_OBJ" +
+      "P_OBJECT_REFLECTOR\020\005\022\037\n\033AGV_MAP_OBJECT_B" +
-      "ECT_EXTERNAL_DEVICE\020\007b\006proto3"
+      "IN_LOCATION\020\006\022\"\n\036AGV_MAP_OBJECT_EXTERNAL" +
+      "_DEVICE\020\007b\006proto3"
     };
     descriptor = com.google.protobuf.Descriptors.FileDescriptor
       .internalBuildGeneratedFileFrom(descriptorData,
@@ -23842,7 +23938,7 @@ java.lang.String defaultValue);
     internal_static_cmvr_msgs_AgvMotionOptions_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_cmvr_msgs_AgvMotionOptions_descriptor,
-        new java.lang.String[] { "MaxSpeed", "MaxAngularSpeed", "MaxAcceleration", "MaxAngularAcceleration", "ReachDistance", "ReachAngle", "SpeedRatio", "Asynchronous", "WaitTimeoutMs", "PollIntervalMs", });
+        new java.lang.String[] { "MaxSpeed", "MaxAngularSpeed", "MaxAcceleration", "MaxAngularAcceleration", "ReachDistance", "ReachAngle", "SpeedRatio", "Asynchronous", "WaitTimeoutMs", "PollIntervalMs", "BlockedTimeoutMs", });
     internal_static_cmvr_msgs_AgvAdapterParams_descriptor =
       getDescriptor().getMessageTypes().get(5);
     internal_static_cmvr_msgs_AgvAdapterParams_fieldAccessorTable = new

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

@@ -37,6 +37,23 @@ message AgvNavigationStatusCommand {
   }
 }
 
+
+// 在当前活动地图中重新设置 AGV 定位位姿。
+message AgvRelocalizeCommand {
+  message Request {
+    // header.device_id 指定目标 AGV 设备。
+    CommandHeader.Request header = 1;
+    // x/y 单位：米，theta 单位：弧度，逆时针为正。
+    cmvr.msgs.AgvPose2d pose = 2;
+  }
+
+  message Feedback {
+    // 成功仅表示控制器接受命令，不表示定位已经收敛。
+    CommandHeader.Feedback header = 1;
+  }
+}
+
+
 // 导航到指定地图位姿命令。
 message AgvNavigateToPoseCommand {
   // 请求体。

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

@@ -20,6 +20,9 @@ service AgvService {
   // 清除可恢复故障或告警。
   rpc clearFault(CommandHeader.Request) returns (CommandHeader.Feedback);
 
+  // 在当前活动地图中重新设置定位位姿。调用前 AGV 必须已经停止。
+  rpc relocalize(AgvRelocalizeCommand.Request)returns (AgvRelocalizeCommand.Feedback);
+
   // 导航到指定地图位姿。目标位姿 x/y 单位为米，theta 单位为弧度。
   rpc navigateToPose(AgvNavigateToPoseCommand.Request) returns (AgvNavigateToPoseCommand.Feedback);
 

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

@@ -88,6 +88,9 @@ message AgvMotionOptions {
   int32 wait_timeout_ms = 9;
   // 同步导航的状态轮询周期，单位：毫秒；0 表示使用适配器默认值。
   int32 poll_interval_ms = 10;
+  // 连续遇障且底盘停止时的最大等待时间，单位：毫秒；
+  // 0 或未传表示使用适配器默认值 60000 毫秒。
+  int32 blocked_timeout_ms = 11;
 }
 
 // AGV 适配器扩展参数。用于传递厂商或控制器特有的参数。

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

@@ -18,8 +18,6 @@ service SystemService {
     rpc ExecuteActionQueue(ActionQueueCommand.Request) returns (ActionQueueCommand.Feedback) {}
 
     rpc GetSafetyState(GetSafetyStateCommand.Request) returns (GetSafetyStateCommand.Feedback) {}
-    rpc RecoverSafetyState(RecoverSafetyStateCommand.Request) returns (RecoverSafetyStateCommand.Feedback) {
+    rpc RecoverSafetyState(RecoverSafetyStateCommand.Request) returns (RecoverSafetyStateCommand.Feedback) {}
-        option deprecated = true;
-    }
     rpc RestoreOperationalState(RestoreOperationalStateCommand.Request) returns (RestoreOperationalStateCommand.Feedback) {}
 }

cmvr-iot-framework/src/main/java/com/cmvr/framework/config/ThreadPoolConfig.java

@@ -4,6 +4,7 @@ import com.cmvr.common.utils.Threads;
 import org.apache.commons.lang3.concurrent.BasicThreadFactory;
 import org.springframework.context.annotation.Bean;
 import org.springframework.context.annotation.Configuration;
+import org.springframework.context.annotation.Primary;
 import org.springframework.scheduling.concurrent.ThreadPoolTaskExecutor;
 import java.util.concurrent.ScheduledExecutorService;
 import java.util.concurrent.ScheduledThreadPoolExecutor;
@@ -30,6 +31,7 @@ public class ThreadPoolConfig
     private int keepAliveSeconds = 300;
 
     @Bean(name = "threadPoolTaskExecutor")
+    @Primary
     public ThreadPoolTaskExecutor threadPoolTaskExecutor()
     {
         ThreadPoolTaskExecutor executor = new ThreadPoolTaskExecutor();

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

@@ -174,6 +174,13 @@ public class InspectionFlowExecutionListener implements FlowExecutionListener {
             // 四舍五入保留2位小数
             progress = Math.round(progress * 100) / 100.0;
             JSONObject outputParams = event.getOutputParams();
+            boolean nodeFailed = event.getEventType() == FlowExecutionEvent.EventType.NODE_FAILED;
+            String nodeError = nodeFailed ? StrUtil.trim(event.getErrorMessage()) : null;
+            JSONObject logOutputParams = outputParams == null
+                    ? new JSONObject() : JSONObject.parseObject(outputParams.toJSONString());
+            if (StrUtil.isNotBlank(nodeError)) {
+                logOutputParams.put("errorMessage", nodeError);
+            }
             String imageUrl = FlowMediaParamResolver.lastUrl(outputParams, "imageUrl");
             String videoUrl = FlowMediaParamResolver.lastUrl(outputParams, "videoUrl");
             String audioUrl = FlowMediaParamResolver.lastUrl(outputParams, "audioUrl");
@@ -200,10 +207,10 @@ public class InspectionFlowExecutionListener implements FlowExecutionListener {
                     .nodeId(nodeId)
                     .nodeName(event.getNodeName())
                     .logType(logType)
-                    .logContent("节点【" + event.getNodeName() + "】" + info)
+                    .logContent("节点【" + event.getNodeName() + "】" + info
+                            + (StrUtil.isBlank(nodeError) ? "" : "：" + StrUtil.sub(nodeError, 0, 300)))
                     .mediaUrl(mediaUrl)
-                    .extraInfo(outputParams == null || outputParams.isEmpty()
+                    .extraInfo(logOutputParams.isEmpty() ? null : logOutputParams.toJSONString())
-                            ? null : outputParams.toJSONString())
                     .status(nodeLogStatus)
                     .progress(progress)
                     .logTime(now)

cmvr-iot-quic-contract/pom.xml

@@ -36,6 +36,8 @@
                 <version>0.6.1</version>
                 <configuration>
                     <protocArtifact>com.google.protobuf:protoc:3.25.5:exe:${os.detected.classifier}</protocArtifact>
+                    <outputDirectory>${basedir}/src/main/java</outputDirectory>
+                    <clearOutputDirectory>false</clearOutputDirectory>
                 </configuration>
                 <executions>
                     <execution>

cmvr-iot-quic-contract/src/main/java/com/cmvr/quic/gateway/v1/DeviceManagerSnapshotOrBuilder.java

@@ -0,0 +1,76 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: cmvr/quic_gateway/v1/quic_gateway.proto
+
+// Protobuf Java Version: 3.25.5
+package com.cmvr.quic.gateway.v1;
+
+public interface DeviceManagerSnapshotOrBuilder extends
+    // @@protoc_insertion_point(interface_extends:cmvr.quic_gateway.v1.DeviceManagerSnapshot)
+    com.google.protobuf.MessageOrBuilder {
+
+  /**
+   * <code>string manager_name = 1;</code>
+   * @return The managerName.
+   */
+  java.lang.String getManagerName();
+  /**
+   * <code>string manager_name = 1;</code>
+   * @return The bytes for managerName.
+   */
+  com.google.protobuf.ByteString
+      getManagerNameBytes();
+
+  /**
+   * <code>string manager_version = 2;</code>
+   * @return The managerVersion.
+   */
+  java.lang.String getManagerVersion();
+  /**
+   * <code>string manager_version = 2;</code>
+   * @return The bytes for managerVersion.
+   */
+  com.google.protobuf.ByteString
+      getManagerVersionBytes();
+
+  /**
+   * <code>string manager_description = 3;</code>
+   * @return The managerDescription.
+   */
+  java.lang.String getManagerDescription();
+  /**
+   * <code>string manager_description = 3;</code>
+   * @return The bytes for managerDescription.
+   */
+  com.google.protobuf.ByteString
+      getManagerDescriptionBytes();
+
+  /**
+   * <code>uint64 sampled_at_unix_ms = 4;</code>
+   * @return The sampledAtUnixMs.
+   */
+  long getSampledAtUnixMs();
+
+  /**
+   * <code>repeated .cmvr.quic_gateway.v1.ManagedDeviceStatus devices = 5;</code>
+   */
+  java.util.List<com.cmvr.quic.gateway.v1.ManagedDeviceStatus> 
+      getDevicesList();
+  /**
+   * <code>repeated .cmvr.quic_gateway.v1.ManagedDeviceStatus devices = 5;</code>
+   */
+  com.cmvr.quic.gateway.v1.ManagedDeviceStatus getDevices(int index);
+  /**
+   * <code>repeated .cmvr.quic_gateway.v1.ManagedDeviceStatus devices = 5;</code>
+   */
+  int getDevicesCount();
+  /**
+   * <code>repeated .cmvr.quic_gateway.v1.ManagedDeviceStatus devices = 5;</code>
+   */
+  java.util.List<? extends com.cmvr.quic.gateway.v1.ManagedDeviceStatusOrBuilder> 
+      getDevicesOrBuilderList();
+  /**
+   * <code>repeated .cmvr.quic_gateway.v1.ManagedDeviceStatus devices = 5;</code>
+   */
+  com.cmvr.quic.gateway.v1.ManagedDeviceStatusOrBuilder getDevicesOrBuilder(
+      int index);
+}

cmvr-iot-quic-contract/src/main/java/com/cmvr/quic/gateway/v1/GrpcEndpoint.java

@@ -0,0 +1,675 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: cmvr/quic_gateway/v1/quic_gateway.proto
+
+// Protobuf Java Version: 3.25.5
+package com.cmvr.quic.gateway.v1;
+
+/**
+ * Protobuf type {@code cmvr.quic_gateway.v1.GrpcEndpoint}
+ */
+public final class GrpcEndpoint extends
+    com.google.protobuf.GeneratedMessageV3 implements
+    // @@protoc_insertion_point(message_implements:cmvr.quic_gateway.v1.GrpcEndpoint)
+    GrpcEndpointOrBuilder {
+private static final long serialVersionUID = 0L;
+  // Use GrpcEndpoint.newBuilder() to construct.
+  private GrpcEndpoint(com.google.protobuf.GeneratedMessageV3.Builder<?> builder) {
+    super(builder);
+  }
+  private GrpcEndpoint() {
+    host_ = "";
+  }
+
+  @java.lang.Override
+  @SuppressWarnings({"unused"})
+  protected java.lang.Object newInstance(
+      UnusedPrivateParameter unused) {
+    return new GrpcEndpoint();
+  }
+
+  public static final com.google.protobuf.Descriptors.Descriptor
+      getDescriptor() {
+    return com.cmvr.quic.gateway.v1.QuicGatewayProtocol.internal_static_cmvr_quic_gateway_v1_GrpcEndpoint_descriptor;
+  }
+
+  @java.lang.Override
+  protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internalGetFieldAccessorTable() {
+    return com.cmvr.quic.gateway.v1.QuicGatewayProtocol.internal_static_cmvr_quic_gateway_v1_GrpcEndpoint_fieldAccessorTable
+        .ensureFieldAccessorsInitialized(
+            com.cmvr.quic.gateway.v1.GrpcEndpoint.class, com.cmvr.quic.gateway.v1.GrpcEndpoint.Builder.class);
+  }
+
+  public static final int HOST_FIELD_NUMBER = 1;
+  @SuppressWarnings("serial")
+  private volatile java.lang.Object host_ = "";
+  /**
+   * <code>string host = 1;</code>
+   * @return The host.
+   */
+  @java.lang.Override
+  public java.lang.String getHost() {
+    java.lang.Object ref = host_;
+    if (ref instanceof java.lang.String) {
+      return (java.lang.String) ref;
+    } else {
+      com.google.protobuf.ByteString bs = 
+          (com.google.protobuf.ByteString) ref;
+      java.lang.String s = bs.toStringUtf8();
+      host_ = s;
+      return s;
+    }
+  }
+  /**
+   * <code>string host = 1;</code>
+   * @return The bytes for host.
+   */
+  @java.lang.Override
+  public com.google.protobuf.ByteString
+      getHostBytes() {
+    java.lang.Object ref = host_;
+    if (ref instanceof java.lang.String) {
+      com.google.protobuf.ByteString b = 
+          com.google.protobuf.ByteString.copyFromUtf8(
+              (java.lang.String) ref);
+      host_ = b;
+      return b;
+    } else {
+      return (com.google.protobuf.ByteString) ref;
+    }
+  }
+
+  public static final int PORT_FIELD_NUMBER = 2;
+  private int port_ = 0;
+  /**
+   * <code>uint32 port = 2;</code>
+   * @return The port.
+   */
+  @java.lang.Override
+  public int getPort() {
+    return port_;
+  }
+
+  public static final int TLS_FIELD_NUMBER = 3;
+  private boolean tls_ = false;
+  /**
+   * <code>bool tls = 3;</code>
+   * @return The tls.
+   */
+  @java.lang.Override
+  public boolean getTls() {
+    return tls_;
+  }
+
+  private byte memoizedIsInitialized = -1;
+  @java.lang.Override
+  public final boolean isInitialized() {
+    byte isInitialized = memoizedIsInitialized;
+    if (isInitialized == 1) return true;
+    if (isInitialized == 0) return false;
+
+    memoizedIsInitialized = 1;
+    return true;
+  }
+
+  @java.lang.Override
+  public void writeTo(com.google.protobuf.CodedOutputStream output)
+                      throws java.io.IOException {
+    if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(host_)) {
+      com.google.protobuf.GeneratedMessageV3.writeString(output, 1, host_);
+    }
+    if (port_ != 0) {
+      output.writeUInt32(2, port_);
+    }
+    if (tls_ != false) {
+      output.writeBool(3, tls_);
+    }
+    getUnknownFields().writeTo(output);
+  }
+
+  @java.lang.Override
+  public int getSerializedSize() {
+    int size = memoizedSize;
+    if (size != -1) return size;
+
+    size = 0;
+    if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(host_)) {
+      size += com.google.protobuf.GeneratedMessageV3.computeStringSize(1, host_);
+    }
+    if (port_ != 0) {
+      size += com.google.protobuf.CodedOutputStream
+        .computeUInt32Size(2, port_);
+    }
+    if (tls_ != false) {
+      size += com.google.protobuf.CodedOutputStream
+        .computeBoolSize(3, tls_);
+    }
+    size += getUnknownFields().getSerializedSize();
+    memoizedSize = size;
+    return size;
+  }
+
+  @java.lang.Override
+  public boolean equals(final java.lang.Object obj) {
+    if (obj == this) {
+     return true;
+    }
+    if (!(obj instanceof com.cmvr.quic.gateway.v1.GrpcEndpoint)) {
+      return super.equals(obj);
+    }
+    com.cmvr.quic.gateway.v1.GrpcEndpoint other = (com.cmvr.quic.gateway.v1.GrpcEndpoint) obj;
+
+    if (!getHost()
+        .equals(other.getHost())) return false;
+    if (getPort()
+        != other.getPort()) return false;
+    if (getTls()
+        != other.getTls()) return false;
+    if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+    return true;
+  }
+
+  @java.lang.Override
+  public int hashCode() {
+    if (memoizedHashCode != 0) {
+      return memoizedHashCode;
+    }
+    int hash = 41;
+    hash = (19 * hash) + getDescriptor().hashCode();
+    hash = (37 * hash) + HOST_FIELD_NUMBER;
+    hash = (53 * hash) + getHost().hashCode();
+    hash = (37 * hash) + PORT_FIELD_NUMBER;
+    hash = (53 * hash) + getPort();
+    hash = (37 * hash) + TLS_FIELD_NUMBER;
+    hash = (53 * hash) + com.google.protobuf.Internal.hashBoolean(
+        getTls());
+    hash = (29 * hash) + getUnknownFields().hashCode();
+    memoizedHashCode = hash;
+    return hash;
+  }
+
+  public static com.cmvr.quic.gateway.v1.GrpcEndpoint parseFrom(
+      java.nio.ByteBuffer data)
+      throws com.google.protobuf.InvalidProtocolBufferException {
+    return PARSER.parseFrom(data);
+  }
+  public static com.cmvr.quic.gateway.v1.GrpcEndpoint parseFrom(
+      java.nio.ByteBuffer data,
+      com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+      throws com.google.protobuf.InvalidProtocolBufferException {
+    return PARSER.parseFrom(data, extensionRegistry);
+  }
+  public static com.cmvr.quic.gateway.v1.GrpcEndpoint parseFrom(
+      com.google.protobuf.ByteString data)
+      throws com.google.protobuf.InvalidProtocolBufferException {
+    return PARSER.parseFrom(data);
+  }
+  public static com.cmvr.quic.gateway.v1.GrpcEndpoint parseFrom(
+      com.google.protobuf.ByteString data,
+      com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+      throws com.google.protobuf.InvalidProtocolBufferException {
+    return PARSER.parseFrom(data, extensionRegistry);
+  }
+  public static com.cmvr.quic.gateway.v1.GrpcEndpoint parseFrom(byte[] data)
+      throws com.google.protobuf.InvalidProtocolBufferException {
+    return PARSER.parseFrom(data);
+  }
+  public static com.cmvr.quic.gateway.v1.GrpcEndpoint parseFrom(
+      byte[] data,
+      com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+      throws com.google.protobuf.InvalidProtocolBufferException {
+    return PARSER.parseFrom(data, extensionRegistry);
+  }
+  public static com.cmvr.quic.gateway.v1.GrpcEndpoint parseFrom(java.io.InputStream input)
+      throws java.io.IOException {
+    return com.google.protobuf.GeneratedMessageV3
+        .parseWithIOException(PARSER, input);
+  }
+  public static com.cmvr.quic.gateway.v1.GrpcEndpoint parseFrom(
+      java.io.InputStream input,
+      com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+      throws java.io.IOException {
+    return com.google.protobuf.GeneratedMessageV3
+        .parseWithIOException(PARSER, input, extensionRegistry);
+  }
+
+  public static com.cmvr.quic.gateway.v1.GrpcEndpoint parseDelimitedFrom(java.io.InputStream input)
+      throws java.io.IOException {
+    return com.google.protobuf.GeneratedMessageV3
+        .parseDelimitedWithIOException(PARSER, input);
+  }
+
+  public static com.cmvr.quic.gateway.v1.GrpcEndpoint parseDelimitedFrom(
+      java.io.InputStream input,
+      com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+      throws java.io.IOException {
+    return com.google.protobuf.GeneratedMessageV3
+        .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+  }
+  public static com.cmvr.quic.gateway.v1.GrpcEndpoint parseFrom(
+      com.google.protobuf.CodedInputStream input)
+      throws java.io.IOException {
+    return com.google.protobuf.GeneratedMessageV3
+        .parseWithIOException(PARSER, input);
+  }
+  public static com.cmvr.quic.gateway.v1.GrpcEndpoint parseFrom(
+      com.google.protobuf.CodedInputStream input,
+      com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+      throws java.io.IOException {
+    return com.google.protobuf.GeneratedMessageV3
+        .parseWithIOException(PARSER, input, extensionRegistry);
+  }
+
+  @java.lang.Override
+  public Builder newBuilderForType() { return newBuilder(); }
+  public static Builder newBuilder() {
+    return DEFAULT_INSTANCE.toBuilder();
+  }
+  public static Builder newBuilder(com.cmvr.quic.gateway.v1.GrpcEndpoint prototype) {
+    return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+  }
+  @java.lang.Override
+  public Builder toBuilder() {
+    return this == DEFAULT_INSTANCE
+        ? new Builder() : new Builder().mergeFrom(this);
+  }
+
+  @java.lang.Override
+  protected Builder newBuilderForType(
+      com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+    Builder builder = new Builder(parent);
+    return builder;
+  }
+  /**
+   * Protobuf type {@code cmvr.quic_gateway.v1.GrpcEndpoint}
+   */
+  public static final class Builder extends
+      com.google.protobuf.GeneratedMessageV3.Builder<Builder> implements
+      // @@protoc_insertion_point(builder_implements:cmvr.quic_gateway.v1.GrpcEndpoint)
+      com.cmvr.quic.gateway.v1.GrpcEndpointOrBuilder {
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return com.cmvr.quic.gateway.v1.QuicGatewayProtocol.internal_static_cmvr_quic_gateway_v1_GrpcEndpoint_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return com.cmvr.quic.gateway.v1.QuicGatewayProtocol.internal_static_cmvr_quic_gateway_v1_GrpcEndpoint_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              com.cmvr.quic.gateway.v1.GrpcEndpoint.class, com.cmvr.quic.gateway.v1.GrpcEndpoint.Builder.class);
+    }
+
+    // Construct using com.cmvr.quic.gateway.v1.GrpcEndpoint.newBuilder()
+    private Builder() {
+
+    }
+
+    private Builder(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      super(parent);
+
+    }
+    @java.lang.Override
+    public Builder clear() {
+      super.clear();
+      bitField0_ = 0;
+      host_ = "";
+      port_ = 0;
+      tls_ = false;
+      return this;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Descriptors.Descriptor
+        getDescriptorForType() {
+      return com.cmvr.quic.gateway.v1.QuicGatewayProtocol.internal_static_cmvr_quic_gateway_v1_GrpcEndpoint_descriptor;
+    }
+
+    @java.lang.Override
+    public com.cmvr.quic.gateway.v1.GrpcEndpoint getDefaultInstanceForType() {
+      return com.cmvr.quic.gateway.v1.GrpcEndpoint.getDefaultInstance();
+    }
+
+    @java.lang.Override
+    public com.cmvr.quic.gateway.v1.GrpcEndpoint build() {
+      com.cmvr.quic.gateway.v1.GrpcEndpoint result = buildPartial();
+      if (!result.isInitialized()) {
+        throw newUninitializedMessageException(result);
+      }
+      return result;
+    }
+
+    @java.lang.Override
+    public com.cmvr.quic.gateway.v1.GrpcEndpoint buildPartial() {
+      com.cmvr.quic.gateway.v1.GrpcEndpoint result = new com.cmvr.quic.gateway.v1.GrpcEndpoint(this);
+      if (bitField0_ != 0) { buildPartial0(result); }
+      onBuilt();
+      return result;
+    }
+
+    private void buildPartial0(com.cmvr.quic.gateway.v1.GrpcEndpoint result) {
+      int from_bitField0_ = bitField0_;
+      if (((from_bitField0_ & 0x00000001) != 0)) {
+        result.host_ = host_;
+      }
+      if (((from_bitField0_ & 0x00000002) != 0)) {
+        result.port_ = port_;
+      }
+      if (((from_bitField0_ & 0x00000004) != 0)) {
+        result.tls_ = tls_;
+      }
+    }
+
+    @java.lang.Override
+    public Builder clone() {
+      return super.clone();
+    }
+    @java.lang.Override
+    public Builder setField(
+        com.google.protobuf.Descriptors.FieldDescriptor field,
+        java.lang.Object value) {
+      return super.setField(field, value);
+    }
+    @java.lang.Override
+    public Builder clearField(
+        com.google.protobuf.Descriptors.FieldDescriptor field) {
+      return super.clearField(field);
+    }
+    @java.lang.Override
+    public Builder clearOneof(
+        com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+      return super.clearOneof(oneof);
+    }
+    @java.lang.Override
+    public Builder setRepeatedField(
+        com.google.protobuf.Descriptors.FieldDescriptor field,
+        int index, java.lang.Object value) {
+      return super.setRepeatedField(field, index, value);
+    }
+    @java.lang.Override
+    public Builder addRepeatedField(
+        com.google.protobuf.Descriptors.FieldDescriptor field,
+        java.lang.Object value) {
+      return super.addRepeatedField(field, value);
+    }
+    @java.lang.Override
+    public Builder mergeFrom(com.google.protobuf.Message other) {
+      if (other instanceof com.cmvr.quic.gateway.v1.GrpcEndpoint) {
+        return mergeFrom((com.cmvr.quic.gateway.v1.GrpcEndpoint)other);
+      } else {
+        super.mergeFrom(other);
+        return this;
+      }
+    }
+
+    public Builder mergeFrom(com.cmvr.quic.gateway.v1.GrpcEndpoint other) {
+      if (other == com.cmvr.quic.gateway.v1.GrpcEndpoint.getDefaultInstance()) return this;
+      if (!other.getHost().isEmpty()) {
+        host_ = other.host_;
+        bitField0_ |= 0x00000001;
+        onChanged();
+      }
+      if (other.getPort() != 0) {
+        setPort(other.getPort());
+      }
+      if (other.getTls() != false) {
+        setTls(other.getTls());
+      }
+      this.mergeUnknownFields(other.getUnknownFields());
+      onChanged();
+      return this;
+    }
+
+    @java.lang.Override
+    public final boolean isInitialized() {
+      return true;
+    }
+
+    @java.lang.Override
+    public Builder mergeFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      if (extensionRegistry == null) {
+        throw new java.lang.NullPointerException();
+      }
+      try {
+        boolean done = false;
+        while (!done) {
+          int tag = input.readTag();
+          switch (tag) {
+            case 0:
+              done = true;
+              break;
+            case 10: {
+              host_ = input.readStringRequireUtf8();
+              bitField0_ |= 0x00000001;
+              break;
+            } // case 10
+            case 16: {
+              port_ = input.readUInt32();
+              bitField0_ |= 0x00000002;
+              break;
+            } // case 16
+            case 24: {
+              tls_ = input.readBool();
+              bitField0_ |= 0x00000004;
+              break;
+            } // case 24
+            default: {
+              if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                done = true; // was an endgroup tag
+              }
+              break;
+            } // default:
+          } // switch (tag)
+        } // while (!done)
+      } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+        throw e.unwrapIOException();
+      } finally {
+        onChanged();
+      } // finally
+      return this;
+    }
+    private int bitField0_;
+
+    private java.lang.Object host_ = "";
+    /**
+     * <code>string host = 1;</code>
+     * @return The host.
+     */
+    public java.lang.String getHost() {
+      java.lang.Object ref = host_;
+      if (!(ref instanceof java.lang.String)) {
+        com.google.protobuf.ByteString bs =
+            (com.google.protobuf.ByteString) ref;
+        java.lang.String s = bs.toStringUtf8();
+        host_ = s;
+        return s;
+      } else {
+        return (java.lang.String) ref;
+      }
+    }
+    /**
+     * <code>string host = 1;</code>
+     * @return The bytes for host.
+     */
+    public com.google.protobuf.ByteString
+        getHostBytes() {
+      java.lang.Object ref = host_;
+      if (ref instanceof String) {
+        com.google.protobuf.ByteString b = 
+            com.google.protobuf.ByteString.copyFromUtf8(
+                (java.lang.String) ref);
+        host_ = b;
+        return b;
+      } else {
+        return (com.google.protobuf.ByteString) ref;
+      }
+    }
+    /**
+     * <code>string host = 1;</code>
+     * @param value The host to set.
+     * @return This builder for chaining.
+     */
+    public Builder setHost(
+        java.lang.String value) {
+      if (value == null) { throw new NullPointerException(); }
+      host_ = value;
+      bitField0_ |= 0x00000001;
+      onChanged();
+      return this;
+    }
+    /**
+     * <code>string host = 1;</code>
+     * @return This builder for chaining.
+     */
+    public Builder clearHost() {
+      host_ = getDefaultInstance().getHost();
+      bitField0_ = (bitField0_ & ~0x00000001);
+      onChanged();
+      return this;
+    }
+    /**
+     * <code>string host = 1;</code>
+     * @param value The bytes for host to set.
+     * @return This builder for chaining.
+     */
+    public Builder setHostBytes(
+        com.google.protobuf.ByteString value) {
+      if (value == null) { throw new NullPointerException(); }
+      checkByteStringIsUtf8(value);
+      host_ = value;
+      bitField0_ |= 0x00000001;
+      onChanged();
+      return this;
+    }
+
+    private int port_ ;
+    /**
+     * <code>uint32 port = 2;</code>
+     * @return The port.
+     */
+    @java.lang.Override
+    public int getPort() {
+      return port_;
+    }
+    /**
+     * <code>uint32 port = 2;</code>
+     * @param value The port to set.
+     * @return This builder for chaining.
+     */
+    public Builder setPort(int value) {
+
+      port_ = value;
+      bitField0_ |= 0x00000002;
+      onChanged();
+      return this;
+    }
+    /**
+     * <code>uint32 port = 2;</code>
+     * @return This builder for chaining.
+     */
+    public Builder clearPort() {
+      bitField0_ = (bitField0_ & ~0x00000002);
+      port_ = 0;
+      onChanged();
+      return this;
+    }
+
+    private boolean tls_ ;
+    /**
+     * <code>bool tls = 3;</code>
+     * @return The tls.
+     */
+    @java.lang.Override
+    public boolean getTls() {
+      return tls_;
+    }
+    /**
+     * <code>bool tls = 3;</code>
+     * @param value The tls to set.
+     * @return This builder for chaining.
+     */
+    public Builder setTls(boolean value) {
+
+      tls_ = value;
+      bitField0_ |= 0x00000004;
+      onChanged();
+      return this;
+    }
+    /**
+     * <code>bool tls = 3;</code>
+     * @return This builder for chaining.
+     */
+    public Builder clearTls() {
+      bitField0_ = (bitField0_ & ~0x00000004);
+      tls_ = false;
+      onChanged();
+      return this;
+    }
+    @java.lang.Override
+    public final Builder setUnknownFields(
+        final com.google.protobuf.UnknownFieldSet unknownFields) {
+      return super.setUnknownFields(unknownFields);
+    }
+
+    @java.lang.Override
+    public final Builder mergeUnknownFields(
+        final com.google.protobuf.UnknownFieldSet unknownFields) {
+      return super.mergeUnknownFields(unknownFields);
+    }
+
+
+    // @@protoc_insertion_point(builder_scope:cmvr.quic_gateway.v1.GrpcEndpoint)
+  }
+
+  // @@protoc_insertion_point(class_scope:cmvr.quic_gateway.v1.GrpcEndpoint)
+  private static final com.cmvr.quic.gateway.v1.GrpcEndpoint DEFAULT_INSTANCE;
+  static {
+    DEFAULT_INSTANCE = new com.cmvr.quic.gateway.v1.GrpcEndpoint();
+  }
+
+  public static com.cmvr.quic.gateway.v1.GrpcEndpoint getDefaultInstance() {
+    return DEFAULT_INSTANCE;
+  }
+
+  private static final com.google.protobuf.Parser<GrpcEndpoint>
+      PARSER = new com.google.protobuf.AbstractParser<GrpcEndpoint>() {
+    @java.lang.Override
+    public GrpcEndpoint parsePartialFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      Builder builder = newBuilder();
+      try {
+        builder.mergeFrom(input, extensionRegistry);
+      } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+        throw e.setUnfinishedMessage(builder.buildPartial());
+      } catch (com.google.protobuf.UninitializedMessageException e) {
+        throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+      } catch (java.io.IOException e) {
+        throw new com.google.protobuf.InvalidProtocolBufferException(e)
+            .setUnfinishedMessage(builder.buildPartial());
+      }
+      return builder.buildPartial();
+    }
+  };
+
+  public static com.google.protobuf.Parser<GrpcEndpoint> parser() {
+    return PARSER;
+  }
+
+  @java.lang.Override
+  public com.google.protobuf.Parser<GrpcEndpoint> getParserForType() {
+    return PARSER;
+  }
+
+  @java.lang.Override
+  public com.cmvr.quic.gateway.v1.GrpcEndpoint getDefaultInstanceForType() {
+    return DEFAULT_INSTANCE;
+  }
+
+}
+

cmvr-iot-quic-contract/src/main/java/com/cmvr/quic/gateway/v1/GrpcEndpointOrBuilder.java

@@ -0,0 +1,34 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: cmvr/quic_gateway/v1/quic_gateway.proto
+
+// Protobuf Java Version: 3.25.5
+package com.cmvr.quic.gateway.v1;
+
+public interface GrpcEndpointOrBuilder extends
+    // @@protoc_insertion_point(interface_extends:cmvr.quic_gateway.v1.GrpcEndpoint)
+    com.google.protobuf.MessageOrBuilder {
+
+  /**
+   * <code>string host = 1;</code>
+   * @return The host.
+   */
+  java.lang.String getHost();
+  /**
+   * <code>string host = 1;</code>
+   * @return The bytes for host.
+   */
+  com.google.protobuf.ByteString
+      getHostBytes();
+
+  /**
+   * <code>uint32 port = 2;</code>
+   * @return The port.
+   */
+  int getPort();
+
+  /**
+   * <code>bool tls = 3;</code>
+   * @return The tls.
+   */
+  boolean getTls();
+}

cmvr-iot-quic-contract/src/main/java/com/cmvr/quic/gateway/v1/ManagedDeviceStatusOrBuilder.java

@@ -0,0 +1,82 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: cmvr/quic_gateway/v1/quic_gateway.proto
+
+// Protobuf Java Version: 3.25.5
+package com.cmvr.quic.gateway.v1;
+
+public interface ManagedDeviceStatusOrBuilder extends
+    // @@protoc_insertion_point(interface_extends:cmvr.quic_gateway.v1.ManagedDeviceStatus)
+    com.google.protobuf.MessageOrBuilder {
+
+  /**
+   * <code>string device_id = 1;</code>
+   * @return The deviceId.
+   */
+  java.lang.String getDeviceId();
+  /**
+   * <code>string device_id = 1;</code>
+   * @return The bytes for deviceId.
+   */
+  com.google.protobuf.ByteString
+      getDeviceIdBytes();
+
+  /**
+   * <code>int32 kind = 2;</code>
+   * @return The kind.
+   */
+  int getKind();
+
+  /**
+   * <code>string type_name = 3;</code>
+   * @return The typeName.
+   */
+  java.lang.String getTypeName();
+  /**
+   * <code>string type_name = 3;</code>
+   * @return The bytes for typeName.
+   */
+  com.google.protobuf.ByteString
+      getTypeNameBytes();
+
+  /**
+   * <code>bool enabled = 4;</code>
+   * @return The enabled.
+   */
+  boolean getEnabled();
+
+  /**
+   * <code>int32 manager_state = 5;</code>
+   * @return The managerState.
+   */
+  int getManagerState();
+
+  /**
+   * <code>int32 health = 6;</code>
+   * @return The health.
+   */
+  int getHealth();
+
+  /**
+   * <code>bool has_error = 7;</code>
+   * @return The hasError.
+   */
+  boolean getHasError();
+
+  /**
+   * <code>string error_message = 8;</code>
+   * @return The errorMessage.
+   */
+  java.lang.String getErrorMessage();
+  /**
+   * <code>string error_message = 8;</code>
+   * @return The bytes for errorMessage.
+   */
+  com.google.protobuf.ByteString
+      getErrorMessageBytes();
+
+  /**
+   * <code>uint64 status_updated_at_unix_ms = 9;</code>
+   * @return The statusUpdatedAtUnixMs.
+   */
+  long getStatusUpdatedAtUnixMs();
+}

cmvr-iot-quic-contract/src/main/java/com/cmvr/quic/gateway/v1/MediaFrameOrBuilder.java

@@ -0,0 +1,106 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: cmvr/quic_gateway/v1/quic_gateway.proto
+
+// Protobuf Java Version: 3.25.5
+package com.cmvr.quic.gateway.v1;
+
+public interface MediaFrameOrBuilder extends
+    // @@protoc_insertion_point(interface_extends:cmvr.quic_gateway.v1.MediaFrame)
+    com.google.protobuf.MessageOrBuilder {
+
+  /**
+   * <code>string node_id = 1;</code>
+   * @return The nodeId.
+   */
+  java.lang.String getNodeId();
+  /**
+   * <code>string node_id = 1;</code>
+   * @return The bytes for nodeId.
+   */
+  com.google.protobuf.ByteString
+      getNodeIdBytes();
+
+  /**
+   * <code>string session_id = 2;</code>
+   * @return The sessionId.
+   */
+  java.lang.String getSessionId();
+  /**
+   * <code>string session_id = 2;</code>
+   * @return The bytes for sessionId.
+   */
+  com.google.protobuf.ByteString
+      getSessionIdBytes();
+
+  /**
+   * <code>uint64 session_epoch = 3;</code>
+   * @return The sessionEpoch.
+   */
+  long getSessionEpoch();
+
+  /**
+   * <code>uint32 track_id = 4;</code>
+   * @return The trackId.
+   */
+  int getTrackId();
+
+  /**
+   * <code>int32 kind = 5;</code>
+   * @return The kind.
+   */
+  int getKind();
+
+  /**
+   * <code>string codec = 6;</code>
+   * @return The codec.
+   */
+  java.lang.String getCodec();
+  /**
+   * <code>string codec = 6;</code>
+   * @return The bytes for codec.
+   */
+  com.google.protobuf.ByteString
+      getCodecBytes();
+
+  /**
+   * <code>string payload_format = 7;</code>
+   * @return The payloadFormat.
+   */
+  java.lang.String getPayloadFormat();
+  /**
+   * <code>string payload_format = 7;</code>
+   * @return The bytes for payloadFormat.
+   */
+  com.google.protobuf.ByteString
+      getPayloadFormatBytes();
+
+  /**
+   * <code>uint64 packet_sequence = 8;</code>
+   * @return The packetSequence.
+   */
+  long getPacketSequence();
+
+  /**
+   * <code>uint64 frame_sequence = 9;</code>
+   * @return The frameSequence.
+   */
+  long getFrameSequence();
+
+  /**
+   * <code>uint64 capture_timestamp_us = 10;</code>
+   * @return The captureTimestampUs.
+   */
+  long getCaptureTimestampUs();
+
+  /**
+   * <code>uint32 flags = 11;</code>
+   * @return The flags.
+   */
+  int getFlags();
+
+  /**
+   * <code>bytes payload = 12;</code>
+   * @return The payload.
+   */
+  com.google.protobuf.ByteString getPayload();
+}

cmvr-iot-quic-contract/src/main/java/com/cmvr/quic/gateway/v1/MediaTrackOrBuilder.java

@@ -0,0 +1,118 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: cmvr/quic_gateway/v1/quic_gateway.proto
+
+// Protobuf Java Version: 3.25.5
+package com.cmvr.quic.gateway.v1;
+
+public interface MediaTrackOrBuilder extends
+    // @@protoc_insertion_point(interface_extends:cmvr.quic_gateway.v1.MediaTrack)
+    com.google.protobuf.MessageOrBuilder {
+
+  /**
+   * <code>uint32 track_id = 1;</code>
+   * @return The trackId.
+   */
+  int getTrackId();
+
+  /**
+   * <code>int32 kind = 2;</code>
+   * @return The kind.
+   */
+  int getKind();
+
+  /**
+   * <code>string device_id = 3;</code>
+   * @return The deviceId.
+   */
+  java.lang.String getDeviceId();
+  /**
+   * <code>string device_id = 3;</code>
+   * @return The bytes for deviceId.
+   */
+  com.google.protobuf.ByteString
+      getDeviceIdBytes();
+
+  /**
+   * <code>string source_track_id = 4;</code>
+   * @return The sourceTrackId.
+   */
+  java.lang.String getSourceTrackId();
+  /**
+   * <code>string source_track_id = 4;</code>
+   * @return The bytes for sourceTrackId.
+   */
+  com.google.protobuf.ByteString
+      getSourceTrackIdBytes();
+
+  /**
+   * <code>string codec = 5;</code>
+   * @return The codec.
+   */
+  java.lang.String getCodec();
+  /**
+   * <code>string codec = 5;</code>
+   * @return The bytes for codec.
+   */
+  com.google.protobuf.ByteString
+      getCodecBytes();
+
+  /**
+   * <code>string payload_format = 6;</code>
+   * @return The payloadFormat.
+   */
+  java.lang.String getPayloadFormat();
+  /**
+   * <code>string payload_format = 6;</code>
+   * @return The bytes for payloadFormat.
+   */
+  com.google.protobuf.ByteString
+      getPayloadFormatBytes();
+
+  /**
+   * <code>uint64 codec_generation = 7;</code>
+   * @return The codecGeneration.
+   */
+  long getCodecGeneration();
+
+  /**
+   * <code>uint32 codec_generation_token = 8;</code>
+   * @return The codecGenerationToken.
+   */
+  int getCodecGenerationToken();
+
+  /**
+   * <code>uint32 width = 9;</code>
+   * @return The width.
+   */
+  int getWidth();
+
+  /**
+   * <code>uint32 height = 10;</code>
+   * @return The height.
+   */
+  int getHeight();
+
+  /**
+   * <code>uint32 frames_per_second = 11;</code>
+   * @return The framesPerSecond.
+   */
+  int getFramesPerSecond();
+
+  /**
+   * <code>uint32 sample_rate = 12;</code>
+   * @return The sampleRate.
+   */
+  int getSampleRate();
+
+  /**
+   * <code>uint32 channels = 13;</code>
+   * @return The channels.
+   */
+  int getChannels();
+
+  /**
+   * <code>bytes codec_config = 14;</code>
+   * @return The codecConfig.
+   */
+  com.google.protobuf.ByteString getCodecConfig();
+}

cmvr-iot-quic-contract/src/main/java/com/cmvr/quic/gateway/v1/NetworkInterfaceAddress.java

@@ -0,0 +1,811 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: cmvr/quic_gateway/v1/quic_gateway.proto
+
+// Protobuf Java Version: 3.25.5
+package com.cmvr.quic.gateway.v1;
+
+/**
+ * Protobuf type {@code cmvr.quic_gateway.v1.NetworkInterfaceAddress}
+ */
+public final class NetworkInterfaceAddress extends
+    com.google.protobuf.GeneratedMessageV3 implements
+    // @@protoc_insertion_point(message_implements:cmvr.quic_gateway.v1.NetworkInterfaceAddress)
+    NetworkInterfaceAddressOrBuilder {
+private static final long serialVersionUID = 0L;
+  // Use NetworkInterfaceAddress.newBuilder() to construct.
+  private NetworkInterfaceAddress(com.google.protobuf.GeneratedMessageV3.Builder<?> builder) {
+    super(builder);
+  }
+  private NetworkInterfaceAddress() {
+    interfaceName_ = "";
+    ipAddress_ = "";
+  }
+
+  @java.lang.Override
+  @SuppressWarnings({"unused"})
+  protected java.lang.Object newInstance(
+      UnusedPrivateParameter unused) {
+    return new NetworkInterfaceAddress();
+  }
+
+  public static final com.google.protobuf.Descriptors.Descriptor
+      getDescriptor() {
+    return com.cmvr.quic.gateway.v1.QuicGatewayProtocol.internal_static_cmvr_quic_gateway_v1_NetworkInterfaceAddress_descriptor;
+  }
+
+  @java.lang.Override
+  protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internalGetFieldAccessorTable() {
+    return com.cmvr.quic.gateway.v1.QuicGatewayProtocol.internal_static_cmvr_quic_gateway_v1_NetworkInterfaceAddress_fieldAccessorTable
+        .ensureFieldAccessorsInitialized(
+            com.cmvr.quic.gateway.v1.NetworkInterfaceAddress.class, com.cmvr.quic.gateway.v1.NetworkInterfaceAddress.Builder.class);
+  }
+
+  public static final int INTERFACE_NAME_FIELD_NUMBER = 1;
+  @SuppressWarnings("serial")
+  private volatile java.lang.Object interfaceName_ = "";
+  /**
+   * <code>string interface_name = 1;</code>
+   * @return The interfaceName.
+   */
+  @java.lang.Override
+  public java.lang.String getInterfaceName() {
+    java.lang.Object ref = interfaceName_;
+    if (ref instanceof java.lang.String) {
+      return (java.lang.String) ref;
+    } else {
+      com.google.protobuf.ByteString bs = 
+          (com.google.protobuf.ByteString) ref;
+      java.lang.String s = bs.toStringUtf8();
+      interfaceName_ = s;
+      return s;
+    }
+  }
+  /**
+   * <code>string interface_name = 1;</code>
+   * @return The bytes for interfaceName.
+   */
+  @java.lang.Override
+  public com.google.protobuf.ByteString
+      getInterfaceNameBytes() {
+    java.lang.Object ref = interfaceName_;
+    if (ref instanceof java.lang.String) {
+      com.google.protobuf.ByteString b = 
+          com.google.protobuf.ByteString.copyFromUtf8(
+              (java.lang.String) ref);
+      interfaceName_ = b;
+      return b;
+    } else {
+      return (com.google.protobuf.ByteString) ref;
+    }
+  }
+
+  public static final int IP_ADDRESS_FIELD_NUMBER = 2;
+  @SuppressWarnings("serial")
+  private volatile java.lang.Object ipAddress_ = "";
+  /**
+   * <code>string ip_address = 2;</code>
+   * @return The ipAddress.
+   */
+  @java.lang.Override
+  public java.lang.String getIpAddress() {
+    java.lang.Object ref = ipAddress_;
+    if (ref instanceof java.lang.String) {
+      return (java.lang.String) ref;
+    } else {
+      com.google.protobuf.ByteString bs = 
+          (com.google.protobuf.ByteString) ref;
+      java.lang.String s = bs.toStringUtf8();
+      ipAddress_ = s;
+      return s;
+    }
+  }
+  /**
+   * <code>string ip_address = 2;</code>
+   * @return The bytes for ipAddress.
+   */
+  @java.lang.Override
+  public com.google.protobuf.ByteString
+      getIpAddressBytes() {
+    java.lang.Object ref = ipAddress_;
+    if (ref instanceof java.lang.String) {
+      com.google.protobuf.ByteString b = 
+          com.google.protobuf.ByteString.copyFromUtf8(
+              (java.lang.String) ref);
+      ipAddress_ = b;
+      return b;
+    } else {
+      return (com.google.protobuf.ByteString) ref;
+    }
+  }
+
+  public static final int FAMILY_FIELD_NUMBER = 3;
+  private int family_ = 0;
+  /**
+   * <code>int32 family = 3;</code>
+   * @return The family.
+   */
+  @java.lang.Override
+  public int getFamily() {
+    return family_;
+  }
+
+  public static final int LOOPBACK_FIELD_NUMBER = 4;
+  private boolean loopback_ = false;
+  /**
+   * <code>bool loopback = 4;</code>
+   * @return The loopback.
+   */
+  @java.lang.Override
+  public boolean getLoopback() {
+    return loopback_;
+  }
+
+  private byte memoizedIsInitialized = -1;
+  @java.lang.Override
+  public final boolean isInitialized() {
+    byte isInitialized = memoizedIsInitialized;
+    if (isInitialized == 1) return true;
+    if (isInitialized == 0) return false;
+
+    memoizedIsInitialized = 1;
+    return true;
+  }
+
+  @java.lang.Override
+  public void writeTo(com.google.protobuf.CodedOutputStream output)
+                      throws java.io.IOException {
+    if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(interfaceName_)) {
+      com.google.protobuf.GeneratedMessageV3.writeString(output, 1, interfaceName_);
+    }
+    if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(ipAddress_)) {
+      com.google.protobuf.GeneratedMessageV3.writeString(output, 2, ipAddress_);
+    }
+    if (family_ != 0) {
+      output.writeInt32(3, family_);
+    }
+    if (loopback_ != false) {
+      output.writeBool(4, loopback_);
+    }
+    getUnknownFields().writeTo(output);
+  }
+
+  @java.lang.Override
+  public int getSerializedSize() {
+    int size = memoizedSize;
+    if (size != -1) return size;
+
+    size = 0;
+    if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(interfaceName_)) {
+      size += com.google.protobuf.GeneratedMessageV3.computeStringSize(1, interfaceName_);
+    }
+    if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(ipAddress_)) {
+      size += com.google.protobuf.GeneratedMessageV3.computeStringSize(2, ipAddress_);
+    }
+    if (family_ != 0) {
+      size += com.google.protobuf.CodedOutputStream
+        .computeInt32Size(3, family_);
+    }
+    if (loopback_ != false) {
+      size += com.google.protobuf.CodedOutputStream
+        .computeBoolSize(4, loopback_);
+    }
+    size += getUnknownFields().getSerializedSize();
+    memoizedSize = size;
+    return size;
+  }
+
+  @java.lang.Override
+  public boolean equals(final java.lang.Object obj) {
+    if (obj == this) {
+     return true;
+    }
+    if (!(obj instanceof com.cmvr.quic.gateway.v1.NetworkInterfaceAddress)) {
+      return super.equals(obj);
+    }
+    com.cmvr.quic.gateway.v1.NetworkInterfaceAddress other = (com.cmvr.quic.gateway.v1.NetworkInterfaceAddress) obj;
+
+    if (!getInterfaceName()
+        .equals(other.getInterfaceName())) return false;
+    if (!getIpAddress()
+        .equals(other.getIpAddress())) return false;
+    if (getFamily()
+        != other.getFamily()) return false;
+    if (getLoopback()
+        != other.getLoopback()) return false;
+    if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+    return true;
+  }
+
+  @java.lang.Override
+  public int hashCode() {
+    if (memoizedHashCode != 0) {
+      return memoizedHashCode;
+    }
+    int hash = 41;
+    hash = (19 * hash) + getDescriptor().hashCode();
+    hash = (37 * hash) + INTERFACE_NAME_FIELD_NUMBER;
+    hash = (53 * hash) + getInterfaceName().hashCode();
+    hash = (37 * hash) + IP_ADDRESS_FIELD_NUMBER;
+    hash = (53 * hash) + getIpAddress().hashCode();
+    hash = (37 * hash) + FAMILY_FIELD_NUMBER;
+    hash = (53 * hash) + getFamily();
+    hash = (37 * hash) + LOOPBACK_FIELD_NUMBER;
+    hash = (53 * hash) + com.google.protobuf.Internal.hashBoolean(
+        getLoopback());
+    hash = (29 * hash) + getUnknownFields().hashCode();
+    memoizedHashCode = hash;
+    return hash;
+  }
+
+  public static com.cmvr.quic.gateway.v1.NetworkInterfaceAddress parseFrom(
+      java.nio.ByteBuffer data)
+      throws com.google.protobuf.InvalidProtocolBufferException {
+    return PARSER.parseFrom(data);
+  }
+  public static com.cmvr.quic.gateway.v1.NetworkInterfaceAddress parseFrom(
+      java.nio.ByteBuffer data,
+      com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+      throws com.google.protobuf.InvalidProtocolBufferException {
+    return PARSER.parseFrom(data, extensionRegistry);
+  }
+  public static com.cmvr.quic.gateway.v1.NetworkInterfaceAddress parseFrom(
+      com.google.protobuf.ByteString data)
+      throws com.google.protobuf.InvalidProtocolBufferException {
+    return PARSER.parseFrom(data);
+  }
+  public static com.cmvr.quic.gateway.v1.NetworkInterfaceAddress parseFrom(
+      com.google.protobuf.ByteString data,
+      com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+      throws com.google.protobuf.InvalidProtocolBufferException {
+    return PARSER.parseFrom(data, extensionRegistry);
+  }
+  public static com.cmvr.quic.gateway.v1.NetworkInterfaceAddress parseFrom(byte[] data)
+      throws com.google.protobuf.InvalidProtocolBufferException {
+    return PARSER.parseFrom(data);
+  }
+  public static com.cmvr.quic.gateway.v1.NetworkInterfaceAddress parseFrom(
+      byte[] data,
+      com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+      throws com.google.protobuf.InvalidProtocolBufferException {
+    return PARSER.parseFrom(data, extensionRegistry);
+  }
+  public static com.cmvr.quic.gateway.v1.NetworkInterfaceAddress parseFrom(java.io.InputStream input)
+      throws java.io.IOException {
+    return com.google.protobuf.GeneratedMessageV3
+        .parseWithIOException(PARSER, input);
+  }
+  public static com.cmvr.quic.gateway.v1.NetworkInterfaceAddress parseFrom(
+      java.io.InputStream input,
+      com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+      throws java.io.IOException {
+    return com.google.protobuf.GeneratedMessageV3
+        .parseWithIOException(PARSER, input, extensionRegistry);
+  }
+
+  public static com.cmvr.quic.gateway.v1.NetworkInterfaceAddress parseDelimitedFrom(java.io.InputStream input)
+      throws java.io.IOException {
+    return com.google.protobuf.GeneratedMessageV3
+        .parseDelimitedWithIOException(PARSER, input);
+  }
+
+  public static com.cmvr.quic.gateway.v1.NetworkInterfaceAddress parseDelimitedFrom(
+      java.io.InputStream input,
+      com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+      throws java.io.IOException {
+    return com.google.protobuf.GeneratedMessageV3
+        .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+  }
+  public static com.cmvr.quic.gateway.v1.NetworkInterfaceAddress parseFrom(
+      com.google.protobuf.CodedInputStream input)
+      throws java.io.IOException {
+    return com.google.protobuf.GeneratedMessageV3
+        .parseWithIOException(PARSER, input);
+  }
+  public static com.cmvr.quic.gateway.v1.NetworkInterfaceAddress parseFrom(
+      com.google.protobuf.CodedInputStream input,
+      com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+      throws java.io.IOException {
+    return com.google.protobuf.GeneratedMessageV3
+        .parseWithIOException(PARSER, input, extensionRegistry);
+  }
+
+  @java.lang.Override
+  public Builder newBuilderForType() { return newBuilder(); }
+  public static Builder newBuilder() {
+    return DEFAULT_INSTANCE.toBuilder();
+  }
+  public static Builder newBuilder(com.cmvr.quic.gateway.v1.NetworkInterfaceAddress prototype) {
+    return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+  }
+  @java.lang.Override
+  public Builder toBuilder() {
+    return this == DEFAULT_INSTANCE
+        ? new Builder() : new Builder().mergeFrom(this);
+  }
+
+  @java.lang.Override
+  protected Builder newBuilderForType(
+      com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+    Builder builder = new Builder(parent);
+    return builder;
+  }
+  /**
+   * Protobuf type {@code cmvr.quic_gateway.v1.NetworkInterfaceAddress}
+   */
+  public static final class Builder extends
+      com.google.protobuf.GeneratedMessageV3.Builder<Builder> implements
+      // @@protoc_insertion_point(builder_implements:cmvr.quic_gateway.v1.NetworkInterfaceAddress)
+      com.cmvr.quic.gateway.v1.NetworkInterfaceAddressOrBuilder {
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return com.cmvr.quic.gateway.v1.QuicGatewayProtocol.internal_static_cmvr_quic_gateway_v1_NetworkInterfaceAddress_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return com.cmvr.quic.gateway.v1.QuicGatewayProtocol.internal_static_cmvr_quic_gateway_v1_NetworkInterfaceAddress_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              com.cmvr.quic.gateway.v1.NetworkInterfaceAddress.class, com.cmvr.quic.gateway.v1.NetworkInterfaceAddress.Builder.class);
+    }
+
+    // Construct using com.cmvr.quic.gateway.v1.NetworkInterfaceAddress.newBuilder()
+    private Builder() {
+
+    }
+
+    private Builder(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      super(parent);
+
+    }
+    @java.lang.Override
+    public Builder clear() {
+      super.clear();
+      bitField0_ = 0;
+      interfaceName_ = "";
+      ipAddress_ = "";
+      family_ = 0;
+      loopback_ = false;
+      return this;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Descriptors.Descriptor
+        getDescriptorForType() {
+      return com.cmvr.quic.gateway.v1.QuicGatewayProtocol.internal_static_cmvr_quic_gateway_v1_NetworkInterfaceAddress_descriptor;
+    }
+
+    @java.lang.Override
+    public com.cmvr.quic.gateway.v1.NetworkInterfaceAddress getDefaultInstanceForType() {
+      return com.cmvr.quic.gateway.v1.NetworkInterfaceAddress.getDefaultInstance();
+    }
+
+    @java.lang.Override
+    public com.cmvr.quic.gateway.v1.NetworkInterfaceAddress build() {
+      com.cmvr.quic.gateway.v1.NetworkInterfaceAddress result = buildPartial();
+      if (!result.isInitialized()) {
+        throw newUninitializedMessageException(result);
+      }
+      return result;
+    }
+
+    @java.lang.Override
+    public com.cmvr.quic.gateway.v1.NetworkInterfaceAddress buildPartial() {
+      com.cmvr.quic.gateway.v1.NetworkInterfaceAddress result = new com.cmvr.quic.gateway.v1.NetworkInterfaceAddress(this);
+      if (bitField0_ != 0) { buildPartial0(result); }
+      onBuilt();
+      return result;
+    }
+
+    private void buildPartial0(com.cmvr.quic.gateway.v1.NetworkInterfaceAddress result) {
+      int from_bitField0_ = bitField0_;
+      if (((from_bitField0_ & 0x00000001) != 0)) {
+        result.interfaceName_ = interfaceName_;
+      }
+      if (((from_bitField0_ & 0x00000002) != 0)) {
+        result.ipAddress_ = ipAddress_;
+      }
+      if (((from_bitField0_ & 0x00000004) != 0)) {
+        result.family_ = family_;
+      }
+      if (((from_bitField0_ & 0x00000008) != 0)) {
+        result.loopback_ = loopback_;
+      }
+    }
+
+    @java.lang.Override
+    public Builder clone() {
+      return super.clone();
+    }
+    @java.lang.Override
+    public Builder setField(
+        com.google.protobuf.Descriptors.FieldDescriptor field,
+        java.lang.Object value) {
+      return super.setField(field, value);
+    }
+    @java.lang.Override
+    public Builder clearField(
+        com.google.protobuf.Descriptors.FieldDescriptor field) {
+      return super.clearField(field);
+    }
+    @java.lang.Override
+    public Builder clearOneof(
+        com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+      return super.clearOneof(oneof);
+    }
+    @java.lang.Override
+    public Builder setRepeatedField(
+        com.google.protobuf.Descriptors.FieldDescriptor field,
+        int index, java.lang.Object value) {
+      return super.setRepeatedField(field, index, value);
+    }
+    @java.lang.Override
+    public Builder addRepeatedField(
+        com.google.protobuf.Descriptors.FieldDescriptor field,
+        java.lang.Object value) {
+      return super.addRepeatedField(field, value);
+    }
+    @java.lang.Override
+    public Builder mergeFrom(com.google.protobuf.Message other) {
+      if (other instanceof com.cmvr.quic.gateway.v1.NetworkInterfaceAddress) {
+        return mergeFrom((com.cmvr.quic.gateway.v1.NetworkInterfaceAddress)other);
+      } else {
+        super.mergeFrom(other);
+        return this;
+      }
+    }
+
+    public Builder mergeFrom(com.cmvr.quic.gateway.v1.NetworkInterfaceAddress other) {
+      if (other == com.cmvr.quic.gateway.v1.NetworkInterfaceAddress.getDefaultInstance()) return this;
+      if (!other.getInterfaceName().isEmpty()) {
+        interfaceName_ = other.interfaceName_;
+        bitField0_ |= 0x00000001;
+        onChanged();
+      }
+      if (!other.getIpAddress().isEmpty()) {
+        ipAddress_ = other.ipAddress_;
+        bitField0_ |= 0x00000002;
+        onChanged();
+      }
+      if (other.getFamily() != 0) {
+        setFamily(other.getFamily());
+      }
+      if (other.getLoopback() != false) {
+        setLoopback(other.getLoopback());
+      }
+      this.mergeUnknownFields(other.getUnknownFields());
+      onChanged();
+      return this;
+    }
+
+    @java.lang.Override
+    public final boolean isInitialized() {
+      return true;
+    }
+
+    @java.lang.Override
+    public Builder mergeFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      if (extensionRegistry == null) {
+        throw new java.lang.NullPointerException();
+      }
+      try {
+        boolean done = false;
+        while (!done) {
+          int tag = input.readTag();
+          switch (tag) {
+            case 0:
+              done = true;
+              break;
+            case 10: {
+              interfaceName_ = input.readStringRequireUtf8();
+              bitField0_ |= 0x00000001;
+              break;
+            } // case 10
+            case 18: {
+              ipAddress_ = input.readStringRequireUtf8();
+              bitField0_ |= 0x00000002;
+              break;
+            } // case 18
+            case 24: {
+              family_ = input.readInt32();
+              bitField0_ |= 0x00000004;
+              break;
+            } // case 24
+            case 32: {
+              loopback_ = input.readBool();
+              bitField0_ |= 0x00000008;
+              break;
+            } // case 32
+            default: {
+              if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                done = true; // was an endgroup tag
+              }
+              break;
+            } // default:
+          } // switch (tag)
+        } // while (!done)
+      } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+        throw e.unwrapIOException();
+      } finally {
+        onChanged();
+      } // finally
+      return this;
+    }
+    private int bitField0_;
+
+    private java.lang.Object interfaceName_ = "";
+    /**
+     * <code>string interface_name = 1;</code>
+     * @return The interfaceName.
+     */
+    public java.lang.String getInterfaceName() {
+      java.lang.Object ref = interfaceName_;
+      if (!(ref instanceof java.lang.String)) {
+        com.google.protobuf.ByteString bs =
+            (com.google.protobuf.ByteString) ref;
+        java.lang.String s = bs.toStringUtf8();
+        interfaceName_ = s;
+        return s;
+      } else {
+        return (java.lang.String) ref;
+      }
+    }
+    /**
+     * <code>string interface_name = 1;</code>
+     * @return The bytes for interfaceName.
+     */
+    public com.google.protobuf.ByteString
+        getInterfaceNameBytes() {
+      java.lang.Object ref = interfaceName_;
+      if (ref instanceof String) {
+        com.google.protobuf.ByteString b = 
+            com.google.protobuf.ByteString.copyFromUtf8(
+                (java.lang.String) ref);
+        interfaceName_ = b;
+        return b;
+      } else {
+        return (com.google.protobuf.ByteString) ref;
+      }
+    }
+    /**
+     * <code>string interface_name = 1;</code>
+     * @param value The interfaceName to set.
+     * @return This builder for chaining.
+     */
+    public Builder setInterfaceName(
+        java.lang.String value) {
+      if (value == null) { throw new NullPointerException(); }
+      interfaceName_ = value;
+      bitField0_ |= 0x00000001;
+      onChanged();
+      return this;
+    }
+    /**
+     * <code>string interface_name = 1;</code>
+     * @return This builder for chaining.
+     */
+    public Builder clearInterfaceName() {
+      interfaceName_ = getDefaultInstance().getInterfaceName();
+      bitField0_ = (bitField0_ & ~0x00000001);
+      onChanged();
+      return this;
+    }
+    /**
+     * <code>string interface_name = 1;</code>
+     * @param value The bytes for interfaceName to set.
+     * @return This builder for chaining.
+     */
+    public Builder setInterfaceNameBytes(
+        com.google.protobuf.ByteString value) {
+      if (value == null) { throw new NullPointerException(); }
+      checkByteStringIsUtf8(value);
+      interfaceName_ = value;
+      bitField0_ |= 0x00000001;
+      onChanged();
+      return this;
+    }
+
+    private java.lang.Object ipAddress_ = "";
+    /**
+     * <code>string ip_address = 2;</code>
+     * @return The ipAddress.
+     */
+    public java.lang.String getIpAddress() {
+      java.lang.Object ref = ipAddress_;
+      if (!(ref instanceof java.lang.String)) {
+        com.google.protobuf.ByteString bs =
+            (com.google.protobuf.ByteString) ref;
+        java.lang.String s = bs.toStringUtf8();
+        ipAddress_ = s;
+        return s;
+      } else {
+        return (java.lang.String) ref;
+      }
+    }
+    /**
+     * <code>string ip_address = 2;</code>
+     * @return The bytes for ipAddress.
+     */
+    public com.google.protobuf.ByteString
+        getIpAddressBytes() {
+      java.lang.Object ref = ipAddress_;
+      if (ref instanceof String) {
+        com.google.protobuf.ByteString b = 
+            com.google.protobuf.ByteString.copyFromUtf8(
+                (java.lang.String) ref);
+        ipAddress_ = b;
+        return b;
+      } else {
+        return (com.google.protobuf.ByteString) ref;
+      }
+    }
+    /**
+     * <code>string ip_address = 2;</code>
+     * @param value The ipAddress to set.
+     * @return This builder for chaining.
+     */
+    public Builder setIpAddress(
+        java.lang.String value) {
+      if (value == null) { throw new NullPointerException(); }
+      ipAddress_ = value;
+      bitField0_ |= 0x00000002;
+      onChanged();
+      return this;
+    }
+    /**
+     * <code>string ip_address = 2;</code>
+     * @return This builder for chaining.
+     */
+    public Builder clearIpAddress() {
+      ipAddress_ = getDefaultInstance().getIpAddress();
+      bitField0_ = (bitField0_ & ~0x00000002);
+      onChanged();
+      return this;
+    }
+    /**
+     * <code>string ip_address = 2;</code>
+     * @param value The bytes for ipAddress to set.
+     * @return This builder for chaining.
+     */
+    public Builder setIpAddressBytes(
+        com.google.protobuf.ByteString value) {
+      if (value == null) { throw new NullPointerException(); }
+      checkByteStringIsUtf8(value);
+      ipAddress_ = value;
+      bitField0_ |= 0x00000002;
+      onChanged();
+      return this;
+    }
+
+    private int family_ ;
+    /**
+     * <code>int32 family = 3;</code>
+     * @return The family.
+     */
+    @java.lang.Override
+    public int getFamily() {
+      return family_;
+    }
+    /**
+     * <code>int32 family = 3;</code>
+     * @param value The family to set.
+     * @return This builder for chaining.
+     */
+    public Builder setFamily(int value) {
+
+      family_ = value;
+      bitField0_ |= 0x00000004;
+      onChanged();
+      return this;
+    }
+    /**
+     * <code>int32 family = 3;</code>
+     * @return This builder for chaining.
+     */
+    public Builder clearFamily() {
+      bitField0_ = (bitField0_ & ~0x00000004);
+      family_ = 0;
+      onChanged();
+      return this;
+    }
+
+    private boolean loopback_ ;
+    /**
+     * <code>bool loopback = 4;</code>
+     * @return The loopback.
+     */
+    @java.lang.Override
+    public boolean getLoopback() {
+      return loopback_;
+    }
+    /**
+     * <code>bool loopback = 4;</code>
+     * @param value The loopback to set.
+     * @return This builder for chaining.
+     */
+    public Builder setLoopback(boolean value) {
+
+      loopback_ = value;
+      bitField0_ |= 0x00000008;
+      onChanged();
+      return this;
+    }
+    /**
+     * <code>bool loopback = 4;</code>
+     * @return This builder for chaining.
+     */
+    public Builder clearLoopback() {
+      bitField0_ = (bitField0_ & ~0x00000008);
+      loopback_ = false;
+      onChanged();
+      return this;
+    }
+    @java.lang.Override
+    public final Builder setUnknownFields(
+        final com.google.protobuf.UnknownFieldSet unknownFields) {
+      return super.setUnknownFields(unknownFields);
+    }
+
+    @java.lang.Override
+    public final Builder mergeUnknownFields(
+        final com.google.protobuf.UnknownFieldSet unknownFields) {
+      return super.mergeUnknownFields(unknownFields);
+    }
+
+
+    // @@protoc_insertion_point(builder_scope:cmvr.quic_gateway.v1.NetworkInterfaceAddress)
+  }
+
+  // @@protoc_insertion_point(class_scope:cmvr.quic_gateway.v1.NetworkInterfaceAddress)
+  private static final com.cmvr.quic.gateway.v1.NetworkInterfaceAddress DEFAULT_INSTANCE;
+  static {
+    DEFAULT_INSTANCE = new com.cmvr.quic.gateway.v1.NetworkInterfaceAddress();
+  }
+
+  public static com.cmvr.quic.gateway.v1.NetworkInterfaceAddress getDefaultInstance() {
+    return DEFAULT_INSTANCE;
+  }
+
+  private static final com.google.protobuf.Parser<NetworkInterfaceAddress>
+      PARSER = new com.google.protobuf.AbstractParser<NetworkInterfaceAddress>() {
+    @java.lang.Override
+    public NetworkInterfaceAddress parsePartialFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      Builder builder = newBuilder();
+      try {
+        builder.mergeFrom(input, extensionRegistry);
+      } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+        throw e.setUnfinishedMessage(builder.buildPartial());
+      } catch (com.google.protobuf.UninitializedMessageException e) {
+        throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+      } catch (java.io.IOException e) {
+        throw new com.google.protobuf.InvalidProtocolBufferException(e)
+            .setUnfinishedMessage(builder.buildPartial());
+      }
+      return builder.buildPartial();
+    }
+  };
+
+  public static com.google.protobuf.Parser<NetworkInterfaceAddress> parser() {
+    return PARSER;
+  }
+
+  @java.lang.Override
+  public com.google.protobuf.Parser<NetworkInterfaceAddress> getParserForType() {
+    return PARSER;
+  }
+
+  @java.lang.Override
+  public com.cmvr.quic.gateway.v1.NetworkInterfaceAddress getDefaultInstanceForType() {
+    return DEFAULT_INSTANCE;
+  }
+
+}
+

cmvr-iot-quic-contract/src/main/java/com/cmvr/quic/gateway/v1/NetworkInterfaceAddressOrBuilder.java

@@ -0,0 +1,46 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: cmvr/quic_gateway/v1/quic_gateway.proto
+
+// Protobuf Java Version: 3.25.5
+package com.cmvr.quic.gateway.v1;
+
+public interface NetworkInterfaceAddressOrBuilder extends
+    // @@protoc_insertion_point(interface_extends:cmvr.quic_gateway.v1.NetworkInterfaceAddress)
+    com.google.protobuf.MessageOrBuilder {
+
+  /**
+   * <code>string interface_name = 1;</code>
+   * @return The interfaceName.
+   */
+  java.lang.String getInterfaceName();
+  /**
+   * <code>string interface_name = 1;</code>
+   * @return The bytes for interfaceName.
+   */
+  com.google.protobuf.ByteString
+      getInterfaceNameBytes();
+
+  /**
+   * <code>string ip_address = 2;</code>
+   * @return The ipAddress.
+   */
+  java.lang.String getIpAddress();
+  /**
+   * <code>string ip_address = 2;</code>
+   * @return The bytes for ipAddress.
+   */
+  com.google.protobuf.ByteString
+      getIpAddressBytes();
+
+  /**
+   * <code>int32 family = 3;</code>
+   * @return The family.
+   */
+  int getFamily();
+
+  /**
+   * <code>bool loopback = 4;</code>
+   * @return The loopback.
+   */
+  boolean getLoopback();
+}

cmvr-iot-quic-contract/src/main/java/com/cmvr/quic/gateway/v1/NodeEvent.java

@@ -0,0 +1,760 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: cmvr/quic_gateway/v1/quic_gateway.proto
+
+// Protobuf Java Version: 3.25.5
+package com.cmvr.quic.gateway.v1;
+
+/**
+ * Protobuf type {@code cmvr.quic_gateway.v1.NodeEvent}
+ */
+public final class NodeEvent extends
+    com.google.protobuf.GeneratedMessageV3 implements
+    // @@protoc_insertion_point(message_implements:cmvr.quic_gateway.v1.NodeEvent)
+    NodeEventOrBuilder {
+private static final long serialVersionUID = 0L;
+  // Use NodeEvent.newBuilder() to construct.
+  private NodeEvent(com.google.protobuf.GeneratedMessageV3.Builder<?> builder) {
+    super(builder);
+  }
+  private NodeEvent() {
+    type_ = 0;
+  }
+
+  @java.lang.Override
+  @SuppressWarnings({"unused"})
+  protected java.lang.Object newInstance(
+      UnusedPrivateParameter unused) {
+    return new NodeEvent();
+  }
+
+  public static final com.google.protobuf.Descriptors.Descriptor
+      getDescriptor() {
+    return com.cmvr.quic.gateway.v1.QuicGatewayProtocol.internal_static_cmvr_quic_gateway_v1_NodeEvent_descriptor;
+  }
+
+  @java.lang.Override
+  protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internalGetFieldAccessorTable() {
+    return com.cmvr.quic.gateway.v1.QuicGatewayProtocol.internal_static_cmvr_quic_gateway_v1_NodeEvent_fieldAccessorTable
+        .ensureFieldAccessorsInitialized(
+            com.cmvr.quic.gateway.v1.NodeEvent.class, com.cmvr.quic.gateway.v1.NodeEvent.Builder.class);
+  }
+
+  private int bitField0_;
+  public static final int TYPE_FIELD_NUMBER = 1;
+  private int type_ = 0;
+  /**
+   * <code>.cmvr.quic_gateway.v1.NodeEventType type = 1;</code>
+   * @return The enum numeric value on the wire for type.
+   */
+  @java.lang.Override public int getTypeValue() {
+    return type_;
+  }
+  /**
+   * <code>.cmvr.quic_gateway.v1.NodeEventType type = 1;</code>
+   * @return The type.
+   */
+  @java.lang.Override public com.cmvr.quic.gateway.v1.NodeEventType getType() {
+    com.cmvr.quic.gateway.v1.NodeEventType result = com.cmvr.quic.gateway.v1.NodeEventType.forNumber(type_);
+    return result == null ? com.cmvr.quic.gateway.v1.NodeEventType.UNRECOGNIZED : result;
+  }
+
+  public static final int NODE_FIELD_NUMBER = 2;
+  private com.cmvr.quic.gateway.v1.NodeSnapshot node_;
+  /**
+   * <code>.cmvr.quic_gateway.v1.NodeSnapshot node = 2;</code>
+   * @return Whether the node field is set.
+   */
+  @java.lang.Override
+  public boolean hasNode() {
+    return ((bitField0_ & 0x00000001) != 0);
+  }
+  /**
+   * <code>.cmvr.quic_gateway.v1.NodeSnapshot node = 2;</code>
+   * @return The node.
+   */
+  @java.lang.Override
+  public com.cmvr.quic.gateway.v1.NodeSnapshot getNode() {
+    return node_ == null ? com.cmvr.quic.gateway.v1.NodeSnapshot.getDefaultInstance() : node_;
+  }
+  /**
+   * <code>.cmvr.quic_gateway.v1.NodeSnapshot node = 2;</code>
+   */
+  @java.lang.Override
+  public com.cmvr.quic.gateway.v1.NodeSnapshotOrBuilder getNodeOrBuilder() {
+    return node_ == null ? com.cmvr.quic.gateway.v1.NodeSnapshot.getDefaultInstance() : node_;
+  }
+
+  public static final int EVENT_TIME_UNIX_MS_FIELD_NUMBER = 3;
+  private long eventTimeUnixMs_ = 0L;
+  /**
+   * <code>uint64 event_time_unix_ms = 3;</code>
+   * @return The eventTimeUnixMs.
+   */
+  @java.lang.Override
+  public long getEventTimeUnixMs() {
+    return eventTimeUnixMs_;
+  }
+
+  private byte memoizedIsInitialized = -1;
+  @java.lang.Override
+  public final boolean isInitialized() {
+    byte isInitialized = memoizedIsInitialized;
+    if (isInitialized == 1) return true;
+    if (isInitialized == 0) return false;
+
+    memoizedIsInitialized = 1;
+    return true;
+  }
+
+  @java.lang.Override
+  public void writeTo(com.google.protobuf.CodedOutputStream output)
+                      throws java.io.IOException {
+    if (type_ != com.cmvr.quic.gateway.v1.NodeEventType.NODE_EVENT_TYPE_UNSPECIFIED.getNumber()) {
+      output.writeEnum(1, type_);
+    }
+    if (((bitField0_ & 0x00000001) != 0)) {
+      output.writeMessage(2, getNode());
+    }
+    if (eventTimeUnixMs_ != 0L) {
+      output.writeUInt64(3, eventTimeUnixMs_);
+    }
+    getUnknownFields().writeTo(output);
+  }
+
+  @java.lang.Override
+  public int getSerializedSize() {
+    int size = memoizedSize;
+    if (size != -1) return size;
+
+    size = 0;
+    if (type_ != com.cmvr.quic.gateway.v1.NodeEventType.NODE_EVENT_TYPE_UNSPECIFIED.getNumber()) {
+      size += com.google.protobuf.CodedOutputStream
+        .computeEnumSize(1, type_);
+    }
+    if (((bitField0_ & 0x00000001) != 0)) {
+      size += com.google.protobuf.CodedOutputStream
+        .computeMessageSize(2, getNode());
+    }
+    if (eventTimeUnixMs_ != 0L) {
+      size += com.google.protobuf.CodedOutputStream
+        .computeUInt64Size(3, eventTimeUnixMs_);
+    }
+    size += getUnknownFields().getSerializedSize();
+    memoizedSize = size;
+    return size;
+  }
+
+  @java.lang.Override
+  public boolean equals(final java.lang.Object obj) {
+    if (obj == this) {
+     return true;
+    }
+    if (!(obj instanceof com.cmvr.quic.gateway.v1.NodeEvent)) {
+      return super.equals(obj);
+    }
+    com.cmvr.quic.gateway.v1.NodeEvent other = (com.cmvr.quic.gateway.v1.NodeEvent) obj;
+
+    if (type_ != other.type_) return false;
+    if (hasNode() != other.hasNode()) return false;
+    if (hasNode()) {
+      if (!getNode()
+          .equals(other.getNode())) return false;
+    }
+    if (getEventTimeUnixMs()
+        != other.getEventTimeUnixMs()) return false;
+    if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+    return true;
+  }
+
+  @java.lang.Override
+  public int hashCode() {
+    if (memoizedHashCode != 0) {
+      return memoizedHashCode;
+    }
+    int hash = 41;
+    hash = (19 * hash) + getDescriptor().hashCode();
+    hash = (37 * hash) + TYPE_FIELD_NUMBER;
+    hash = (53 * hash) + type_;
+    if (hasNode()) {
+      hash = (37 * hash) + NODE_FIELD_NUMBER;
+      hash = (53 * hash) + getNode().hashCode();
+    }
+    hash = (37 * hash) + EVENT_TIME_UNIX_MS_FIELD_NUMBER;
+    hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+        getEventTimeUnixMs());
+    hash = (29 * hash) + getUnknownFields().hashCode();
+    memoizedHashCode = hash;
+    return hash;
+  }
+
+  public static com.cmvr.quic.gateway.v1.NodeEvent parseFrom(
+      java.nio.ByteBuffer data)
+      throws com.google.protobuf.InvalidProtocolBufferException {
+    return PARSER.parseFrom(data);
+  }
+  public static com.cmvr.quic.gateway.v1.NodeEvent parseFrom(
+      java.nio.ByteBuffer data,
+      com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+      throws com.google.protobuf.InvalidProtocolBufferException {
+    return PARSER.parseFrom(data, extensionRegistry);
+  }
+  public static com.cmvr.quic.gateway.v1.NodeEvent parseFrom(
+      com.google.protobuf.ByteString data)
+      throws com.google.protobuf.InvalidProtocolBufferException {
+    return PARSER.parseFrom(data);
+  }
+  public static com.cmvr.quic.gateway.v1.NodeEvent parseFrom(
+      com.google.protobuf.ByteString data,
+      com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+      throws com.google.protobuf.InvalidProtocolBufferException {
+    return PARSER.parseFrom(data, extensionRegistry);
+  }
+  public static com.cmvr.quic.gateway.v1.NodeEvent parseFrom(byte[] data)
+      throws com.google.protobuf.InvalidProtocolBufferException {
+    return PARSER.parseFrom(data);
+  }
+  public static com.cmvr.quic.gateway.v1.NodeEvent parseFrom(
+      byte[] data,
+      com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+      throws com.google.protobuf.InvalidProtocolBufferException {
+    return PARSER.parseFrom(data, extensionRegistry);
+  }
+  public static com.cmvr.quic.gateway.v1.NodeEvent parseFrom(java.io.InputStream input)
+      throws java.io.IOException {
+    return com.google.protobuf.GeneratedMessageV3
+        .parseWithIOException(PARSER, input);
+  }
+  public static com.cmvr.quic.gateway.v1.NodeEvent parseFrom(
+      java.io.InputStream input,
+      com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+      throws java.io.IOException {
+    return com.google.protobuf.GeneratedMessageV3
+        .parseWithIOException(PARSER, input, extensionRegistry);
+  }
+
+  public static com.cmvr.quic.gateway.v1.NodeEvent parseDelimitedFrom(java.io.InputStream input)
+      throws java.io.IOException {
+    return com.google.protobuf.GeneratedMessageV3
+        .parseDelimitedWithIOException(PARSER, input);
+  }
+
+  public static com.cmvr.quic.gateway.v1.NodeEvent parseDelimitedFrom(
+      java.io.InputStream input,
+      com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+      throws java.io.IOException {
+    return com.google.protobuf.GeneratedMessageV3
+        .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+  }
+  public static com.cmvr.quic.gateway.v1.NodeEvent parseFrom(
+      com.google.protobuf.CodedInputStream input)
+      throws java.io.IOException {
+    return com.google.protobuf.GeneratedMessageV3
+        .parseWithIOException(PARSER, input);
+  }
+  public static com.cmvr.quic.gateway.v1.NodeEvent parseFrom(
+      com.google.protobuf.CodedInputStream input,
+      com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+      throws java.io.IOException {
+    return com.google.protobuf.GeneratedMessageV3
+        .parseWithIOException(PARSER, input, extensionRegistry);
+  }
+
+  @java.lang.Override
+  public Builder newBuilderForType() { return newBuilder(); }
+  public static Builder newBuilder() {
+    return DEFAULT_INSTANCE.toBuilder();
+  }
+  public static Builder newBuilder(com.cmvr.quic.gateway.v1.NodeEvent prototype) {
+    return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+  }
+  @java.lang.Override
+  public Builder toBuilder() {
+    return this == DEFAULT_INSTANCE
+        ? new Builder() : new Builder().mergeFrom(this);
+  }
+
+  @java.lang.Override
+  protected Builder newBuilderForType(
+      com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+    Builder builder = new Builder(parent);
+    return builder;
+  }
+  /**
+   * Protobuf type {@code cmvr.quic_gateway.v1.NodeEvent}
+   */
+  public static final class Builder extends
+      com.google.protobuf.GeneratedMessageV3.Builder<Builder> implements
+      // @@protoc_insertion_point(builder_implements:cmvr.quic_gateway.v1.NodeEvent)
+      com.cmvr.quic.gateway.v1.NodeEventOrBuilder {
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return com.cmvr.quic.gateway.v1.QuicGatewayProtocol.internal_static_cmvr_quic_gateway_v1_NodeEvent_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return com.cmvr.quic.gateway.v1.QuicGatewayProtocol.internal_static_cmvr_quic_gateway_v1_NodeEvent_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              com.cmvr.quic.gateway.v1.NodeEvent.class, com.cmvr.quic.gateway.v1.NodeEvent.Builder.class);
+    }
+
+    // Construct using com.cmvr.quic.gateway.v1.NodeEvent.newBuilder()
+    private Builder() {
+      maybeForceBuilderInitialization();
+    }
+
+    private Builder(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      super(parent);
+      maybeForceBuilderInitialization();
+    }
+    private void maybeForceBuilderInitialization() {
+      if (com.google.protobuf.GeneratedMessageV3
+              .alwaysUseFieldBuilders) {
+        getNodeFieldBuilder();
+      }
+    }
+    @java.lang.Override
+    public Builder clear() {
+      super.clear();
+      bitField0_ = 0;
+      type_ = 0;
+      node_ = null;
+      if (nodeBuilder_ != null) {
+        nodeBuilder_.dispose();
+        nodeBuilder_ = null;
+      }
+      eventTimeUnixMs_ = 0L;
+      return this;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Descriptors.Descriptor
+        getDescriptorForType() {
+      return com.cmvr.quic.gateway.v1.QuicGatewayProtocol.internal_static_cmvr_quic_gateway_v1_NodeEvent_descriptor;
+    }
+
+    @java.lang.Override
+    public com.cmvr.quic.gateway.v1.NodeEvent getDefaultInstanceForType() {
+      return com.cmvr.quic.gateway.v1.NodeEvent.getDefaultInstance();
+    }
+
+    @java.lang.Override
+    public com.cmvr.quic.gateway.v1.NodeEvent build() {
+      com.cmvr.quic.gateway.v1.NodeEvent result = buildPartial();
+      if (!result.isInitialized()) {
+        throw newUninitializedMessageException(result);
+      }
+      return result;
+    }
+
+    @java.lang.Override
+    public com.cmvr.quic.gateway.v1.NodeEvent buildPartial() {
+      com.cmvr.quic.gateway.v1.NodeEvent result = new com.cmvr.quic.gateway.v1.NodeEvent(this);
+      if (bitField0_ != 0) { buildPartial0(result); }
+      onBuilt();
+      return result;
+    }
+
+    private void buildPartial0(com.cmvr.quic.gateway.v1.NodeEvent result) {
+      int from_bitField0_ = bitField0_;
+      if (((from_bitField0_ & 0x00000001) != 0)) {
+        result.type_ = type_;
+      }
+      int to_bitField0_ = 0;
+      if (((from_bitField0_ & 0x00000002) != 0)) {
+        result.node_ = nodeBuilder_ == null
+            ? node_
+            : nodeBuilder_.build();
+        to_bitField0_ |= 0x00000001;
+      }
+      if (((from_bitField0_ & 0x00000004) != 0)) {
+        result.eventTimeUnixMs_ = eventTimeUnixMs_;
+      }
+      result.bitField0_ |= to_bitField0_;
+    }
+
+    @java.lang.Override
+    public Builder clone() {
+      return super.clone();
+    }
+    @java.lang.Override
+    public Builder setField(
+        com.google.protobuf.Descriptors.FieldDescriptor field,
+        java.lang.Object value) {
+      return super.setField(field, value);
+    }
+    @java.lang.Override
+    public Builder clearField(
+        com.google.protobuf.Descriptors.FieldDescriptor field) {
+      return super.clearField(field);
+    }
+    @java.lang.Override
+    public Builder clearOneof(
+        com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+      return super.clearOneof(oneof);
+    }
+    @java.lang.Override
+    public Builder setRepeatedField(
+        com.google.protobuf.Descriptors.FieldDescriptor field,
+        int index, java.lang.Object value) {
+      return super.setRepeatedField(field, index, value);
+    }
+    @java.lang.Override
+    public Builder addRepeatedField(
+        com.google.protobuf.Descriptors.FieldDescriptor field,
+        java.lang.Object value) {
+      return super.addRepeatedField(field, value);
+    }
+    @java.lang.Override
+    public Builder mergeFrom(com.google.protobuf.Message other) {
+      if (other instanceof com.cmvr.quic.gateway.v1.NodeEvent) {
+        return mergeFrom((com.cmvr.quic.gateway.v1.NodeEvent)other);
+      } else {
+        super.mergeFrom(other);
+        return this;
+      }
+    }
+
+    public Builder mergeFrom(com.cmvr.quic.gateway.v1.NodeEvent other) {
+      if (other == com.cmvr.quic.gateway.v1.NodeEvent.getDefaultInstance()) return this;
+      if (other.type_ != 0) {
+        setTypeValue(other.getTypeValue());
+      }
+      if (other.hasNode()) {
+        mergeNode(other.getNode());
+      }
+      if (other.getEventTimeUnixMs() != 0L) {
+        setEventTimeUnixMs(other.getEventTimeUnixMs());
+      }
+      this.mergeUnknownFields(other.getUnknownFields());
+      onChanged();
+      return this;
+    }
+
+    @java.lang.Override
+    public final boolean isInitialized() {
+      return true;
+    }
+
+    @java.lang.Override
+    public Builder mergeFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      if (extensionRegistry == null) {
+        throw new java.lang.NullPointerException();
+      }
+      try {
+        boolean done = false;
+        while (!done) {
+          int tag = input.readTag();
+          switch (tag) {
+            case 0:
+              done = true;
+              break;
+            case 8: {
+              type_ = input.readEnum();
+              bitField0_ |= 0x00000001;
+              break;
+            } // case 8
+            case 18: {
+              input.readMessage(
+                  getNodeFieldBuilder().getBuilder(),
+                  extensionRegistry);
+              bitField0_ |= 0x00000002;
+              break;
+            } // case 18
+            case 24: {
+              eventTimeUnixMs_ = input.readUInt64();
+              bitField0_ |= 0x00000004;
+              break;
+            } // case 24
+            default: {
+              if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                done = true; // was an endgroup tag
+              }
+              break;
+            } // default:
+          } // switch (tag)
+        } // while (!done)
+      } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+        throw e.unwrapIOException();
+      } finally {
+        onChanged();
+      } // finally
+      return this;
+    }
+    private int bitField0_;
+
+    private int type_ = 0;
+    /**
+     * <code>.cmvr.quic_gateway.v1.NodeEventType type = 1;</code>
+     * @return The enum numeric value on the wire for type.
+     */
+    @java.lang.Override public int getTypeValue() {
+      return type_;
+    }
+    /**
+     * <code>.cmvr.quic_gateway.v1.NodeEventType type = 1;</code>
+     * @param value The enum numeric value on the wire for type to set.
+     * @return This builder for chaining.
+     */
+    public Builder setTypeValue(int value) {
+      type_ = value;
+      bitField0_ |= 0x00000001;
+      onChanged();
+      return this;
+    }
+    /**
+     * <code>.cmvr.quic_gateway.v1.NodeEventType type = 1;</code>
+     * @return The type.
+     */
+    @java.lang.Override
+    public com.cmvr.quic.gateway.v1.NodeEventType getType() {
+      com.cmvr.quic.gateway.v1.NodeEventType result = com.cmvr.quic.gateway.v1.NodeEventType.forNumber(type_);
+      return result == null ? com.cmvr.quic.gateway.v1.NodeEventType.UNRECOGNIZED : result;
+    }
+    /**
+     * <code>.cmvr.quic_gateway.v1.NodeEventType type = 1;</code>
+     * @param value The type to set.
+     * @return This builder for chaining.
+     */
+    public Builder setType(com.cmvr.quic.gateway.v1.NodeEventType value) {
+      if (value == null) {
+        throw new NullPointerException();
+      }
+      bitField0_ |= 0x00000001;
+      type_ = value.getNumber();
+      onChanged();
+      return this;
+    }
+    /**
+     * <code>.cmvr.quic_gateway.v1.NodeEventType type = 1;</code>
+     * @return This builder for chaining.
+     */
+    public Builder clearType() {
+      bitField0_ = (bitField0_ & ~0x00000001);
+      type_ = 0;
+      onChanged();
+      return this;
+    }
+
+    private com.cmvr.quic.gateway.v1.NodeSnapshot node_;
+    private com.google.protobuf.SingleFieldBuilderV3<
+        com.cmvr.quic.gateway.v1.NodeSnapshot, com.cmvr.quic.gateway.v1.NodeSnapshot.Builder, com.cmvr.quic.gateway.v1.NodeSnapshotOrBuilder> nodeBuilder_;
+    /**
+     * <code>.cmvr.quic_gateway.v1.NodeSnapshot node = 2;</code>
+     * @return Whether the node field is set.
+     */
+    public boolean hasNode() {
+      return ((bitField0_ & 0x00000002) != 0);
+    }
+    /**
+     * <code>.cmvr.quic_gateway.v1.NodeSnapshot node = 2;</code>
+     * @return The node.
+     */
+    public com.cmvr.quic.gateway.v1.NodeSnapshot getNode() {
+      if (nodeBuilder_ == null) {
+        return node_ == null ? com.cmvr.quic.gateway.v1.NodeSnapshot.getDefaultInstance() : node_;
+      } else {
+        return nodeBuilder_.getMessage();
+      }
+    }
+    /**
+     * <code>.cmvr.quic_gateway.v1.NodeSnapshot node = 2;</code>
+     */
+    public Builder setNode(com.cmvr.quic.gateway.v1.NodeSnapshot value) {
+      if (nodeBuilder_ == null) {
+        if (value == null) {
+          throw new NullPointerException();
+        }
+        node_ = value;
+      } else {
+        nodeBuilder_.setMessage(value);
+      }
+      bitField0_ |= 0x00000002;
+      onChanged();
+      return this;
+    }
+    /**
+     * <code>.cmvr.quic_gateway.v1.NodeSnapshot node = 2;</code>
+     */
+    public Builder setNode(
+        com.cmvr.quic.gateway.v1.NodeSnapshot.Builder builderForValue) {
+      if (nodeBuilder_ == null) {
+        node_ = builderForValue.build();
+      } else {
+        nodeBuilder_.setMessage(builderForValue.build());
+      }
+      bitField0_ |= 0x00000002;
+      onChanged();
+      return this;
+    }
+    /**
+     * <code>.cmvr.quic_gateway.v1.NodeSnapshot node = 2;</code>
+     */
+    public Builder mergeNode(com.cmvr.quic.gateway.v1.NodeSnapshot value) {
+      if (nodeBuilder_ == null) {
+        if (((bitField0_ & 0x00000002) != 0) &&
+          node_ != null &&
+          node_ != com.cmvr.quic.gateway.v1.NodeSnapshot.getDefaultInstance()) {
+          getNodeBuilder().mergeFrom(value);
+        } else {
+          node_ = value;
+        }
+      } else {
+        nodeBuilder_.mergeFrom(value);
+      }
+      if (node_ != null) {
+        bitField0_ |= 0x00000002;
+        onChanged();
+      }
+      return this;
+    }
+    /**
+     * <code>.cmvr.quic_gateway.v1.NodeSnapshot node = 2;</code>
+     */
+    public Builder clearNode() {
+      bitField0_ = (bitField0_ & ~0x00000002);
+      node_ = null;
+      if (nodeBuilder_ != null) {
+        nodeBuilder_.dispose();
+        nodeBuilder_ = null;
+      }
+      onChanged();
+      return this;
+    }
+    /**
+     * <code>.cmvr.quic_gateway.v1.NodeSnapshot node = 2;</code>
+     */
+    public com.cmvr.quic.gateway.v1.NodeSnapshot.Builder getNodeBuilder() {
+      bitField0_ |= 0x00000002;
+      onChanged();
+      return getNodeFieldBuilder().getBuilder();
+    }
+    /**
+     * <code>.cmvr.quic_gateway.v1.NodeSnapshot node = 2;</code>
+     */
+    public com.cmvr.quic.gateway.v1.NodeSnapshotOrBuilder getNodeOrBuilder() {
+      if (nodeBuilder_ != null) {
+        return nodeBuilder_.getMessageOrBuilder();
+      } else {
+        return node_ == null ?
+            com.cmvr.quic.gateway.v1.NodeSnapshot.getDefaultInstance() : node_;
+      }
+    }
+    /**
+     * <code>.cmvr.quic_gateway.v1.NodeSnapshot node = 2;</code>
+     */
+    private com.google.protobuf.SingleFieldBuilderV3<
+        com.cmvr.quic.gateway.v1.NodeSnapshot, com.cmvr.quic.gateway.v1.NodeSnapshot.Builder, com.cmvr.quic.gateway.v1.NodeSnapshotOrBuilder> 
+        getNodeFieldBuilder() {
+      if (nodeBuilder_ == null) {
+        nodeBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+            com.cmvr.quic.gateway.v1.NodeSnapshot, com.cmvr.quic.gateway.v1.NodeSnapshot.Builder, com.cmvr.quic.gateway.v1.NodeSnapshotOrBuilder>(
+                getNode(),
+                getParentForChildren(),
+                isClean());
+        node_ = null;
+      }
+      return nodeBuilder_;
+    }
+
+    private long eventTimeUnixMs_ ;
+    /**
+     * <code>uint64 event_time_unix_ms = 3;</code>
+     * @return The eventTimeUnixMs.
+     */
+    @java.lang.Override
+    public long getEventTimeUnixMs() {
+      return eventTimeUnixMs_;
+    }
+    /**
+     * <code>uint64 event_time_unix_ms = 3;</code>
+     * @param value The eventTimeUnixMs to set.
+     * @return This builder for chaining.
+     */
+    public Builder setEventTimeUnixMs(long value) {
+
+      eventTimeUnixMs_ = value;
+      bitField0_ |= 0x00000004;
+      onChanged();
+      return this;
+    }
+    /**
+     * <code>uint64 event_time_unix_ms = 3;</code>
+     * @return This builder for chaining.
+     */
+    public Builder clearEventTimeUnixMs() {
+      bitField0_ = (bitField0_ & ~0x00000004);
+      eventTimeUnixMs_ = 0L;
+      onChanged();
+      return this;
+    }
+    @java.lang.Override
+    public final Builder setUnknownFields(
+        final com.google.protobuf.UnknownFieldSet unknownFields) {
+      return super.setUnknownFields(unknownFields);
+    }
+
+    @java.lang.Override
+    public final Builder mergeUnknownFields(
+        final com.google.protobuf.UnknownFieldSet unknownFields) {
+      return super.mergeUnknownFields(unknownFields);
+    }
+
+
+    // @@protoc_insertion_point(builder_scope:cmvr.quic_gateway.v1.NodeEvent)
+  }
+
+  // @@protoc_insertion_point(class_scope:cmvr.quic_gateway.v1.NodeEvent)
+  private static final com.cmvr.quic.gateway.v1.NodeEvent DEFAULT_INSTANCE;
+  static {
+    DEFAULT_INSTANCE = new com.cmvr.quic.gateway.v1.NodeEvent();
+  }
+
+  public static com.cmvr.quic.gateway.v1.NodeEvent getDefaultInstance() {
+    return DEFAULT_INSTANCE;
+  }
+
+  private static final com.google.protobuf.Parser<NodeEvent>
+      PARSER = new com.google.protobuf.AbstractParser<NodeEvent>() {
+    @java.lang.Override
+    public NodeEvent parsePartialFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      Builder builder = newBuilder();
+      try {
+        builder.mergeFrom(input, extensionRegistry);
+      } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+        throw e.setUnfinishedMessage(builder.buildPartial());
+      } catch (com.google.protobuf.UninitializedMessageException e) {
+        throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+      } catch (java.io.IOException e) {
+        throw new com.google.protobuf.InvalidProtocolBufferException(e)
+            .setUnfinishedMessage(builder.buildPartial());
+      }
+      return builder.buildPartial();
+    }
+  };
+
+  public static com.google.protobuf.Parser<NodeEvent> parser() {
+    return PARSER;
+  }
+
+  @java.lang.Override
+  public com.google.protobuf.Parser<NodeEvent> getParserForType() {
+    return PARSER;
+  }
+
+  @java.lang.Override
+  public com.cmvr.quic.gateway.v1.NodeEvent getDefaultInstanceForType() {
+    return DEFAULT_INSTANCE;
+  }
+
+}
+

cmvr-iot-quic-contract/src/main/java/com/cmvr/quic/gateway/v1/NodeEventOrBuilder.java

@@ -0,0 +1,42 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: cmvr/quic_gateway/v1/quic_gateway.proto
+
+// Protobuf Java Version: 3.25.5
+package com.cmvr.quic.gateway.v1;
+
+public interface NodeEventOrBuilder extends
+    // @@protoc_insertion_point(interface_extends:cmvr.quic_gateway.v1.NodeEvent)
+    com.google.protobuf.MessageOrBuilder {
+
+  /**
+   * <code>.cmvr.quic_gateway.v1.NodeEventType type = 1;</code>
+   * @return The enum numeric value on the wire for type.
+   */
+  int getTypeValue();
+  /**
+   * <code>.cmvr.quic_gateway.v1.NodeEventType type = 1;</code>
+   * @return The type.
+   */
+  com.cmvr.quic.gateway.v1.NodeEventType getType();
+
+  /**
+   * <code>.cmvr.quic_gateway.v1.NodeSnapshot node = 2;</code>
+   * @return Whether the node field is set.
+   */
+  boolean hasNode();
+  /**
+   * <code>.cmvr.quic_gateway.v1.NodeSnapshot node = 2;</code>
+   * @return The node.
+   */
+  com.cmvr.quic.gateway.v1.NodeSnapshot getNode();
+  /**
+   * <code>.cmvr.quic_gateway.v1.NodeSnapshot node = 2;</code>
+   */
+  com.cmvr.quic.gateway.v1.NodeSnapshotOrBuilder getNodeOrBuilder();
+
+  /**
+   * <code>uint64 event_time_unix_ms = 3;</code>
+   * @return The eventTimeUnixMs.
+   */
+  long getEventTimeUnixMs();
+}

cmvr-iot-quic-contract/src/main/java/com/cmvr/quic/gateway/v1/NodeEventType.java

@@ -0,0 +1,141 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: cmvr/quic_gateway/v1/quic_gateway.proto
+
+// Protobuf Java Version: 3.25.5
+package com.cmvr.quic.gateway.v1;
+
+/**
+ * Protobuf enum {@code cmvr.quic_gateway.v1.NodeEventType}
+ */
+public enum NodeEventType
+    implements com.google.protobuf.ProtocolMessageEnum {
+  /**
+   * <code>NODE_EVENT_TYPE_UNSPECIFIED = 0;</code>
+   */
+  NODE_EVENT_TYPE_UNSPECIFIED(0),
+  /**
+   * <code>NODE_EVENT_TYPE_REGISTERED = 1;</code>
+   */
+  NODE_EVENT_TYPE_REGISTERED(1),
+  /**
+   * <code>NODE_EVENT_TYPE_HEARTBEAT = 2;</code>
+   */
+  NODE_EVENT_TYPE_HEARTBEAT(2),
+  /**
+   * <code>NODE_EVENT_TYPE_OFFLINE = 3;</code>
+   */
+  NODE_EVENT_TYPE_OFFLINE(3),
+  /**
+   * <code>NODE_EVENT_TYPE_MEDIA_CHANGED = 4;</code>
+   */
+  NODE_EVENT_TYPE_MEDIA_CHANGED(4),
+  UNRECOGNIZED(-1),
+  ;
+
+  /**
+   * <code>NODE_EVENT_TYPE_UNSPECIFIED = 0;</code>
+   */
+  public static final int NODE_EVENT_TYPE_UNSPECIFIED_VALUE = 0;
+  /**
+   * <code>NODE_EVENT_TYPE_REGISTERED = 1;</code>
+   */
+  public static final int NODE_EVENT_TYPE_REGISTERED_VALUE = 1;
+  /**
+   * <code>NODE_EVENT_TYPE_HEARTBEAT = 2;</code>
+   */
+  public static final int NODE_EVENT_TYPE_HEARTBEAT_VALUE = 2;
+  /**
+   * <code>NODE_EVENT_TYPE_OFFLINE = 3;</code>
+   */
+  public static final int NODE_EVENT_TYPE_OFFLINE_VALUE = 3;
+  /**
+   * <code>NODE_EVENT_TYPE_MEDIA_CHANGED = 4;</code>
+   */
+  public static final int NODE_EVENT_TYPE_MEDIA_CHANGED_VALUE = 4;
+
+
+  public final int getNumber() {
+    if (this == UNRECOGNIZED) {
+      throw new java.lang.IllegalArgumentException(
+          "Can't get the number of an unknown enum value.");
+    }
+    return value;
+  }
+
+  /**
+   * @param value The numeric wire value of the corresponding enum entry.
+   * @return The enum associated with the given numeric wire value.
+   * @deprecated Use {@link #forNumber(int)} instead.
+   */
+  @java.lang.Deprecated
+  public static NodeEventType valueOf(int value) {
+    return forNumber(value);
+  }
+
+  /**
+   * @param value The numeric wire value of the corresponding enum entry.
+   * @return The enum associated with the given numeric wire value.
+   */
+  public static NodeEventType forNumber(int value) {
+    switch (value) {
+      case 0: return NODE_EVENT_TYPE_UNSPECIFIED;
+      case 1: return NODE_EVENT_TYPE_REGISTERED;
+      case 2: return NODE_EVENT_TYPE_HEARTBEAT;
+      case 3: return NODE_EVENT_TYPE_OFFLINE;
+      case 4: return NODE_EVENT_TYPE_MEDIA_CHANGED;
+      default: return null;
+    }
+  }
+
+  public static com.google.protobuf.Internal.EnumLiteMap<NodeEventType>
+      internalGetValueMap() {
+    return internalValueMap;
+  }
+  private static final com.google.protobuf.Internal.EnumLiteMap<
+      NodeEventType> internalValueMap =
+        new com.google.protobuf.Internal.EnumLiteMap<NodeEventType>() {
+          public NodeEventType findValueByNumber(int number) {
+            return NodeEventType.forNumber(number);
+          }
+        };
+
+  public final com.google.protobuf.Descriptors.EnumValueDescriptor
+      getValueDescriptor() {
+    if (this == UNRECOGNIZED) {
+      throw new java.lang.IllegalStateException(
+          "Can't get the descriptor of an unrecognized enum value.");
+    }
+    return getDescriptor().getValues().get(ordinal());
+  }
+  public final com.google.protobuf.Descriptors.EnumDescriptor
+      getDescriptorForType() {
+    return getDescriptor();
+  }
+  public static final com.google.protobuf.Descriptors.EnumDescriptor
+      getDescriptor() {
+    return com.cmvr.quic.gateway.v1.QuicGatewayProtocol.getDescriptor().getEnumTypes().get(0);
+  }
+
+  private static final NodeEventType[] VALUES = values();
+
+  public static NodeEventType valueOf(
+      com.google.protobuf.Descriptors.EnumValueDescriptor desc) {
+    if (desc.getType() != getDescriptor()) {
+      throw new java.lang.IllegalArgumentException(
+        "EnumValueDescriptor is not for this type.");
+    }
+    if (desc.getIndex() == -1) {
+      return UNRECOGNIZED;
+    }
+    return VALUES[desc.getIndex()];
+  }
+
+  private final int value;
+
+  private NodeEventType(int value) {
+    this.value = value;
+  }
+
+  // @@protoc_insertion_point(enum_scope:cmvr.quic_gateway.v1.NodeEventType)
+}
+

cmvr-iot-quic-contract/src/main/java/com/cmvr/quic/gateway/v1/NodeSnapshotOrBuilder.java

@@ -0,0 +1,190 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: cmvr/quic_gateway/v1/quic_gateway.proto
+
+// Protobuf Java Version: 3.25.5
+package com.cmvr.quic.gateway.v1;
+
+public interface NodeSnapshotOrBuilder extends
+    // @@protoc_insertion_point(interface_extends:cmvr.quic_gateway.v1.NodeSnapshot)
+    com.google.protobuf.MessageOrBuilder {
+
+  /**
+   * <code>string node_id = 1;</code>
+   * @return The nodeId.
+   */
+  java.lang.String getNodeId();
+  /**
+   * <code>string node_id = 1;</code>
+   * @return The bytes for nodeId.
+   */
+  com.google.protobuf.ByteString
+      getNodeIdBytes();
+
+  /**
+   * <code>string boot_id = 2;</code>
+   * @return The bootId.
+   */
+  java.lang.String getBootId();
+  /**
+   * <code>string boot_id = 2;</code>
+   * @return The bytes for bootId.
+   */
+  com.google.protobuf.ByteString
+      getBootIdBytes();
+
+  /**
+   * <code>string session_id = 3;</code>
+   * @return The sessionId.
+   */
+  java.lang.String getSessionId();
+  /**
+   * <code>string session_id = 3;</code>
+   * @return The bytes for sessionId.
+   */
+  com.google.protobuf.ByteString
+      getSessionIdBytes();
+
+  /**
+   * <code>string software_version = 4;</code>
+   * @return The softwareVersion.
+   */
+  java.lang.String getSoftwareVersion();
+  /**
+   * <code>string software_version = 4;</code>
+   * @return The bytes for softwareVersion.
+   */
+  com.google.protobuf.ByteString
+      getSoftwareVersionBytes();
+
+  /**
+   * <code>bool online = 5;</code>
+   * @return The online.
+   */
+  boolean getOnline();
+
+  /**
+   * <code>uint64 registered_at_unix_ms = 6;</code>
+   * @return The registeredAtUnixMs.
+   */
+  long getRegisteredAtUnixMs();
+
+  /**
+   * <code>uint64 last_heartbeat_at_unix_ms = 7;</code>
+   * @return The lastHeartbeatAtUnixMs.
+   */
+  long getLastHeartbeatAtUnixMs();
+
+  /**
+   * <code>uint64 heartbeat_sequence = 8;</code>
+   * @return The heartbeatSequence.
+   */
+  long getHeartbeatSequence();
+
+  /**
+   * <code>string observed_source_ip = 9;</code>
+   * @return The observedSourceIp.
+   */
+  java.lang.String getObservedSourceIp();
+  /**
+   * <code>string observed_source_ip = 9;</code>
+   * @return The bytes for observedSourceIp.
+   */
+  com.google.protobuf.ByteString
+      getObservedSourceIpBytes();
+
+  /**
+   * <code>.cmvr.quic_gateway.v1.GrpcEndpoint grpc_endpoint = 10;</code>
+   * @return Whether the grpcEndpoint field is set.
+   */
+  boolean hasGrpcEndpoint();
+  /**
+   * <code>.cmvr.quic_gateway.v1.GrpcEndpoint grpc_endpoint = 10;</code>
+   * @return The grpcEndpoint.
+   */
+  com.cmvr.quic.gateway.v1.GrpcEndpoint getGrpcEndpoint();
+  /**
+   * <code>.cmvr.quic_gateway.v1.GrpcEndpoint grpc_endpoint = 10;</code>
+   */
+  com.cmvr.quic.gateway.v1.GrpcEndpointOrBuilder getGrpcEndpointOrBuilder();
+
+  /**
+   * <code>repeated .cmvr.quic_gateway.v1.NetworkInterfaceAddress local_interfaces = 11;</code>
+   */
+  java.util.List<com.cmvr.quic.gateway.v1.NetworkInterfaceAddress> 
+      getLocalInterfacesList();
+  /**
+   * <code>repeated .cmvr.quic_gateway.v1.NetworkInterfaceAddress local_interfaces = 11;</code>
+   */
+  com.cmvr.quic.gateway.v1.NetworkInterfaceAddress getLocalInterfaces(int index);
+  /**
+   * <code>repeated .cmvr.quic_gateway.v1.NetworkInterfaceAddress local_interfaces = 11;</code>
+   */
+  int getLocalInterfacesCount();
+  /**
+   * <code>repeated .cmvr.quic_gateway.v1.NetworkInterfaceAddress local_interfaces = 11;</code>
+   */
+  java.util.List<? extends com.cmvr.quic.gateway.v1.NetworkInterfaceAddressOrBuilder> 
+      getLocalInterfacesOrBuilderList();
+  /**
+   * <code>repeated .cmvr.quic_gateway.v1.NetworkInterfaceAddress local_interfaces = 11;</code>
+   */
+  com.cmvr.quic.gateway.v1.NetworkInterfaceAddressOrBuilder getLocalInterfacesOrBuilder(
+      int index);
+
+  /**
+   * <code>.cmvr.quic_gateway.v1.DeviceManagerSnapshot device_manager = 12;</code>
+   * @return Whether the deviceManager field is set.
+   */
+  boolean hasDeviceManager();
+  /**
+   * <code>.cmvr.quic_gateway.v1.DeviceManagerSnapshot device_manager = 12;</code>
+   * @return The deviceManager.
+   */
+  com.cmvr.quic.gateway.v1.DeviceManagerSnapshot getDeviceManager();
+  /**
+   * <code>.cmvr.quic_gateway.v1.DeviceManagerSnapshot device_manager = 12;</code>
+   */
+  com.cmvr.quic.gateway.v1.DeviceManagerSnapshotOrBuilder getDeviceManagerOrBuilder();
+
+  /**
+   * <code>uint64 media_session_epoch = 13;</code>
+   * @return The mediaSessionEpoch.
+   */
+  long getMediaSessionEpoch();
+
+  /**
+   * <code>repeated .cmvr.quic_gateway.v1.MediaTrack tracks = 14;</code>
+   */
+  java.util.List<com.cmvr.quic.gateway.v1.MediaTrack> 
+      getTracksList();
+  /**
+   * <code>repeated .cmvr.quic_gateway.v1.MediaTrack tracks = 14;</code>
+   */
+  com.cmvr.quic.gateway.v1.MediaTrack getTracks(int index);
+  /**
+   * <code>repeated .cmvr.quic_gateway.v1.MediaTrack tracks = 14;</code>
+   */
+  int getTracksCount();
+  /**
+   * <code>repeated .cmvr.quic_gateway.v1.MediaTrack tracks = 14;</code>
+   */
+  java.util.List<? extends com.cmvr.quic.gateway.v1.MediaTrackOrBuilder> 
+      getTracksOrBuilderList();
+  /**
+   * <code>repeated .cmvr.quic_gateway.v1.MediaTrack tracks = 14;</code>
+   */
+  com.cmvr.quic.gateway.v1.MediaTrackOrBuilder getTracksOrBuilder(
+      int index);
+
+  /**
+   * <code>string robot_id = 15;</code>
+   * @return The robotId.
+   */
+  java.lang.String getRobotId();
+  /**
+   * <code>string robot_id = 15;</code>
+   * @return The bytes for robotId.
+   */
+  com.google.protobuf.ByteString
+      getRobotIdBytes();
+}

cmvr-iot-quic-contract/src/main/java/com/cmvr/quic/gateway/v1/QuicGatewayProtocol.java

@@ -0,0 +1,176 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: cmvr/quic_gateway/v1/quic_gateway.proto
+
+// Protobuf Java Version: 3.25.5
+package com.cmvr.quic.gateway.v1;
+
+public final class QuicGatewayProtocol {
+  private QuicGatewayProtocol() {}
+  public static void registerAllExtensions(
+      com.google.protobuf.ExtensionRegistryLite registry) {
+  }
+
+  public static void registerAllExtensions(
+      com.google.protobuf.ExtensionRegistry registry) {
+    registerAllExtensions(
+        (com.google.protobuf.ExtensionRegistryLite) registry);
+  }
+  static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_quic_gateway_v1_NodeEvent_descriptor;
+  static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_quic_gateway_v1_NodeEvent_fieldAccessorTable;
+  static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_quic_gateway_v1_NodeSnapshot_descriptor;
+  static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_quic_gateway_v1_NodeSnapshot_fieldAccessorTable;
+  static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_quic_gateway_v1_GrpcEndpoint_descriptor;
+  static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_quic_gateway_v1_GrpcEndpoint_fieldAccessorTable;
+  static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_quic_gateway_v1_NetworkInterfaceAddress_descriptor;
+  static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_quic_gateway_v1_NetworkInterfaceAddress_fieldAccessorTable;
+  static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_quic_gateway_v1_DeviceManagerSnapshot_descriptor;
+  static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_quic_gateway_v1_DeviceManagerSnapshot_fieldAccessorTable;
+  static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_quic_gateway_v1_ManagedDeviceStatus_descriptor;
+  static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_quic_gateway_v1_ManagedDeviceStatus_fieldAccessorTable;
+  static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_quic_gateway_v1_MediaTrack_descriptor;
+  static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_quic_gateway_v1_MediaTrack_fieldAccessorTable;
+  static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_quic_gateway_v1_MediaFrame_descriptor;
+  static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_quic_gateway_v1_MediaFrame_fieldAccessorTable;
+
+  public static com.google.protobuf.Descriptors.FileDescriptor
+      getDescriptor() {
+    return descriptor;
+  }
+  private static  com.google.protobuf.Descriptors.FileDescriptor
+      descriptor;
+  static {
+    java.lang.String[] descriptorData = {
+      "\n\'cmvr/quic_gateway/v1/quic_gateway.prot" +
+      "o\022\024cmvr.quic_gateway.v1\"\214\001\n\tNodeEvent\0221\n" +
+      "\004type\030\001 \001(\0162#.cmvr.quic_gateway.v1.NodeE" +
+      "ventType\0220\n\004node\030\002 \001(\0132\".cmvr.quic_gatew" +
+      "ay.v1.NodeSnapshot\022\032\n\022event_time_unix_ms" +
+      "\030\003 \001(\004\"\222\004\n\014NodeSnapshot\022\017\n\007node_id\030\001 \001(\t" +
+      "\022\017\n\007boot_id\030\002 \001(\t\022\022\n\nsession_id\030\003 \001(\t\022\030\n" +
+      "\020software_version\030\004 \001(\t\022\016\n\006online\030\005 \001(\010\022" +
+      "\035\n\025registered_at_unix_ms\030\006 \001(\004\022!\n\031last_h" +
+      "eartbeat_at_unix_ms\030\007 \001(\004\022\032\n\022heartbeat_s" +
+      "equence\030\010 \001(\004\022\032\n\022observed_source_ip\030\t \001(" +
+      "\t\0229\n\rgrpc_endpoint\030\n \001(\0132\".cmvr.quic_gat" +
+      "eway.v1.GrpcEndpoint\022G\n\020local_interfaces" +
+      "\030\013 \003(\0132-.cmvr.quic_gateway.v1.NetworkInt" +
+      "erfaceAddress\022C\n\016device_manager\030\014 \001(\0132+." +
+      "cmvr.quic_gateway.v1.DeviceManagerSnapsh" +
+      "ot\022\033\n\023media_session_epoch\030\r \001(\004\0220\n\006track" +
+      "s\030\016 \003(\0132 .cmvr.quic_gateway.v1.MediaTrac" +
+      "k\022\020\n\010robot_id\030\017 \001(\t\"7\n\014GrpcEndpoint\022\014\n\004h" +
+      "ost\030\001 \001(\t\022\014\n\004port\030\002 \001(\r\022\013\n\003tls\030\003 \001(\010\"g\n\027" +
+      "NetworkInterfaceAddress\022\026\n\016interface_nam" +
+      "e\030\001 \001(\t\022\022\n\nip_address\030\002 \001(\t\022\016\n\006family\030\003 " +
+      "\001(\005\022\020\n\010loopback\030\004 \001(\010\"\273\001\n\025DeviceManagerS" +
+      "napshot\022\024\n\014manager_name\030\001 \001(\t\022\027\n\017manager" +
+      "_version\030\002 \001(\t\022\033\n\023manager_description\030\003 " +
+      "\001(\t\022\032\n\022sampled_at_unix_ms\030\004 \001(\004\022:\n\007devic" +
+      "es\030\005 \003(\0132).cmvr.quic_gateway.v1.ManagedD" +
+      "eviceStatus\"\316\001\n\023ManagedDeviceStatus\022\021\n\td" +
+      "evice_id\030\001 \001(\t\022\014\n\004kind\030\002 \001(\005\022\021\n\ttype_nam" +
+      "e\030\003 \001(\t\022\017\n\007enabled\030\004 \001(\010\022\025\n\rmanager_stat" +
+      "e\030\005 \001(\005\022\016\n\006health\030\006 \001(\005\022\021\n\thas_error\030\007 \001" +
+      "(\010\022\025\n\rerror_message\030\010 \001(\t\022!\n\031status_upda" +
+      "ted_at_unix_ms\030\t \001(\004\"\260\002\n\nMediaTrack\022\020\n\010t" +
+      "rack_id\030\001 \001(\r\022\014\n\004kind\030\002 \001(\005\022\021\n\tdevice_id" +
+      "\030\003 \001(\t\022\027\n\017source_track_id\030\004 \001(\t\022\r\n\005codec" +
+      "\030\005 \001(\t\022\026\n\016payload_format\030\006 \001(\t\022\030\n\020codec_" +
+      "generation\030\007 \001(\004\022\036\n\026codec_generation_tok" +
+      "en\030\010 \001(\r\022\r\n\005width\030\t \001(\r\022\016\n\006height\030\n \001(\r\022" +
+      "\031\n\021frames_per_second\030\013 \001(\r\022\023\n\013sample_rat" +
+      "e\030\014 \001(\r\022\020\n\010channels\030\r \001(\r\022\024\n\014codec_confi" +
+      "g\030\016 \001(\014\"\376\001\n\nMediaFrame\022\017\n\007node_id\030\001 \001(\t\022" +
+      "\022\n\nsession_id\030\002 \001(\t\022\025\n\rsession_epoch\030\003 \001" +
+      "(\004\022\020\n\010track_id\030\004 \001(\r\022\014\n\004kind\030\005 \001(\005\022\r\n\005co" +
+      "dec\030\006 \001(\t\022\026\n\016payload_format\030\007 \001(\t\022\027\n\017pac" +
+      "ket_sequence\030\010 \001(\004\022\026\n\016frame_sequence\030\t \001" +
+      "(\004\022\034\n\024capture_timestamp_us\030\n \001(\004\022\r\n\005flag" +
+      "s\030\013 \001(\r\022\017\n\007payload\030\014 \001(\014*\257\001\n\rNodeEventTy" +
+      "pe\022\037\n\033NODE_EVENT_TYPE_UNSPECIFIED\020\000\022\036\n\032N" +
+      "ODE_EVENT_TYPE_REGISTERED\020\001\022\035\n\031NODE_EVEN" +
+      "T_TYPE_HEARTBEAT\020\002\022\033\n\027NODE_EVENT_TYPE_OF" +
+      "FLINE\020\003\022!\n\035NODE_EVENT_TYPE_MEDIA_CHANGED" +
+      "\020\004B1\n\030com.cmvr.quic.gateway.v1B\023QuicGate" +
+      "wayProtocolP\001b\006proto3"
+    };
+    descriptor = com.google.protobuf.Descriptors.FileDescriptor
+      .internalBuildGeneratedFileFrom(descriptorData,
+        new com.google.protobuf.Descriptors.FileDescriptor[] {
+        });
+    internal_static_cmvr_quic_gateway_v1_NodeEvent_descriptor =
+      getDescriptor().getMessageTypes().get(0);
+    internal_static_cmvr_quic_gateway_v1_NodeEvent_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_quic_gateway_v1_NodeEvent_descriptor,
+        new java.lang.String[] { "Type", "Node", "EventTimeUnixMs", });
+    internal_static_cmvr_quic_gateway_v1_NodeSnapshot_descriptor =
+      getDescriptor().getMessageTypes().get(1);
+    internal_static_cmvr_quic_gateway_v1_NodeSnapshot_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_quic_gateway_v1_NodeSnapshot_descriptor,
+        new java.lang.String[] { "NodeId", "BootId", "SessionId", "SoftwareVersion", "Online", "RegisteredAtUnixMs", "LastHeartbeatAtUnixMs", "HeartbeatSequence", "ObservedSourceIp", "GrpcEndpoint", "LocalInterfaces", "DeviceManager", "MediaSessionEpoch", "Tracks", "RobotId", });
+    internal_static_cmvr_quic_gateway_v1_GrpcEndpoint_descriptor =
+      getDescriptor().getMessageTypes().get(2);
+    internal_static_cmvr_quic_gateway_v1_GrpcEndpoint_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_quic_gateway_v1_GrpcEndpoint_descriptor,
+        new java.lang.String[] { "Host", "Port", "Tls", });
+    internal_static_cmvr_quic_gateway_v1_NetworkInterfaceAddress_descriptor =
+      getDescriptor().getMessageTypes().get(3);
+    internal_static_cmvr_quic_gateway_v1_NetworkInterfaceAddress_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_quic_gateway_v1_NetworkInterfaceAddress_descriptor,
+        new java.lang.String[] { "InterfaceName", "IpAddress", "Family", "Loopback", });
+    internal_static_cmvr_quic_gateway_v1_DeviceManagerSnapshot_descriptor =
+      getDescriptor().getMessageTypes().get(4);
+    internal_static_cmvr_quic_gateway_v1_DeviceManagerSnapshot_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_quic_gateway_v1_DeviceManagerSnapshot_descriptor,
+        new java.lang.String[] { "ManagerName", "ManagerVersion", "ManagerDescription", "SampledAtUnixMs", "Devices", });
+    internal_static_cmvr_quic_gateway_v1_ManagedDeviceStatus_descriptor =
+      getDescriptor().getMessageTypes().get(5);
+    internal_static_cmvr_quic_gateway_v1_ManagedDeviceStatus_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_quic_gateway_v1_ManagedDeviceStatus_descriptor,
+        new java.lang.String[] { "DeviceId", "Kind", "TypeName", "Enabled", "ManagerState", "Health", "HasError", "ErrorMessage", "StatusUpdatedAtUnixMs", });
+    internal_static_cmvr_quic_gateway_v1_MediaTrack_descriptor =
+      getDescriptor().getMessageTypes().get(6);
+    internal_static_cmvr_quic_gateway_v1_MediaTrack_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_quic_gateway_v1_MediaTrack_descriptor,
+        new java.lang.String[] { "TrackId", "Kind", "DeviceId", "SourceTrackId", "Codec", "PayloadFormat", "CodecGeneration", "CodecGenerationToken", "Width", "Height", "FramesPerSecond", "SampleRate", "Channels", "CodecConfig", });
+    internal_static_cmvr_quic_gateway_v1_MediaFrame_descriptor =
+      getDescriptor().getMessageTypes().get(7);
+    internal_static_cmvr_quic_gateway_v1_MediaFrame_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_quic_gateway_v1_MediaFrame_descriptor,
+        new java.lang.String[] { "NodeId", "SessionId", "SessionEpoch", "TrackId", "Kind", "Codec", "PayloadFormat", "PacketSequence", "FrameSequence", "CaptureTimestampUs", "Flags", "Payload", });
+  }
+
+  // @@protoc_insertion_point(outer_class_scope)
+}

cmvr-iot-test/src/main/java/com/cmvr/test/config/MediaAnalysisAsyncConfig.java

@@ -0,0 +1,23 @@
+package com.cmvr.test.config;
+
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+import org.springframework.scheduling.concurrent.ThreadPoolTaskExecutor;
+
+import java.util.concurrent.ThreadPoolExecutor;
+
+@Configuration
+public class MediaAnalysisAsyncConfig {
+
+    @Bean(name = "mediaAnalysisTaskExecutor")
+    public ThreadPoolTaskExecutor mediaAnalysisTaskExecutor() {
+        ThreadPoolTaskExecutor executor = new ThreadPoolTaskExecutor();
+        executor.setCorePoolSize(4);
+        executor.setMaxPoolSize(16);
+        executor.setQueueCapacity(200);
+        executor.setKeepAliveSeconds(300);
+        executor.setThreadNamePrefix("media-analysis-");
+        executor.setRejectedExecutionHandler(new ThreadPoolExecutor.AbortPolicy());
+        return executor;
+    }
+}

cmvr-iot-test/src/main/java/com/cmvr/test/flow/control/FlowControlService.java

@@ -17,6 +17,7 @@ import com.cmvr.test.flow.context.TaskThreadRegistry;
 import com.cmvr.test.flow.runtime.engine.FlowItemExecutor;
 import com.cmvr.test.flow.runtime.message.TaskNodeExecuteContext;
 import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
+import com.cmvr.test.flow.runtime.operator.llm.AsyncMediaAnalysisCoordinator;
 import com.cmvr.test.service.ITeNodeInstService;
 import com.cmvr.test.service.ITeTaskInstService;
 import com.cmvr.test.model.domain.TeTaskInst;
@@ -60,6 +61,9 @@ public class FlowControlService {
     private final EdgeCameraService edgeCameraService;
     private final ITeTaskInstService taskInstService;
 
+    @Resource
+    private AsyncMediaAnalysisCoordinator asyncMediaAnalysisCoordinator;
+
     /**
      * 终止流程
      */
@@ -75,6 +79,9 @@ public class FlowControlService {
         }
         // 先阻止节点继续执行，再清理设备与本地媒体会话，避免终止过程中重新登记录音/录像。
         taskInstHolder.syncStatus(instId, TaskStatusEnum.STOPPED);
+        if (asyncMediaAnalysisCoordinator != null) {
+            asyncMediaAnalysisCoordinator.cancelAll(instId);
+        }
         taskThreadRegistry.interruptAll(instId);
         // 终止必须等设备和后端媒体会话完成清理后再返回，防止立即重跑命中旧录音/录像状态。
         stopAllRobots(ctx);

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/dispatcher/FlowEndNodeHandler.java

@@ -6,6 +6,7 @@ import com.cmvr.test.flow.context.TaskContext;
 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.llm.AsyncMediaAnalysisCoordinator;
 import com.cmvr.test.service.ex.ExAeEvaluationService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -21,6 +22,7 @@ public class FlowEndNodeHandler implements FlowNodeTypeHandler {
 
     private final TaskInstHolder taskInstHolder;
     private final ExAeEvaluationService exAeEvaluationService;
+    private final AsyncMediaAnalysisCoordinator asyncMediaAnalysisCoordinator;
 
     @Resource(name = "threadPoolTaskExecutor")
     private final ThreadPoolTaskExecutor executor;
@@ -30,7 +32,18 @@ public class FlowEndNodeHandler implements FlowNodeTypeHandler {
         String instId = message.getInstId();
         String itemId = message.getItemId();
         String taskId = message.getTaskId();
+        // Earlier items must not wait for media analysis; otherwise the next item
+        // cannot start. The final END node is the task-level completion barrier.
+        if (message.getPendingItemCount() == 0) {
+            TaskNodeExecuteResult asyncResult = asyncMediaAnalysisCoordinator.awaitAll(instId);
+            if (!asyncResult.isSuccess()) {
+                return asyncResult;
+            }
+        }
         TaskContext context = taskInstHolder.getContext(instId);
+        if (context == null) {
+            return null;
+        }
         RunModeEnum runMode = context.getRunMode();
 //        if (runMode.equals(RunModeEnum.NORMAL) || runMode.equals(RunModeEnum.TRIAL)) {
 //            // 仅语音交互和触控交互进行评估

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

@@ -20,6 +20,7 @@ import com.cmvr.test.flow.runtime.interceptor.FlowMsgPreInterceptor;
 import com.cmvr.test.flow.runtime.message.TaskNodeExecuteContext;
 import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
 import com.cmvr.test.flow.runtime.message.TaskNodeExecuteResult;
+import com.cmvr.test.flow.runtime.operator.llm.AsyncMediaAnalysisCoordinator;
 import com.cmvr.test.model.dto.TeQueryTaskDetailDTO;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -42,6 +43,7 @@ public class FlowItemExecutor {
     private final FlowExecutionChainBuilder chainBuilder;
     private final TaskThreadRegistry taskThreadRegistry;
     private final FlowRuntimeAssignmentResolver runtimeAssignmentResolver;
+    private final AsyncMediaAnalysisCoordinator asyncMediaAnalysisCoordinator;
 
     /**
      * 执行主流程（每个检测项调用一次）
@@ -257,6 +259,12 @@ public class FlowItemExecutor {
     private void postHandleBranchNode(TaskContext taskContext, FlowGraph graph, FlowNodeWrapper node, String startNodeId,
                                       List<FlowParamDef> startInputDefs, TaskNodeExecuteMessage rootMessage, Runnable onFinished,
                                       List<Integer> iterations, String nodeId, JSONObject inputParams, TaskNodeExecuteMessage message) {
+        // Only wait for analysis results referenced by this branch and this item.
+        for (String referencedNodeId : FlowBranchEvaluator.referencedNodeIds(node.getBranchConditions())) {
+            asyncMediaAnalysisCoordinator.awaitNode(
+                    message.getInstId(), message.getItemId(), message.getItemOrder(),
+                    message.getItemOccurrence(), referencedNodeId, message.getIterations());
+        }
         String matchedAnchorId = FlowBranchEvaluator.evaluate(taskContext, iterations,nodeId, node.getBranchConditions(), inputParams);
         FlowEdge matchedEdge = graph.getEdgeByFromAnchorId(matchedAnchorId);
 

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

@@ -2,6 +2,7 @@ package com.cmvr.test.flow.runtime.engine.support;
 
 import cn.hutool.core.collection.CollUtil;
 import cn.hutool.core.util.ObjUtil;
+import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson2.JSONObject;
 import com.cmvr.test.enums.BranchConditionOpEnum;
 import com.cmvr.test.flow.builder.FlowBranchConditionGroup;
@@ -11,6 +12,7 @@ import java.util.HashSet;
 import java.util.List;
 import java.util.Map;
 import java.util.Objects;
+import java.util.Set;
 
 /**
  * 分支节点条件匹配器
@@ -41,18 +43,7 @@ public class FlowBranchEvaluator {
         if (CollUtil.isEmpty(taskContext.getNodeOutputs())) {
             return;
         }
-        HashSet<String> quoteIds = new HashSet<>();
+        Set<String> quoteIds = referencedNodeIds(groups);
-        for (FlowBranchConditionGroup group : groups) {
-            List<FlowBranchConditionGroup.ConditionExpression> expressions = group.getExpressions();
-            for (FlowBranchConditionGroup.ConditionExpression expression : expressions) {
-                if (expression.getNameType().equalsIgnoreCase("quote")) {
-                    List<String> nameQuotePath = expression.getNameQuotePath();
-                    if (CollUtil.isNotEmpty(nameQuotePath) && nameQuotePath.get(0).length() == 32) {
-                        quoteIds.add(nameQuotePath.get(0));
-                    }
-                }
-            }
-        }
         for (String quoteId : quoteIds) {
             JSONObject nodeOutput = taskContext.getNodeOutput(quoteId, iterations);
             if (ObjUtil.isNotEmpty(nodeOutput)) {
@@ -62,6 +53,32 @@ public class FlowBranchEvaluator {
         }
     }
 
+    /**
+     * Returns upstream node IDs referenced by branch expressions.
+     */
+    public static Set<String> referencedNodeIds(List<FlowBranchConditionGroup> groups) {
+        Set<String> quoteIds = new HashSet<>();
+        if (CollUtil.isEmpty(groups)) {
+            return quoteIds;
+        }
+        for (FlowBranchConditionGroup group : groups) {
+            if (group == null || CollUtil.isEmpty(group.getExpressions())) {
+                continue;
+            }
+            for (FlowBranchConditionGroup.ConditionExpression expression : group.getExpressions()) {
+                addReferencedNodeId(quoteIds, expression.getNameType(), expression.getNameQuotePath());
+                addReferencedNodeId(quoteIds, expression.getValueType(), expression.getQuotePath());
+            }
+        }
+        return quoteIds;
+    }
+
+    private static void addReferencedNodeId(Set<String> quoteIds, String type, List<String> path) {
+        if ("quote".equalsIgnoreCase(type) && CollUtil.isNotEmpty(path) && StrUtil.isNotBlank(path.get(0))) {
+            quoteIds.add(path.get(0));
+        }
+    }
+
     /**
      * 匹配某个条件组是否成立
      */

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

@@ -13,6 +13,7 @@ import com.cmvr.test.flow.builder.FlowParamDef;
 import com.cmvr.test.flow.context.TaskContext;
 import com.cmvr.test.flow.context.TaskInstHolder;
 import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
+import com.cmvr.test.flow.runtime.operator.llm.AsyncMediaAnalysisCoordinator;
 import lombok.RequiredArgsConstructor;
 import org.springframework.stereotype.Component;
 
@@ -23,6 +24,7 @@ import java.util.List;
 public class FlowNodeParamPreparer {
 
     private final TaskInstHolder taskInstHolder;
+    private final AsyncMediaAnalysisCoordinator asyncMediaAnalysisCoordinator;
 
     public JSONObject prepare(FlowGraph graph,
                               FlowNodeWrapper node,
@@ -86,6 +88,9 @@ public class FlowNodeParamPreparer {
                 } else if ("output".equalsIgnoreCase(param.getQuoteType())) {
                     // 2.2 引用上游的 output 参数（运行时实际执行结果）
                     // 用 nodeId + iterations 作为 key，避免覆盖
+                    asyncMediaAnalysisCoordinator.awaitNode(
+                            rootMessage.getInstId(), rootMessage.getItemId(), rootMessage.getItemOrder(),
+                            rootMessage.getItemOccurrence(), refNodeId, rootMessage.getIterations());
                     source = ctx.getNodeOutput(refNodeId, rootMessage.getIterations());
                 } else {
                     throw new GlobalException("参数应用类型出错！quoteType:" + param.getQuoteType());

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

@@ -28,6 +28,9 @@ public class FlowAfterInterceptor extends AbstractFlowMsgPreInterceptor{
     @Override
     public TaskNodeExecuteResult doIntercept(TaskNodeExecuteMessage message, Function<TaskNodeExecuteMessage, TaskNodeExecuteResult> next) {
         TaskNodeExecuteResult result = next.apply(message);
+        if (result != null && result.isDeferred()) {
+            return result;
+        }
         TaskContext taskContext = taskInstHolder.getContext(message.getInstId());
         if (result == null && (taskContext == null || taskContext.isPaused() || taskContext.isStopped())) {
             return null;

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

@@ -1,9 +1,7 @@
 package com.cmvr.test.flow.runtime.interceptor;
 
 import cn.hutool.core.exceptions.ExceptionUtil;
-import cn.hutool.core.util.ObjUtil;
 import cn.hutool.core.util.StrUtil;
-import com.cmvr.common.exception.GlobalException;
 import com.cmvr.test.flow.context.TaskContext;
 import com.cmvr.test.flow.context.TaskInstHolder;
 import com.cmvr.test.flow.runtime.event.FlowExecutionEventPublisher;
@@ -47,18 +45,11 @@ public class FlowExceptionInterceptor extends AbstractFlowMsgPreInterceptor {
 
             log.error("节点执行异常：instId={}, nodeId={}, action={}",
                     message.getInstId(), message.getNodeId(), message.getAction(), e);
-            taskInstHolder.markFailed(
+            String detail = StrUtil.blankToDefault(ExceptionUtil.getMessage(e), e.toString());
-                    message.getInstId(),
+            // Convert thrown device exceptions into a normal failed result. The outer
-                    message.getTaskId(),
+            // FlowAfterInterceptor can then publish NODE_FAILED with node identity and
-                    message.getItemId(),
+            // the executor will persist the task failure exactly once.
-                    message.getNodeId(),
+            return TaskNodeExecuteResult.failure("执行异常：" + StrUtil.sub(detail, 0, 480));
-                    message.getNodeType(),
-                    message.getAction().getOperate(), message.getAction().getOperate(),
-                    ObjUtil.isEmpty(message.getInputParams()) ? null : message.getInputParams().toJSONString(),
-                    "执行异常：" + StrUtil.sub(ExceptionUtil.getMessage(e), 0, 480),
-                    message.getIterations()
-            );
-            throw new GlobalException("任务执行失败", e);
         }
     }
 }

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

@@ -40,6 +40,10 @@ public class FlowLoggingInterceptor extends AbstractFlowMsgPreInterceptor {
 
         TaskNodeExecuteResult result = next.apply(message);
 
+        if (result != null && result.isDeferred()) {
+            return result;
+        }
+
         // 节点执行返回拦截  判断此时是否被终止或暂停
         TaskContext context = taskInstHolder.getContext(message.getInstId());
         if (context == null || context.isPaused()) {

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

@@ -33,7 +33,7 @@ public class FlowOutputStoreInterceptor extends AbstractFlowMsgPreInterceptor {
 
         TaskNodeExecuteResult result = next.apply(message);
 
-        if (result != null && result.isSuccess()) {
+        if (result != null && result.isSuccess() && !result.isDeferred()) {
             TaskContext ctx = taskInstHolder.getContext(message.getInstId());
             if (ctx != null) {
                 JSONObject outputParams = result.getOutputParams();

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

@@ -18,6 +18,9 @@ public class TaskNodeExecuteResult {
     /** 错误信息（如果执行失败） */
     private String errorMsg;
 
+    /** 后台任务已经提交，节点的最终完成状态将由异步协调器写入。 */
+    private boolean deferred;
+
     public static TaskNodeExecuteResult success(JSONObject output) {
         TaskNodeExecuteResult result = new TaskNodeExecuteResult();
         result.setSuccess(true);
@@ -38,4 +41,10 @@ public class TaskNodeExecuteResult {
         result.setErrorMsg(msg);
         return result;
     }
+
+    public static TaskNodeExecuteResult deferred(JSONObject output) {
+        TaskNodeExecuteResult result = success(output);
+        result.setDeferred(true);
+        return result;
+    }
 }

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

@@ -30,6 +30,17 @@ public final class AgvNavigationWaiter {
             String stationId,
             long waitTimeoutMs,
             long pollIntervalMs) {
+        return navigateToStationAndWait(edgeAgvService, common, stationId, waitTimeoutMs,
+                pollIntervalMs, null);
+    }
+
+    public static AgvUtils.AgvNavigationStatus navigateToStationAndWait(
+            EdgeAgvService edgeAgvService,
+            EdgeCommonVO common,
+            String stationId,
+            long waitTimeoutMs,
+            long pollIntervalMs,
+            AgvUtils.AgvMotionOptions options) {
         if (waitTimeoutMs <= 0) {
             throw new GlobalException("导航等待超时时间必须大于0");
         }
@@ -37,7 +48,7 @@ public final class AgvNavigationWaiter {
             throw new GlobalException("导航状态轮询间隔必须大于0且不能超过等待超时时间");
         }
 
-        edgeAgvService.navigateToStation(common, stationId);
+        edgeAgvService.navigateToStation(common, stationId, options);
         long deadlineNanos = System.nanoTime() + TimeUnit.MILLISECONDS.toNanos(waitTimeoutMs);
         AgvUtils.AgvNavigationStatus lastStatus = null;
 

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

@@ -71,7 +71,7 @@ public class EdgeAgvOperateService implements EdgeOperateService {
                 edgeCommonVO.setDeviceId(deviceId);
                 
                 // 直接调用边缘端AGV服务执行导航
-                edgeAgvService.navigateToPose(edgeCommonVO, pose);
+                edgeAgvService.navigateToPose(edgeCommonVO, pose, navigationOptions(inputParams));
                 
                 log.info("AGV移动任务下发成功");
                 
@@ -90,7 +90,8 @@ public class EdgeAgvOperateService implements EdgeOperateService {
                 long waitTimeoutMs = inputParams.getLongValue("waitTimeoutMs", AgvNavigationWaiter.DEFAULT_WAIT_TIMEOUT_MS);
                 long pollIntervalMs = inputParams.getLongValue("pollIntervalMs", AgvNavigationWaiter.DEFAULT_POLL_INTERVAL_MS);
                 AgvUtils.AgvNavigationStatus status = AgvNavigationWaiter.navigateToStationAndWait(
-                        edgeAgvService, edgeCommonVO, stationId.trim(), waitTimeoutMs, pollIntervalMs);
+                        edgeAgvService, edgeCommonVO, stationId.trim(), waitTimeoutMs, pollIntervalMs,
+                        navigationOptions(inputParams));
                 return TaskNodeExecuteResult.success(new JSONObject()
                         .fluentPut("state", status.getState())
                         .fluentPut("progress", status.getProgress())
@@ -104,4 +105,16 @@ public class EdgeAgvOperateService implements EdgeOperateService {
         
         return TaskNodeExecuteResult.success();
     }
+
+    private AgvUtils.AgvMotionOptions navigationOptions(JSONObject inputParams) {
+        int blockedTimeoutMs = inputParams.getIntValue(
+                "blockedTimeoutMs", EdgeAgvService.DEFAULT_BLOCKED_TIMEOUT_MS);
+        if (blockedTimeoutMs <= 0) {
+            blockedTimeoutMs = EdgeAgvService.DEFAULT_BLOCKED_TIMEOUT_MS;
+        }
+        return AgvUtils.AgvMotionOptions.newBuilder()
+                .setAsynchronous(false)
+                .setBlockedTimeoutMs(blockedTimeoutMs)
+                .build();
+    }
 }

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

@@ -0,0 +1,227 @@
+package com.cmvr.test.flow.runtime.operator.llm;
+
+import cn.hutool.core.exceptions.ExceptionUtil;
+import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson2.JSONObject;
+import com.cmvr.common.exception.GlobalException;
+import com.cmvr.test.flow.builder.TaskKeyBuilder;
+import com.cmvr.test.flow.context.TaskContext;
+import com.cmvr.test.flow.context.TaskInstHolder;
+import com.cmvr.test.flow.runtime.event.FlowExecutionEvent;
+import com.cmvr.test.flow.runtime.event.FlowExecutionEventPublisher;
+import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
+import com.cmvr.test.flow.runtime.message.TaskNodeExecuteResult;
+import com.cmvr.test.service.ITeNodeInstService;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Qualifier;
+import org.springframework.scheduling.concurrent.ThreadPoolTaskExecutor;
+import org.springframework.stereotype.Service;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Map;
+import java.util.concurrent.CompletableFuture;
+import java.util.concurrent.CancellationException;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.ExecutionException;
+import java.util.concurrent.atomic.AtomicReference;
+import java.util.function.Supplier;
+
+@Slf4j
+@Service
+public class AsyncMediaAnalysisCoordinator {
+
+    private final TaskInstHolder taskInstHolder;
+    private final ITeNodeInstService nodeInstService;
+    private final FlowExecutionEventPublisher eventPublisher;
+    private final ThreadPoolTaskExecutor executor;
+    private final Map<String, ExecutionGroup> groups = new ConcurrentHashMap<>();
+
+    public AsyncMediaAnalysisCoordinator(
+            TaskInstHolder taskInstHolder,
+            ITeNodeInstService nodeInstService,
+            FlowExecutionEventPublisher eventPublisher,
+            @Qualifier("mediaAnalysisTaskExecutor") ThreadPoolTaskExecutor executor) {
+        this.taskInstHolder = taskInstHolder;
+        this.nodeInstService = nodeInstService;
+        this.eventPublisher = eventPublisher;
+        this.executor = executor;
+    }
+
+    public TaskNodeExecuteResult submit(TaskNodeExecuteMessage message, String requestId,
+                                        Supplier<TaskNodeExecuteResult> analysis) {
+        JSONObject accepted = new JSONObject()
+                .fluentPut("asynchronous", true)
+                .fluentPut("analysisStatus", "SUBMITTED")
+                .fluentPut("requestId", requestId);
+        TaskContext context = taskInstHolder.getContext(message.getInstId());
+        if (context == null) {
+            executor.execute(() -> runDetached(message, analysis));
+            return TaskNodeExecuteResult.success(accepted);
+        }
+
+        String moduleCode = context.getModuleCode();
+        String nodeKey = nodeKey(message.getItemId(), message.getItemOrder(),
+                message.getItemOccurrence(), message.getNodeId(), safeIterations(message));
+        ExecutionGroup group = groups.computeIfAbsent(message.getInstId(), ignored -> new ExecutionGroup());
+        CompletableFuture<TaskNodeExecuteResult> analysisFuture = CompletableFuture.supplyAsync(analysis, executor);
+        CompletableFuture<Void> completion = analysisFuture.handle((result, error) -> {
+            completeNode(message, moduleCode, result, error, group, nodeKey);
+            return null;
+        });
+        group.jobs.put(nodeKey, completion);
+        log.info("异步媒体分析已提交：instId={}, nodeId={}, requestId={}",
+                message.getInstId(), message.getNodeId(), requestId);
+        return TaskNodeExecuteResult.deferred(accepted);
+    }
+
+    public void awaitNode(String instId, String itemId, Integer itemOrder, Integer itemOccurrence,
+                          String nodeId, List<Integer> iterations) {
+        ExecutionGroup group = groups.get(instId);
+        if (group == null) return;
+        String key = nodeKey(itemId, itemOrder, itemOccurrence, nodeId, safeIterations(iterations));
+        CompletableFuture<Void> job = group.jobs.get(key);
+        if (job != null) await(job);
+        String error = group.nodeFailures.get(key);
+        if (error != null) throw new GlobalException(error);
+    }
+
+    public TaskNodeExecuteResult awaitAll(String instId) {
+        ExecutionGroup group = groups.get(instId);
+        if (group == null) return TaskNodeExecuteResult.success();
+        boolean completed = false;
+        try {
+            while (true) {
+                CompletableFuture<?>[] snapshot = group.jobs.values().toArray(new CompletableFuture[0]);
+                await(CompletableFuture.allOf(snapshot));
+                if (group.jobs.values().stream().allMatch(CompletableFuture::isDone)) break;
+            }
+            completed = true;
+            String error = group.failure.get();
+            return error == null ? TaskNodeExecuteResult.success() : TaskNodeExecuteResult.failure(error);
+        } finally {
+            if (completed) groups.remove(instId, group);
+        }
+    }
+
+    public void cancelAll(String instId) {
+        ExecutionGroup group = groups.remove(instId);
+        if (group == null) return;
+        group.cancelled = true;
+        group.jobs.values().forEach(job -> job.cancel(true));
+        log.info("已取消任务的异步媒体分析登记：instId={}, count={}", instId, group.jobs.size());
+    }
+
+    private void completeNode(TaskNodeExecuteMessage message, String moduleCode,
+                              TaskNodeExecuteResult result, Throwable error, ExecutionGroup group,
+                              String nodeKey) {
+        try {
+            TaskContext currentContext = taskInstHolder.getContext(message.getInstId());
+            if (group.cancelled || currentContext == null || currentContext.isStopped()) {
+                log.info("任务已终止，忽略异步媒体分析结果：instId={}, nodeId={}",
+                        message.getInstId(), message.getNodeId());
+                return;
+            }
+            Throwable cause = error == null ? null : ExceptionUtil.getRootCause(error);
+            if (cause == null && (result == null || !result.isSuccess())) {
+                cause = new GlobalException(result == null ? "异步分析结果为空" : result.getErrorMsg());
+            }
+            if (cause != null) {
+                String detail = "异步分析失败：" + StrUtil.sub(
+                        StrUtil.blankToDefault(ExceptionUtil.getMessage(cause), cause.toString()), 0, 480);
+                group.failure.compareAndSet(null, detail);
+                group.nodeFailures.put(nodeKey, detail);
+                nodeInstService.logFailed(message.getInstId(), message.getTaskId(), message.getItemId(),
+                        message.getNodeId(), message.getNodeType(),
+                        message.getAction() == null ? null : message.getAction().getOperate(),
+                        message.getAction() == null ? null : message.getAction().getAction(),
+                        message.getInputParams() == null ? null : message.getInputParams().toJSONString(),
+                        detail, safeIterations(message));
+                publish(message, moduleCode, FlowExecutionEvent.EventType.NODE_FAILED, null, detail);
+                return;
+            }
+
+            JSONObject output = result.getOutputParams() == null ? new JSONObject() : result.getOutputParams();
+            taskInstHolder.setNodeOutParams(message.getInstId(), message.getNodeId(), safeIterations(message), output);
+            taskInstHolder.markNodeSuccess(message.getInstId(), message.getItemId(), message.getNodeId(),
+                    message.getPendingItemCount(), message.getNodeType(), output.toJSONString(),
+                    "异步分析执行成功", safeIterations(message));
+            publish(message, moduleCode, FlowExecutionEvent.EventType.NODE_COMPLETED, output, null);
+        } catch (Throwable finalizeError) {
+            String detail = "异步分析结果处理失败：" + StrUtil.sub(
+                    StrUtil.blankToDefault(ExceptionUtil.getMessage(finalizeError), finalizeError.toString()), 0, 480);
+            group.failure.compareAndSet(null, detail);
+            group.nodeFailures.put(nodeKey, detail);
+            log.error("异步媒体分析结果处理异常：instId={}, nodeId={}",
+                    message.getInstId(), message.getNodeId(), finalizeError);
+        }
+    }
+
+    private void publish(TaskNodeExecuteMessage message, String moduleCode,
+                         FlowExecutionEvent.EventType eventType, JSONObject output, String error) {
+        int nodeCount = message.getGraph() == null ? 0 : message.getGraph().allNodeIds().size();
+        eventPublisher.publishEvent(FlowExecutionEvent.builder()
+                .eventType(eventType)
+                .nodeName(message.getNodeName())
+                .instId(message.getInstId())
+                .taskId(message.getTaskId())
+                .moduleCode(moduleCode)
+                .itemId(message.getItemId())
+                .itemOrder(message.getItemOrder())
+                .itemOccurrence(message.getItemOccurrence())
+                .nodeId(message.getNodeId())
+                .nodeCount(nodeCount)
+                .nodeType(message.getNodeType())
+                .action(message.getAction())
+                .outputParams(output)
+                .robotId(message.getRobotId())
+                .iterations(new ArrayList<>(safeIterations(message)))
+                .errorMessage(error)
+                .build());
+    }
+
+    private void runDetached(TaskNodeExecuteMessage message, Supplier<TaskNodeExecuteResult> analysis) {
+        try {
+            analysis.get();
+        } catch (Throwable error) {
+            log.error("单节点异步媒体分析失败：nodeId={}", message.getNodeId(), error);
+        }
+    }
+
+    private List<Integer> safeIterations(TaskNodeExecuteMessage message) {
+        return safeIterations(message.getIterations());
+    }
+
+    private List<Integer> safeIterations(List<Integer> iterations) {
+        return iterations == null ? List.of() : iterations;
+    }
+
+    private String nodeKey(String itemId, Integer itemOrder, Integer itemOccurrence,
+                           String nodeId, List<Integer> iterations) {
+        return StrUtil.blankToDefault(itemId, "item") + ":"
+                + (itemOrder == null ? 0 : itemOrder) + ":"
+                + (itemOccurrence == null ? 0 : itemOccurrence) + ":"
+                + TaskKeyBuilder.buildKey(nodeId, iterations);
+    }
+
+    private void await(CompletableFuture<?> future) {
+        try {
+            future.get();
+        } catch (InterruptedException error) {
+            Thread.currentThread().interrupt();
+            throw new GlobalException("等待异步分析被中断", error);
+        } catch (ExecutionException error) {
+            Throwable cause = ExceptionUtil.getRootCause(error);
+            throw new GlobalException("异步分析执行失败：" + ExceptionUtil.getMessage(cause), cause);
+        } catch (CancellationException error) {
+            throw new GlobalException("异步分析已取消", error);
+        }
+    }
+
+    private static final class ExecutionGroup {
+        private final Map<String, CompletableFuture<Void>> jobs = new ConcurrentHashMap<>();
+        private final Map<String, String> nodeFailures = new ConcurrentHashMap<>();
+        private final AtomicReference<String> failure = new AtomicReference<>();
+        private volatile boolean cancelled;
+    }
+}

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

@@ -7,8 +7,8 @@ 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 org.apache.commons.lang3.StringUtils;
+import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 
 import java.util.List;
@@ -16,11 +16,22 @@ import java.util.Set;
 import java.util.UUID;
 
 @Service
-@RequiredArgsConstructor
 public class LLMMediaAnalysisOperateService implements LLMOperateService {
 
     private static final Set<String> VIDEO_ANALYSIS_MODES = Set.of("AUTO", "FAST", "ACCURATE");
     private final MediaAnalysisClient mediaAnalysisClient;
+    private final AsyncMediaAnalysisCoordinator asyncCoordinator;
+
+    @Autowired
+    public LLMMediaAnalysisOperateService(MediaAnalysisClient mediaAnalysisClient,
+                                          AsyncMediaAnalysisCoordinator asyncCoordinator) {
+        this.mediaAnalysisClient = mediaAnalysisClient;
+        this.asyncCoordinator = asyncCoordinator;
+    }
+
+    LLMMediaAnalysisOperateService(MediaAnalysisClient mediaAnalysisClient) {
+        this(mediaAnalysisClient, null);
+    }
 
     @Override
     public boolean supports(ActionEnum action) {
@@ -91,6 +102,12 @@ public class LLMMediaAnalysisOperateService implements LLMOperateService {
             }
             options.put("prompt", prompt);
             options.put("analysisMode", analysisMode);
+            String analysisMethod = StringUtils.defaultIfBlank(
+                    input.getString("analysisMethod"), "AUTO").trim().toUpperCase();
+            if (!Set.of("AUTO", "VISION_MODEL", "TEXT_LOCATE", "REFERENCE_MATCH").contains(analysisMethod)) {
+                throw new GlobalException("图片分析方式无效: {}", analysisMethod);
+            }
+            options.put("analysisMethod", analysisMethod);
             String referenceImageUrl = FlowMediaParamResolver.lastUrl(input, "referenceImageUrl");
             if (StringUtils.isNotBlank(referenceImageUrl)) {
                 options.put("referenceImageUrl", referenceImageUrl);
@@ -102,7 +119,8 @@ public class LLMMediaAnalysisOperateService implements LLMOperateService {
         }
 
         JSONObject request = new JSONObject();
-        request.put("requestId", buildRequestId(message));
+        String requestId = buildRequestId(message);
+        request.put("requestId", requestId);
         request.put("analysisType", audio ? "AUDIO_CLASSIFICATION"
                 : (image ? "IMAGE_ANALYSIS" : "VIDEO_ANALYSIS"));
         request.put("profileCode", profileCode);
@@ -113,6 +131,19 @@ public class LLMMediaAnalysisOperateService implements LLMOperateService {
         request.put("options", options);
         request.put("context", context);
 
+        String finalExpectedLabel = expectedLabel;
+        String finalExpectedLabelName = expectedLabelName;
+        if (Boolean.TRUE.equals(input.getBoolean("asynchronous")) && asyncCoordinator != null) {
+            return asyncCoordinator.submit(message, requestId,
+                    () -> analyze(request, audio, image, mediaUrl, mediaUrls,
+                            finalExpectedLabel, finalExpectedLabelName));
+        }
+        return analyze(request, audio, image, mediaUrl, mediaUrls, expectedLabel, expectedLabelName);
+    }
+
+    private TaskNodeExecuteResult analyze(JSONObject request, boolean audio, boolean image,
+                                          String mediaUrl, List<String> mediaUrls,
+                                          String expectedLabel, String expectedLabelName) {
         JSONObject response = mediaAnalysisClient.analyze(request);
         JSONObject output = response.getJSONObject("result");
         if (output == null) {
@@ -184,12 +215,35 @@ public class LLMMediaAnalysisOperateService implements LLMOperateService {
         Integer maxWidth = source.getInteger("maxWidth");
         Integer maxImages = source.getInteger("maxImages");
         Integer maxOutputTokens = source.getInteger("maxOutputTokens");
+        Double matchThreshold = source.getDouble("matchThreshold");
+        Double locateConfidenceThreshold = source.getDouble("locateConfidenceThreshold");
+        String matchSelector = StringUtils.trimToNull(source.getString("matchSelector"));
+        Integer matchIndex = source.getInteger("matchIndex");
+        String matchSort = StringUtils.trimToNull(source.getString("matchSort"));
         validateRange("图片宽度", maxWidth, 640, 1600);
         validateRange("图片数量", maxImages, 1, 12);
         validateRange("最大输出长度", maxOutputTokens, 32, 4096);
+        validateRange("最低匹配分数", matchThreshold, 0.2D, 0.95D);
+        validateRange("最低定位置信度", locateConfidenceThreshold, 0.2D, 0.95D);
+        validateRange("匹配序号", matchIndex, 1, 20);
+        if (matchSelector != null && !Set.of(
+                "BEST", "INDEX", "TOP_LEFT", "TOP_RIGHT", "BOTTOM_LEFT", "BOTTOM_RIGHT"
+        ).contains(matchSelector.toUpperCase())) {
+            throw new GlobalException("匹配结果选择方式无效: {}", matchSelector);
+        }
+        if (matchSort != null && !Set.of("ROW_MAJOR", "COLUMN_MAJOR").contains(matchSort.toUpperCase())) {
+            throw new GlobalException("匹配排序方式无效: {}", matchSort);
+        }
         if (maxWidth != null) tuning.put("maxWidth", maxWidth);
         if (maxImages != null) tuning.put("maxImages", maxImages);
         if (maxOutputTokens != null) tuning.put("maxOutputTokens", maxOutputTokens);
+        if (matchThreshold != null) tuning.put("matchThreshold", matchThreshold);
+        if (locateConfidenceThreshold != null) {
+            tuning.put("locateConfidenceThreshold", locateConfidenceThreshold);
+        }
+        if (matchSelector != null) tuning.put("matchSelector", matchSelector.toUpperCase());
+        if (matchIndex != null) tuning.put("matchIndex", matchIndex);
+        if (matchSort != null) tuning.put("matchSort", matchSort.toUpperCase());
         return tuning;
     }
 

cmvr-iot-test/src/main/java/com/cmvr/test/service/FlowActionExecutorService.java

@@ -258,7 +258,7 @@ public class FlowActionExecutorService {
                     .build();
                 
                 // 直接调用边缘端AGV服务
-                edgeAgvService.navigateToPose(edgeCommonVO, pose);
+                edgeAgvService.navigateToPose(edgeCommonVO, pose, buildAgvNavigationOptions(payload));
                 
                 log.info("AGV移动任务下发成功");
                 
@@ -274,7 +274,8 @@ public class FlowActionExecutorService {
                 long waitTimeoutMs = payload.getLongValue("waitTimeoutMs", AgvNavigationWaiter.DEFAULT_WAIT_TIMEOUT_MS);
                 long pollIntervalMs = payload.getLongValue("pollIntervalMs", AgvNavigationWaiter.DEFAULT_POLL_INTERVAL_MS);
                 AgvNavigationWaiter.navigateToStationAndWait(
-                        edgeAgvService, edgeCommonVO, stationId.trim(), waitTimeoutMs, pollIntervalMs);
+                        edgeAgvService, edgeCommonVO, stationId.trim(), waitTimeoutMs, pollIntervalMs,
+                        buildAgvNavigationOptions(payload));
                 log.info("AGV移动到指定站点完成，设备ID: {}，站点ID: {}", deviceId, stationId);
                 return "AGV移动到指定站点完成";
             }
@@ -284,6 +285,18 @@ public class FlowActionExecutorService {
         }
     }
 
+    private AgvUtils.AgvMotionOptions buildAgvNavigationOptions(JSONObject payload) {
+        int blockedTimeoutMs = payload.getIntValue(
+                "blockedTimeoutMs", EdgeAgvService.DEFAULT_BLOCKED_TIMEOUT_MS);
+        if (blockedTimeoutMs <= 0) {
+            blockedTimeoutMs = EdgeAgvService.DEFAULT_BLOCKED_TIMEOUT_MS;
+        }
+        return AgvUtils.AgvMotionOptions.newBuilder()
+                .setAsynchronous(false)
+                .setBlockedTimeoutMs(blockedTimeoutMs)
+                .build();
+    }
+
     private String executeInspectionAlertAction(ActionEnum action, JSONObject payload) {
         String robotId = payload.getString("robotId");
         java.util.List<String> types = resolveInspectionAlertEventTypes(payload);

cmvr-iot-test/src/test/java/com/cmvr/test/flow/runtime/dispatcher/FlowEndNodeHandlerTest.java

@@ -0,0 +1,78 @@
+package com.cmvr.test.flow.runtime.dispatcher;
+
+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.event.FlowExecutionEventPublisher;
+import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
+import com.cmvr.test.flow.runtime.message.TaskNodeExecuteResult;
+import com.cmvr.test.flow.runtime.operator.llm.AsyncMediaAnalysisCoordinator;
+import com.cmvr.test.service.ITeNodeInstService;
+import org.junit.Test;
+import org.springframework.scheduling.concurrent.ThreadPoolTaskExecutor;
+
+import java.lang.reflect.Proxy;
+import java.util.List;
+import java.util.concurrent.atomic.AtomicInteger;
+
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertTrue;
+
+public class FlowEndNodeHandlerTest {
+
+    @Test
+    public void waitsForAsyncAnalysisOnlyAtLastItem() {
+        AtomicInteger awaitAllCalls = new AtomicInteger();
+        AsyncMediaAnalysisCoordinator coordinator = new AsyncMediaAnalysisCoordinator(null, null, null, null) {
+            @Override
+            public TaskNodeExecuteResult awaitAll(String instId) {
+                awaitAllCalls.incrementAndGet();
+                return TaskNodeExecuteResult.success();
+            }
+        };
+
+        ITeNodeInstService nodeService = (ITeNodeInstService) Proxy.newProxyInstance(
+                ITeNodeInstService.class.getClassLoader(), new Class<?>[]{ITeNodeInstService.class},
+                (proxy, method, args) -> defaultValue(method.getReturnType()));
+        TaskContextManager contextManager = new TaskContextManager();
+        TaskContext context = new TaskContext();
+        context.setInstId("inst-1");
+        contextManager.register(context);
+        TaskInstHolder holder = new TaskInstHolder(nodeService, contextManager, null,
+                new FlowExecutionEventPublisher(List.of()));
+
+        ThreadPoolTaskExecutor executor = new ThreadPoolTaskExecutor();
+        executor.setCorePoolSize(1);
+        executor.setMaxPoolSize(1);
+        executor.initialize();
+        try {
+            FlowEndNodeHandler handler = new FlowEndNodeHandler(holder, null, coordinator, executor);
+
+            TaskNodeExecuteMessage earlierItem = message(1);
+            assertTrue(handler.handle(earlierItem).isSuccess());
+            assertEquals(0, awaitAllCalls.get());
+
+            TaskNodeExecuteMessage lastItem = message(0);
+            assertTrue(handler.handle(lastItem).isSuccess());
+            assertEquals(1, awaitAllCalls.get());
+        } finally {
+            executor.shutdown();
+        }
+    }
+
+    private TaskNodeExecuteMessage message(int pendingItemCount) {
+        TaskNodeExecuteMessage message = new TaskNodeExecuteMessage();
+        message.setInstId("inst-1");
+        message.setTaskId("task-1");
+        message.setItemId("item-1");
+        message.setPendingItemCount(pendingItemCount);
+        return message;
+    }
+
+    private static Object defaultValue(Class<?> type) {
+        if (!type.isPrimitive()) return null;
+        if (type == boolean.class) return false;
+        if (type == char.class) return '\0';
+        return 0;
+    }
+}

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

@@ -0,0 +1,28 @@
+package com.cmvr.test.flow.runtime.engine.support;
+
+import com.cmvr.test.flow.builder.FlowBranchConditionGroup;
+import org.junit.Test;
+
+import java.util.List;
+import java.util.Set;
+
+import static org.junit.Assert.assertEquals;
+
+public class FlowBranchEvaluatorTest {
+
+    @Test
+    public void extractsBothSidesOfQuotedBranchExpressions() {
+        FlowBranchConditionGroup.ConditionExpression expression =
+                new FlowBranchConditionGroup.ConditionExpression();
+        expression.setNameType("quote");
+        expression.setNameQuotePath(List.of("video-node", "output", "passed"));
+        expression.setValueType("quote");
+        expression.setQuotePath(List.of("audio-node", "output", "passed"));
+
+        FlowBranchConditionGroup group = new FlowBranchConditionGroup();
+        group.setExpressions(List.of(expression));
+
+        assertEquals(Set.of("video-node", "audio-node"),
+                FlowBranchEvaluator.referencedNodeIds(List.of(group)));
+    }
+}

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

@@ -0,0 +1,39 @@
+package com.cmvr.test.flow.runtime.interceptor;
+
+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.event.FlowExecutionEventPublisher;
+import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
+import com.cmvr.test.flow.runtime.message.TaskNodeExecuteResult;
+import org.junit.Test;
+
+import java.util.Collections;
+
+import static org.junit.Assert.assertFalse;
+import static org.junit.Assert.assertTrue;
+
+public class FlowExceptionInterceptorTest {
+
+    @Test
+    public void convertsDeviceExceptionToFailedResultWithOriginalReason() {
+        TaskContextManager contextManager = new TaskContextManager();
+        TaskContext context = new TaskContext();
+        context.setInstId("inst-1");
+        contextManager.register(context);
+
+        FlowExecutionEventPublisher publisher = new FlowExecutionEventPublisher(Collections.emptyList());
+        TaskInstHolder holder = new TaskInstHolder(null, contextManager, null, publisher);
+        FlowExceptionInterceptor interceptor = new FlowExceptionInterceptor(publisher, holder);
+        TaskNodeExecuteMessage message = new TaskNodeExecuteMessage();
+        message.setInstId("inst-1");
+        message.setNodeId("arm-node");
+
+        TaskNodeExecuteResult result = interceptor.doIntercept(message, ignored -> {
+            throw new IllegalStateException("机械臂通信失败: setPayload ret=13");
+        });
+
+        assertFalse(result.isSuccess());
+        assertTrue(result.getErrorMsg().contains("机械臂通信失败: setPayload ret=13"));
+    }
+}

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

@@ -0,0 +1,185 @@
+package com.cmvr.test.flow.runtime.operator.llm;
+
+import com.alibaba.fastjson2.JSONObject;
+import com.cmvr.test.enums.ActionEnum;
+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.event.FlowExecutionEvent;
+import com.cmvr.test.flow.runtime.event.FlowExecutionEventPublisher;
+import com.cmvr.test.flow.runtime.event.FlowExecutionListener;
+import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
+import com.cmvr.test.flow.runtime.message.TaskNodeExecuteResult;
+import com.cmvr.test.service.ITeNodeInstService;
+import org.junit.Test;
+import org.springframework.scheduling.concurrent.ThreadPoolTaskExecutor;
+
+import java.lang.reflect.Proxy;
+import java.util.Collections;
+import java.util.List;
+import java.util.concurrent.CountDownLatch;
+import java.util.concurrent.TimeUnit;
+import java.util.concurrent.atomic.AtomicBoolean;
+import java.util.concurrent.atomic.AtomicReference;
+
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertFalse;
+import static org.junit.Assert.assertNull;
+import static org.junit.Assert.assertTrue;
+
+public class AsyncMediaAnalysisCoordinatorTest {
+
+    @Test
+    public void submitsImmediatelyAndStoresFinalResultBeforeAwaitReturns() throws Exception {
+        Fixture fixture = fixture();
+        CountDownLatch started = new CountDownLatch(1);
+        CountDownLatch release = new CountDownLatch(1);
+        try {
+            TaskNodeExecuteResult submitted = fixture.coordinator.submit(fixture.message, "request-1", () -> {
+                started.countDown();
+                await(release);
+                return TaskNodeExecuteResult.success(new JSONObject().fluentPut("passed", true));
+            });
+
+            assertTrue(submitted.isSuccess());
+            assertTrue(submitted.isDeferred());
+            assertTrue(started.await(1, TimeUnit.SECONDS));
+            assertNull(fixture.context.getNodeOutput("analysis-node", Collections.emptyList()));
+
+            release.countDown();
+            assertTrue(fixture.coordinator.awaitAll("inst-1").isSuccess());
+            assertTrue(fixture.context.getNodeOutput(
+                    "analysis-node", Collections.emptyList()).getBooleanValue("passed"));
+            assertTrue(fixture.nodeSucceeded.get());
+            assertEquals(FlowExecutionEvent.EventType.NODE_COMPLETED,
+                    fixture.lastEvent.get().getEventType());
+        } finally {
+            release.countDown();
+            fixture.executor.shutdown();
+        }
+    }
+
+    @Test
+    public void reportsBackgroundFailureAtFlowBarrier() {
+        Fixture fixture = fixture();
+        try {
+            fixture.coordinator.submit(fixture.message, "request-2", () -> {
+                throw new IllegalStateException("vision service unavailable");
+            });
+
+            TaskNodeExecuteResult result = fixture.coordinator.awaitAll("inst-1");
+
+            assertFalse(result.isSuccess());
+            assertTrue(result.getErrorMsg().contains("vision service unavailable"));
+            assertTrue(fixture.nodeFailed.get());
+            assertEquals(FlowExecutionEvent.EventType.NODE_FAILED,
+                    fixture.lastEvent.get().getEventType());
+        } finally {
+            fixture.executor.shutdown();
+        }
+    }
+
+    @Test
+    public void unrelatedItemFailureDoesNotBreakCurrentItemDependencyWait() {
+        Fixture fixture = fixture();
+        try {
+            TaskNodeExecuteMessage failedItem = fixture.message;
+            fixture.coordinator.submit(failedItem, "request-failed", () -> {
+                throw new IllegalStateException("first item failed");
+            });
+
+            TaskNodeExecuteMessage currentItem = message("item-2");
+            fixture.coordinator.submit(currentItem, "request-current", () ->
+                    TaskNodeExecuteResult.success(new JSONObject().fluentPut("passed", true)));
+
+            fixture.coordinator.awaitNode("inst-1", "item-2", null, null,
+                    "analysis-node", Collections.emptyList());
+            assertFalse(fixture.coordinator.awaitAll("inst-1").isSuccess());
+        } finally {
+            fixture.executor.shutdown();
+        }
+    }
+
+    private Fixture fixture() {
+        AtomicBoolean nodeSucceeded = new AtomicBoolean();
+        AtomicBoolean nodeFailed = new AtomicBoolean();
+        ITeNodeInstService nodeService = (ITeNodeInstService) Proxy.newProxyInstance(
+                ITeNodeInstService.class.getClassLoader(), new Class<?>[]{ITeNodeInstService.class},
+                (proxy, method, args) -> {
+                    if ("logSuccess".equals(method.getName())) nodeSucceeded.set(true);
+                    if ("logFailed".equals(method.getName())) nodeFailed.set(true);
+                    return defaultValue(method.getReturnType());
+                });
+        AtomicReference<FlowExecutionEvent> lastEvent = new AtomicReference<>();
+        FlowExecutionListener listener = new FlowExecutionListener() {
+            @Override
+            public void onEvent(FlowExecutionEvent event) {
+                lastEvent.set(event);
+            }
+
+            @Override
+            public String getModuleCode() {
+                return "AIMA";
+            }
+        };
+        FlowExecutionEventPublisher publisher = new FlowExecutionEventPublisher(List.of(listener));
+        TaskContextManager contextManager = new TaskContextManager();
+        TaskContext context = new TaskContext();
+        context.setInstId("inst-1");
+        context.setModuleCode("AIMA");
+        contextManager.register(context);
+        TaskInstHolder holder = new TaskInstHolder(nodeService, contextManager, null, publisher);
+        ThreadPoolTaskExecutor executor = new ThreadPoolTaskExecutor();
+        executor.setCorePoolSize(1);
+        executor.setMaxPoolSize(1);
+        executor.setQueueCapacity(10);
+        executor.setThreadNamePrefix("media-analysis-test-");
+        executor.initialize();
+        AsyncMediaAnalysisCoordinator coordinator = new AsyncMediaAnalysisCoordinator(
+                holder, nodeService, publisher, executor);
+
+        TaskNodeExecuteMessage message = message("item-1");
+        return new Fixture(coordinator, executor, context, message,
+                nodeSucceeded, nodeFailed, lastEvent);
+    }
+
+    private TaskNodeExecuteMessage message(String itemId) {
+        TaskNodeExecuteMessage message = new TaskNodeExecuteMessage();
+        message.setInstId("inst-1");
+        message.setTaskId("task-1");
+        message.setItemId(itemId);
+        message.setNodeId("analysis-node");
+        message.setNodeName("视频分析");
+        message.setNodeType("LLM");
+        message.setAction(ActionEnum.VIDEO_ANALYZE);
+        message.setInputParams(new JSONObject());
+        message.setIterations(Collections.emptyList());
+        return message;
+    }
+
+    private void await(CountDownLatch latch) {
+        try {
+            latch.await();
+        } catch (InterruptedException e) {
+            Thread.currentThread().interrupt();
+            throw new IllegalStateException(e);
+        }
+    }
+
+    private Object defaultValue(Class<?> type) {
+        if (!type.isPrimitive()) return null;
+        if (type == boolean.class) return false;
+        if (type == char.class) return '\0';
+        return 0;
+    }
+
+    private record Fixture(
+            AsyncMediaAnalysisCoordinator coordinator,
+            ThreadPoolTaskExecutor executor,
+            TaskContext context,
+            TaskNodeExecuteMessage message,
+            AtomicBoolean nodeSucceeded,
+            AtomicBoolean nodeFailed,
+            AtomicReference<FlowExecutionEvent> lastEvent) {
+    }
+}

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

@@ -154,11 +154,16 @@ public class LLMMediaAnalysisOperateServiceTest {
                         .fluentAdd("https://files.example/scene-2.jpg"))
                 .fluentPut("referenceImageUrl", "https://files.example/icon.jpg")
                 .fluentPut("prompt", "最后一张图片是参考图，输出匹配图标的中心坐标 JSON")
+                .fluentPut("analysisMethod", "REFERENCE_MATCH")
                 .fluentPut("analysisMode", "ACCURATE")
                 .fluentPut("analysisTuning", new JSONObject()
                         .fluentPut("maxWidth", 1280)
                         .fluentPut("maxImages", 8)
-                        .fluentPut("maxOutputTokens", 256));
+                        .fluentPut("maxOutputTokens", 256)
+                        .fluentPut("matchThreshold", 0.55D)
+                        .fluentPut("matchSelector", "INDEX")
+                        .fluentPut("matchIndex", 3)
+                        .fluentPut("matchSort", "COLUMN_MAJOR"));
 
         TaskNodeExecuteResult result = service.execute(message(ActionEnum.IMAGE_ANALYZE, input));
 
@@ -168,12 +173,48 @@ public class LLMMediaAnalysisOperateServiceTest {
         JSONObject options = captured.get().getJSONObject("options");
         assertEquals("最后一张图片是参考图，输出匹配图标的中心坐标 JSON", options.getString("prompt"));
         assertEquals("https://files.example/icon.jpg", options.getString("referenceImageUrl"));
+        assertEquals("REFERENCE_MATCH", options.getString("analysisMethod"));
         assertEquals(8, options.getJSONObject("tuning").getIntValue("maxImages"));
         assertEquals(256, options.getJSONObject("tuning").getIntValue("maxOutputTokens"));
+        assertEquals(0.55D, options.getJSONObject("tuning").getDoubleValue("matchThreshold"), 0.0001D);
+        assertEquals("INDEX", options.getJSONObject("tuning").getString("matchSelector"));
+        assertEquals(3, options.getJSONObject("tuning").getIntValue("matchIndex"));
+        assertEquals("COLUMN_MAJOR", options.getJSONObject("tuning").getString("matchSort"));
         assertEquals(2, result.getOutputParams().getJSONArray("mediaUrls").size());
         assertNull(result.getOutputParams().get("passed"));
     }
 
+    @Test
+    public void forwardsDescriptionLocationMethodAndThreshold() {
+        AtomicReference<JSONObject> captured = new AtomicReference<>();
+        MediaAnalysisClient client = request -> {
+            captured.set(request);
+            return new JSONObject()
+                    .fluentPut("status", "SUCCEEDED")
+                    .fluentPut("analysisType", "IMAGE_ANALYSIS")
+                    .fluentPut("profileCode", "common.image_analysis.v1")
+                    .fluentPut("result", new JSONObject()
+                            .fluentPut("result", new JSONArray().fluentAdd(10).fluentAdd(20).fluentAdd(30).fluentAdd(40))
+                            .fluentPut("matched", true));
+        };
+        LLMMediaAnalysisOperateService service = new LLMMediaAnalysisOperateService(client);
+        JSONObject input = new JSONObject()
+                .fluentPut("profileCode", "common.image_analysis.v1")
+                .fluentPut("imageUrl", "https://files.example/scene.jpg")
+                .fluentPut("prompt", "右上角的蓝牙图标")
+                .fluentPut("analysisMethod", "TEXT_LOCATE")
+                .fluentPut("analysisMode", "ACCURATE")
+                .fluentPut("analysisTuning", new JSONObject()
+                        .fluentPut("locateConfidenceThreshold", 0.65D));
+
+        service.execute(message(ActionEnum.IMAGE_ANALYZE, input));
+
+        JSONObject options = captured.get().getJSONObject("options");
+        assertEquals("TEXT_LOCATE", options.getString("analysisMethod"));
+        assertEquals(0.65D, options.getJSONObject("tuning")
+                .getDoubleValue("locateConfidenceThreshold"), 0.0001D);
+    }
+
     @Test
     public void restoresStaticImageUrlArraySerializedByLegacyFlowParamModel() {
         AtomicReference<JSONObject> captured = new AtomicReference<>();