refactor(audio): 将terminalId替换为robotId以统一机器人标识

- 修改AudioService中terminalId为robotId，包括变量声明、参数传递和日志输出
- 更新BaseChannelSubscribeHandler中的注释和参数解析逻辑
- 修改CameraStreamTicketService中的方法参数和记录类定义
- 更新DeRobotConfig文档中的术语描述
- 替换DeviceListController和EdgeAgvController中的terminalId参数为robotId
- 修改EdgeAgvServiceImpl中所有方法的参数引用
- 更新EdgeArmController中所有终端ID参数为机器人ID
- 修改EdgeArmServiceImpl中所有gRPC客户端调用的参数
- 调整EdgeArmTeleopOpenVO中的字段定义顺序

README.md

@@ -7,7 +7,7 @@ Java 包名、Maven 坐标统一使用 `com.cmvr`。旧项目 `cmvr-iot` 仅作
 ## 主要功能
 
 - 系统管理：用户、角色、部门、菜单、字典、参数、日志和通知。
-- 设备管理：设备注册、终端配置、设备档案和机器人配置。
+- 机器人设备：以边缘端上报的永久 `robotId` 作为唯一业务身份，自动同步机器人地址、在线状态和设备清单。
 - 测试业务：任务配置、任务编排、任务实例、检测项、语音唤醒、Flowise 和 AI 评估。
 - 智能巡检：机器人、地图、点位、任务、执行实例、巡检结果和告警。
 - 智能座舱：语音交互、触控交互、TTS、语料库和车机操作配置。
@@ -41,7 +41,7 @@ Java 包名、Maven 坐标统一使用 `com.cmvr`。旧项目 `cmvr-iot` 仅作
 | `cmvr-iot-system` | 用户、角色、菜单、字典、参数和通用分组 |
 | `cmvr-iot-quartz` | Quartz 任务调度和任务日志 |
 | `cmvr-iot-generator` | 代码生成 |
-| `cmvr-iot-device` | 设备、终端和机器人配置 |
+| `cmvr-iot-device` | 设备协议模型、机器人配置和巡检告警监听 |
 | `cmvr-iot-test` | 测试任务、流程、检测项和执行实例 |
 | `cmvr-iot-vi` | 语音交互业务 |
 | `cmvr-iot-ti` | 触控交互业务 |
@@ -54,7 +54,7 @@ Java 包名、Maven 坐标统一使用 `com.cmvr`。旧项目 `cmvr-iot` 仅作
 | `cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client` | 原有机器人 gRPC 客户端 |
 | `cmvr-iot-quic-contract` | QUIC 控制、节点事件和媒体数据协议 |
 | `cmvr-iot-quic` | 与主应用同进程运行的 QUIC Gateway |
-| `ruoyi-ui` | Vue 3 管理控制台 |
+| `cmvr-iot-ui-lxl-dev-worktree` | Vue 3 管理控制台（同级独立前端仓库） |
 
 ## 环境准备
 
@@ -79,7 +79,8 @@ Java 包名、Maven 坐标统一使用 `com.cmvr`。旧项目 `cmvr-iot` 仅作
 - `sql/aima_module.sql`：爱玛业务。
 - `sql/inspection_module.sql`、`inspection_result.sql`、`inspection_detection_alert.sql`：巡检业务。
 - `sql/tts_corpus_module.sql`：TTS 和语料业务。
-- `sql/quic_gateway_terminal_migration.sql`：QUIC 节点绑定及运行状态字段。
+- `sql/robot_quic_identity_migration.sql`：机器人 QUIC 身份、运行状态和设备快照表。
+- `sql/robot_id_only_migration.sql`：移除巡检机器人和任务实例中的历史终端 ID 字段。
 
 补充脚本可能面向不同历史库版本。已有数据库升级前应先备份，并确认字段或索引尚未存在。
 
@@ -111,7 +112,7 @@ Knife4j 只展示带原有 `@ApiOperation` 注解的正式接口，并沿用中
 ## 前端运行
 
 ```bash
-cd ruoyi-ui
+cd ../cmvr-iot-ui-lxl-dev-worktree
 pnpm install
 pnpm dev
 ```
@@ -120,7 +121,9 @@ pnpm dev
 
 ## gRPC 与 QUIC
 
-原有机器人 gRPC 客户端与 proto 均保留。终端 gRPC 地址优先读取 `de_device_terminal_config` 的 `host` 和 `port`，没有终端配置时使用当前 profile 中的 `grpc.client.grpc-server.address`。
+原有机器人 gRPC 客户端与 proto 均保留，但业务调用只传永久 `robotId`。平台根据 `inspection_robot.robot_id` 查找 QUIC 最近同步的 `ip_address` 和 `port`，不再使用终端 ID 或终端配置解析 gRPC 地址。
+
+边缘端通过 QUIC 上报设备快照后，平台按 `robotId + deviceId` 写入 `inspection_robot_device`。前端选择机器人后只展示该机器人当前在线且启用的设备；单一匹配设备会自动选中并锁定。
 
 QUIC 不是独立服务，`cmvr-iot-quic` 已作为 `cmvr-iot-admin` 的运行时依赖。启用时主应用同时启动：
 
@@ -139,7 +142,7 @@ mvn test
 mvn clean package -DskipTests
 
 # 构建前端生产包
-cd ruoyi-ui
+cd ../cmvr-iot-ui-lxl-dev-worktree
 pnpm build:prod
 ```
 
@@ -148,6 +151,6 @@ Windows 下也可以使用 `bin/package.bat`、`bin/run.bat` 和 `bin/clean.bat`
 ## 排查提示
 
 - `ApplicationContext ... has been closed already`：彻底停止旧 Java 进程后重新启动，不要使用 DevTools 热重启。
-- `cannot find a NameResolver for static://...`：这是 gRPC target scheme 解析问题，不代表网络不通；检查 `GrpcServiceManager` 的通道创建方式和终端地址格式。
+- 找不到机器人或机器人离线：确认机器人表已登记相同的永久 `robotId`，并检查 QUIC 注册日志、`inspection_robot` 的地址和连接状态。
 - QUIC 启动失败：检查证书、私钥、ALPN、UDP 端口占用和 native library 对应的操作系统架构。
 - 数据库提示缺少字段：确认基础脚本版本及对应模块迁移脚本已经执行。

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

@@ -28,9 +28,9 @@ public class DeviceListController {
     @PreAuthorize("@ss.hasPermi('device:profile:list')")
     @GetMapping("/addList")
     @ApiOperation("同步设备信息列表")
-    public int addDeviceList(@RequestParam String terminalId){
+    public int addDeviceList(@RequestParam String robotId){
 
-        List<DeDeviceRegistration> list = systemService.deviceList(terminalId);
+        List<DeDeviceRegistration> list = systemService.deviceList(robotId);
 
         return registrationService.addDeviceList(list);
     }

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

@@ -51,11 +51,11 @@ public class EdgeAgvController {
     @ApiOperation("获取AGV运行时状态")
     @GetMapping("/getRuntimeState")
     public AjaxResult getRuntimeState(
-            @ApiParam(value = "终端设备ID", required = true)
+            @ApiParam(value = "机器人永久唯一ID", required = true)
-            @RequestParam("terminalId") String terminalId,
+            @RequestParam("robotId") String robotId,
             @ApiParam(value = "设备ID", required = true)
             @RequestParam("deviceId") String deviceId) {
-        EdgeCommonVO vo = commonVo(terminalId, deviceId);
+        EdgeCommonVO vo = commonVo(robotId, deviceId);
         AgvUtils.AgvRuntimeState state = edgeAgvService.getRuntimeState(vo);
         return AjaxResult.ok(toRuntimeStateMap(state));
     }
@@ -66,11 +66,11 @@ public class EdgeAgvController {
     @ApiOperation("获取导航状态")
     @GetMapping("/getNavigationStatus")
     public AjaxResult getNavigationStatus(
-            @ApiParam(value = "终端设备ID", required = true)
+            @ApiParam(value = "机器人永久唯一ID", required = true)
-            @RequestParam("terminalId") String terminalId,
+            @RequestParam("robotId") String robotId,
             @ApiParam(value = "设备ID", required = true)
             @RequestParam("deviceId") String deviceId) {
-        EdgeCommonVO vo = commonVo(terminalId, deviceId);
+        EdgeCommonVO vo = commonVo(robotId, deviceId);
         AgvUtils.AgvNavigationStatus status = edgeAgvService.getNavigationStatus(vo);
         Map<String, Object> resultMap = new HashMap<>();
         resultMap.put("state", status.getState());
@@ -186,11 +186,11 @@ public class EdgeAgvController {
     @ApiOperation("列出所有地图")
     @GetMapping("/listMaps")
     public AjaxResult listMaps(
-            @ApiParam(value = "终端设备ID", required = true)
+            @ApiParam(value = "机器人永久唯一ID", required = true)
-            @RequestParam("terminalId") String terminalId,
+            @RequestParam("robotId") String robotId,
             @ApiParam(value = "设备ID", required = true)
             @RequestParam("deviceId") String deviceId) {
-        EdgeCommonVO vo = commonVo(terminalId, deviceId);
+        EdgeCommonVO vo = commonVo(robotId, deviceId);
         List<String> maps = edgeAgvService.listMaps(vo);
         return AjaxResult.ok(maps);
     }
@@ -201,11 +201,11 @@ public class EdgeAgvController {
     @ApiOperation("列出所有站点")
     @GetMapping("/listStations")
     public AjaxResult listStations(
-            @ApiParam(value = "终端设备ID", required = true)
+            @ApiParam(value = "机器人永久ID", required = true)
-            @RequestParam("terminalId") String terminalId,
+            @RequestParam("robotId") String robotId,
             @ApiParam(value = "设备ID", required = true)
             @RequestParam("deviceId") String deviceId) {
-        EdgeCommonVO vo = commonVo(terminalId, deviceId);
+        EdgeCommonVO vo = commonVo(robotId, deviceId);
         List<AgvUtils.AgvStation> stations = edgeAgvService.listStations(vo);
         List<Map<String, Object>> stationList = new ArrayList<>();
         for (AgvUtils.AgvStation station : stations) {
@@ -240,14 +240,14 @@ public class EdgeAgvController {
     @ApiOperation("下载地图")
     @GetMapping("/downloadMap")
     public AjaxResult downloadMap(
-            @ApiParam(value = "终端设备ID", required = true)
+            @ApiParam(value = "机器人永久唯一ID", required = true)
-            @RequestParam("terminalId") String terminalId,
+            @RequestParam("robotId") String robotId,
             @ApiParam(value = "设备ID", required = true)
             @RequestParam("deviceId") String deviceId,
             @ApiParam(value = "地图名称", required = true)
             @RequestParam("mapName") String mapName) {
         EdgeAgvMapNameVO vo = new EdgeAgvMapNameVO();
-        vo.setTerminalId(terminalId);
+        vo.setRobotId(robotId);
         vo.setDeviceId(deviceId);
         vo.setMapName(mapName);
         String content = edgeAgvService.downloadMap(vo, vo.getMapName());
@@ -284,9 +284,9 @@ public class EdgeAgvController {
     /**
      * 将 protobuf 运行时状态转换为前端友好的 Map，避免直接暴露 protobuf 对象结构。
      */
-    private EdgeCommonVO commonVo(String terminalId, String deviceId) {
+    private EdgeCommonVO commonVo(String robotId, String deviceId) {
         EdgeCommonVO vo = new EdgeCommonVO();
-        vo.setTerminalId(terminalId);
+        vo.setRobotId(robotId);
         vo.setDeviceId(deviceId);
         return vo;
     }

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

@@ -33,9 +33,9 @@ public class EdgeArmController {
     @ApiOperation("关闭力矩")
     @GetMapping("/torqueOff")
     public AjaxResult torqueOff(
-            @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId,
+            @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
             @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
-        EdgeCommonVO vo = commonVo(terminalId, deviceId);
+        EdgeCommonVO vo = commonVo(robotId, deviceId);
         edgeArmService.torqueOff(vo);
         return AjaxResult.ok();
     }
@@ -43,9 +43,9 @@ public class EdgeArmController {
     @ApiOperation("开启力矩")
     @GetMapping("/torqueOn")
     public AjaxResult torqueOn(
-            @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId,
+            @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
             @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
-        EdgeCommonVO vo = commonVo(terminalId, deviceId);
+        EdgeCommonVO vo = commonVo(robotId, deviceId);
         edgeArmService.torqueOn(vo);
         return AjaxResult.ok();
     }
@@ -56,9 +56,9 @@ public class EdgeArmController {
     @ApiOperation("清除故障")
     @GetMapping("/clearFault")
     public AjaxResult clearFault(
-            @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId,
+            @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
             @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
-        EdgeCommonVO vo = commonVo(terminalId, deviceId);
+        EdgeCommonVO vo = commonVo(robotId, deviceId);
         edgeArmService.clearFault(vo);
         return AjaxResult.ok();
     }
@@ -137,9 +137,9 @@ public class EdgeArmController {
     @ApiOperation("停止运动")
     @GetMapping("/stopMotion")
     public AjaxResult stopMotion(
-            @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId,
+            @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
             @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
-        EdgeCommonVO vo = commonVo(terminalId, deviceId);
+        EdgeCommonVO vo = commonVo(robotId, deviceId);
         edgeArmService.stopMotion(vo);
         return AjaxResult.ok();
     }
@@ -147,9 +147,9 @@ public class EdgeArmController {
     @ApiOperation("获取关节状态")
     @GetMapping("/getJointState")
     public AjaxResult getJointState(
-            @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId,
+            @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
             @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
-        EdgeCommonVO vo = commonVo(terminalId, deviceId);
+        EdgeCommonVO vo = commonVo(robotId, deviceId);
         ArmCommand.JointResponse result = edgeArmService.getJointState(vo);
         ArmCommand.JointState state = result.getState();
         
@@ -167,11 +167,11 @@ public class EdgeArmController {
     @ApiOperation("获取末端位姿")
     @GetMapping("/getPose")
     public AjaxResult getPose(
-            @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId,
+            @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
             @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId,
             @ApiParam("基座连杆名称") @RequestParam(value = "baseLink", required = false) String baseLink,
             @ApiParam("末端执行器连杆名称") @RequestParam(value = "eeLink", required = false) String eeLink) {
-        EdgeArmPoseQueryVO vo = poseQueryVo(terminalId, deviceId, baseLink, eeLink);
+        EdgeArmPoseQueryVO vo = poseQueryVo(robotId, deviceId, baseLink, eeLink);
         ArmCommand.GetPose.Response result = edgeArmService.getPose(vo, vo.getBaseLink(), vo.getEeLink());
         ArmCommand.CartesianPose pose = result.getPose();
         
@@ -190,11 +190,11 @@ public class EdgeArmController {
     @ApiOperation("标定零点")
     @GetMapping("/calibrateZeroQ")
     public AjaxResult calibrateZeroQ(
-            @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId,
+            @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
             @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId,
             @ApiParam(value = "关节名称", required = true) @RequestParam("jointName") String jointName) {
         EdgeArmCalibrateZeroQVO vo = new EdgeArmCalibrateZeroQVO();
-        vo.setTerminalId(terminalId);
+        vo.setRobotId(robotId);
         vo.setDeviceId(deviceId);
         vo.setJointName(jointName);
         edgeArmService.calibrateZeroQ(vo, vo.getJointName());
@@ -204,11 +204,11 @@ public class EdgeArmController {
     @ApiOperation("获取位姿矩阵")
     @GetMapping("/getPoseMatrix")
     public AjaxResult getPoseMatrix(
-            @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId,
+            @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
             @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId,
             @ApiParam("基座连杆名称") @RequestParam(value = "baseLink", required = false) String baseLink,
             @ApiParam("末端执行器连杆名称") @RequestParam(value = "eeLink", required = false) String eeLink) {
-        EdgeArmPoseQueryVO vo = poseQueryVo(terminalId, deviceId, baseLink, eeLink);
+        EdgeArmPoseQueryVO vo = poseQueryVo(robotId, deviceId, baseLink, eeLink);
         ArmCommand.GetPoseMatrix.Response result = edgeArmService.getPoseMatrix(vo, vo.getBaseLink(), vo.getEeLink());
         // 将TransformMatrix4x4转换为Map
         ArmCommand.TransformMatrix4x4 matrix = result.getMatrix();
@@ -263,16 +263,16 @@ public class EdgeArmController {
         return AjaxResult.ok(matrixMap);
     }
 
-    private EdgeCommonVO commonVo(String terminalId, String deviceId) {
+    private EdgeCommonVO commonVo(String robotId, String deviceId) {
         EdgeCommonVO vo = new EdgeCommonVO();
-        vo.setTerminalId(terminalId);
+        vo.setRobotId(robotId);
         vo.setDeviceId(deviceId);
         return vo;
     }
 
-    private EdgeArmPoseQueryVO poseQueryVo(String terminalId, String deviceId, String baseLink, String eeLink) {
+    private EdgeArmPoseQueryVO poseQueryVo(String robotId, String deviceId, String baseLink, String eeLink) {
         EdgeArmPoseQueryVO vo = new EdgeArmPoseQueryVO();
-        vo.setTerminalId(terminalId);
+        vo.setRobotId(robotId);
         vo.setDeviceId(deviceId);
         vo.setBaseLink(baseLink);
         vo.setEeLink(eeLink);

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

@@ -35,45 +35,45 @@ public class EdgeCameraController extends BaseController {
     @ApiOperation("获取相机状态")
     @GetMapping("/status")
     public AjaxResult status(
-            @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId,
+            @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
             @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
-        EdgeCommonVO edgeCommonVO = commonVo(terminalId, deviceId);
+        EdgeCommonVO edgeCommonVO = commonVo(robotId, deviceId);
         return success(JSON.toJSONString(edgeCameraService.status(edgeCommonVO)));
     }
 
     @ApiOperation("开启相机")
     @GetMapping("/start")
     public AjaxResult start(
-            @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId,
+            @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
             @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
-        EdgeCommonVO edgeCommonVO = commonVo(terminalId, deviceId);
+        EdgeCommonVO edgeCommonVO = commonVo(robotId, deviceId);
         return success(edgeCameraService.start(edgeCommonVO));
     }
 
     @ApiOperation("关闭相机")
     @GetMapping("/stop")
     public AjaxResult stop(
-            @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId,
+            @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
             @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
-        EdgeCommonVO edgeCommonVO = commonVo(terminalId, deviceId);
+        EdgeCommonVO edgeCommonVO = commonVo(robotId, deviceId);
         return success(edgeCameraService.stop(edgeCommonVO));
     }
 
     @ApiOperation("获取图片")
     @GetMapping("/getRGBImage")
     public AjaxResult getRGBImage(
-            @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId,
+            @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
             @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
-        EdgeCommonVO edgeCommonVO = commonVo(terminalId, deviceId);
+        EdgeCommonVO edgeCommonVO = commonVo(robotId, deviceId);
         return success(edgeCameraService.getRGBImage(edgeCommonVO));
     }
 
     @ApiOperation("Get one depth image")
     @GetMapping("/getDepthImage")
     public AjaxResult getDepthImage(
-            @RequestParam("terminalId") String terminalId,
+            @RequestParam("robotId") String robotId,
             @RequestParam("deviceId") String deviceId) {
-        return success(edgeCameraService.getDepthImage(commonVo(terminalId, deviceId)));
+        return success(edgeCameraService.getDepthImage(commonVo(robotId, deviceId)));
     }
 
     @ApiOperation("Control camera PTZ")
@@ -85,9 +85,9 @@ public class EdgeCameraController extends BaseController {
     @ApiOperation("Get a short-lived RGB video stream URL")
     @GetMapping("/rgb-stream-url")
     public AjaxResult rgbStreamUrl(
-            @RequestParam("terminalId") String terminalId,
+            @RequestParam("robotId") String robotId,
             @RequestParam("deviceId") String deviceId) {
-        String ticket = cameraStreamTicketService.issue(terminalId, deviceId);
+        String ticket = cameraStreamTicketService.issue(robotId, deviceId);
         return success((Object) ("/api/edge/camera/rgb-stream?ticket=" + ticket));
     }
 
@@ -98,20 +98,20 @@ public class EdgeCameraController extends BaseController {
         if (target == null) {
             return ResponseEntity.status(HttpStatus.UNAUTHORIZED).build();
         }
-        return videoStreamResponse(target.terminalId(), target.deviceId());
+        return videoStreamResponse(target.robotId(), target.deviceId());
     }
 
     @ApiOperation("Public RGB fragmented MP4 live stream")
     @GetMapping(value = "/rgb-stream/public", produces = "video/mp4")
     public ResponseEntity<StreamingResponseBody> publicRgbStream(
-            @RequestParam("terminalId") String terminalId,
+            @RequestParam("robotId") String robotId,
             @RequestParam("deviceId") String deviceId) {
-        return videoStreamResponse(terminalId, deviceId);
+        return videoStreamResponse(robotId, deviceId);
     }
 
-    private ResponseEntity<StreamingResponseBody> videoStreamResponse(String terminalId, String deviceId) {
+    private ResponseEntity<StreamingResponseBody> videoStreamResponse(String robotId, String deviceId) {
         StreamingResponseBody body = outputStream -> edgeCameraService.writeRGBVideoStream(
-                terminalId, deviceId, outputStream);
+                robotId, deviceId, outputStream);
         return ResponseEntity.ok()
                 .contentType(MediaType.parseMediaType("video/mp4"))
                 .cacheControl(CacheControl.noStore())
@@ -123,33 +123,33 @@ public class EdgeCameraController extends BaseController {
     @ApiOperation("开始录制视频")
     @GetMapping("/startRecording")
     public AjaxResult startRecording(
-            @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId,
+            @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
             @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
-        EdgeCommonVO edgeCommonVO = commonVo(terminalId, deviceId);
+        EdgeCommonVO edgeCommonVO = commonVo(robotId, deviceId);
         return success(edgeCameraService.startRecording(edgeCommonVO));
     }
 
     @ApiOperation("停止录制视频")
     @GetMapping("/stopRecording")
     public AjaxResult stopRecording(
-            @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId,
+            @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
             @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
-        EdgeCommonVO edgeCommonVO = commonVo(terminalId, deviceId);
+        EdgeCommonVO edgeCommonVO = commonVo(robotId, deviceId);
         return success(edgeCameraService.stopRecording(edgeCommonVO));
     }
 
     @ApiOperation("获取图片和视频")
     @GetMapping("/getRGBDImages")
     public AjaxResult getRGBDImages(
-            @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId,
+            @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
             @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
-        EdgeCommonVO edgeCommonVO = commonVo(terminalId, deviceId);
+        EdgeCommonVO edgeCommonVO = commonVo(robotId, deviceId);
         return success(edgeCameraService.getRGBDImages(edgeCommonVO));
     }
 
-    private EdgeCommonVO commonVo(String terminalId, String deviceId) {
+    private EdgeCommonVO commonVo(String robotId, String deviceId) {
         EdgeCommonVO vo = new EdgeCommonVO();
-        vo.setTerminalId(terminalId);
+        vo.setRobotId(robotId);
         vo.setDeviceId(deviceId);
         return vo;
     }

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

@@ -25,9 +25,9 @@ public class EdgeDexHandController extends BaseController {
     @GetMapping("/status")
     public AjaxResult status(
             @RequestParam("deviceId") String deviceId,
-            @RequestParam("terminalId") String terminalId
+            @RequestParam("robotId") String robotId
     ) {
-        return success(JSON.parseObject(JSON.toJSONString(edgeDexHandService.getStatus(terminalId, deviceId)), Map.class));
+        return success(JSON.parseObject(JSON.toJSONString(edgeDexHandService.getStatus(robotId, deviceId)), Map.class));
     }
 
 
@@ -35,11 +35,11 @@ public class EdgeDexHandController extends BaseController {
     @GetMapping("/angle")
     public AjaxResult setAngle(
             @RequestParam("deviceId") String deviceId,
-            @RequestParam("terminalId") String terminalId,
+            @RequestParam("robotId") String robotId,
             @RequestParam("id") int id,
             @RequestParam("value") float value
     ) {
-        edgeDexHandService.setDexHandAngle(terminalId, deviceId, id, value);
+        edgeDexHandService.setDexHandAngle(robotId, deviceId, id, value);
         return success("ok");
     }
 
@@ -48,8 +48,8 @@ public class EdgeDexHandController extends BaseController {
     @GetMapping("/sensor")
     public AjaxResult sensor(
             @RequestParam("deviceId") String deviceId,
-            @RequestParam("terminalId") String terminalId
+            @RequestParam("robotId") String robotId
     ) {
-        return success(JSON.parseObject(edgeDexHandService.getSensorData(terminalId, deviceId), Map.class));
+        return success(JSON.parseObject(edgeDexHandService.getSensorData(robotId, deviceId), Map.class));
     }
 }

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

@@ -25,9 +25,9 @@ public class EdgeMicrophoneController {
     @ApiOperation("获取麦克风状态")
     @PreAuthorize("@ss.hasPermi('system:microphone:query')")
     @GetMapping("/status")
-    public AjaxResult getStatus(@ApiParam(value = "终端设备ID", required = true) @RequestParam String terminalId, @ApiParam (value = "设备ID", required = true) @RequestParam String deviceId) {
+    public AjaxResult getStatus(@ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam String robotId, @ApiParam (value = "设备ID", required = true) @RequestParam String deviceId) {
         EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
-        edgeCommonVO.setTerminalId(terminalId);
+        edgeCommonVO.setRobotId(robotId);
         edgeCommonVO.setDeviceId(deviceId);
         return AjaxResult.success(microphoneService.getStatus(edgeCommonVO));
     }
@@ -75,9 +75,9 @@ public class EdgeMicrophoneController {
     @ApiOperation("获取音量")
     @PreAuthorize("@ss.hasPermi('system:microphone:volume')")
     @GetMapping("/volume")
-    public AjaxResult getVolume(@ApiParam(value = "终端设备ID", required = true) @RequestParam String terminalId, @ApiParam (value = "设备ID", required = true) @RequestParam String deviceId) {
+    public AjaxResult getVolume(@ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam String robotId, @ApiParam (value = "设备ID", required = true) @RequestParam String deviceId) {
         EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
-        edgeCommonVO.setTerminalId(terminalId);
+        edgeCommonVO.setRobotId(robotId);
         edgeCommonVO.setDeviceId(deviceId);
         return AjaxResult.success(microphoneService.getVolume(edgeCommonVO));
     }

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

@@ -33,13 +33,13 @@ public class EdgeSpeakerController {
     @PreAuthorize("@ss.hasPermi('system:speaker:query')")
     @GetMapping("/status")
     public AjaxResult getStatus(
-            @ApiParam(value = "终端设备ID", required = true)
+            @ApiParam(value = "机器人永久唯一ID", required = true)
-            @RequestParam String terminalId,
+            @RequestParam String robotId,
             @ApiParam(value = "设备ID", required = true)
             @RequestParam String deviceId) {
         try {
             // 获取扬声器状态
-            SpeakerCommand.GetSpeakerStateCommand.Feedback feedback = speakerService.getStatus(terminalId, deviceId);
+            SpeakerCommand.GetSpeakerStateCommand.Feedback feedback = speakerService.getStatus(robotId, deviceId);
             SpeakerCommand.SpeakerState state = feedback.getState();
 
             // 构建返回结果
@@ -73,7 +73,7 @@ public class EdgeSpeakerController {
     @PreAuthorize("@ss.hasPermi('system:speaker:play')")
     @PostMapping("/play")
     public AjaxResult playAudio(@RequestBody EdgeSpeakerPlayAudioVO edgeSpeakerPlayAudioVO) {
-        speakerService.playAudio(edgeSpeakerPlayAudioVO.getTerminalId(), edgeSpeakerPlayAudioVO.getDeviceId(), edgeSpeakerPlayAudioVO.getAudioPath());
+        speakerService.playAudio(edgeSpeakerPlayAudioVO.getRobotId(), edgeSpeakerPlayAudioVO.getDeviceId(), edgeSpeakerPlayAudioVO.getAudioPath());
         return AjaxResult.success();
     }
 
@@ -84,7 +84,7 @@ public class EdgeSpeakerController {
     @PreAuthorize("@ss.hasPermi('system:speaker:stop')")
     @PostMapping("/stop")
     public AjaxResult stopPlayback(@RequestBody EdgeCommonVO edgeCommonVO) {
-        speakerService.stopPlayback(edgeCommonVO.getTerminalId(), edgeCommonVO.getDeviceId());
+        speakerService.stopPlayback(edgeCommonVO.getRobotId(), edgeCommonVO.getDeviceId());
         return AjaxResult.success();
     }
 
@@ -95,7 +95,7 @@ public class EdgeSpeakerController {
     @PreAuthorize("@ss.hasPermi('system:speaker:pause')")
     @PostMapping("/pause")
     public AjaxResult pausePlayback(@RequestBody EdgeCommonVO edgeCommonVO) {
-        speakerService.pausePlayback(edgeCommonVO.getTerminalId(), edgeCommonVO.getDeviceId());
+        speakerService.pausePlayback(edgeCommonVO.getRobotId(), edgeCommonVO.getDeviceId());
         return AjaxResult.success();
     }
 
@@ -106,7 +106,7 @@ public class EdgeSpeakerController {
     @PreAuthorize("@ss.hasPermi('system:speaker:resume')")
     @PostMapping("/resume")
     public AjaxResult resumePlayback(@RequestBody EdgeCommonVO edgeCommonVO) {
-        speakerService.resumePlayback(edgeCommonVO.getTerminalId(), edgeCommonVO.getDeviceId());
+        speakerService.resumePlayback(edgeCommonVO.getRobotId(), edgeCommonVO.getDeviceId());
         return AjaxResult.success();
     }
 
@@ -117,7 +117,7 @@ public class EdgeSpeakerController {
     @PreAuthorize("@ss.hasPermi('system:speaker:volume')")
     @PostMapping("/volume")
     public AjaxResult setVolume(@RequestBody EdgeMicrophoneVolumeVO edgeMicrophoneVolumeVO) {
-        speakerService.setVolume(edgeMicrophoneVolumeVO.getTerminalId(), edgeMicrophoneVolumeVO.getDeviceId(), edgeMicrophoneVolumeVO.getVolume());
+        speakerService.setVolume(edgeMicrophoneVolumeVO.getRobotId(), edgeMicrophoneVolumeVO.getDeviceId(), edgeMicrophoneVolumeVO.getVolume());
         return AjaxResult.success();
     }
 
@@ -128,11 +128,11 @@ public class EdgeSpeakerController {
     @PreAuthorize("@ss.hasPermi('system:speaker:volume')")
     @GetMapping("/volume")
     public AjaxResult getVolume(
-            @ApiParam(value = "终端设备ID", required = true)
+            @ApiParam(value = "机器人永久唯一ID", required = true)
-            @RequestParam String terminalId,
+            @RequestParam String robotId,
             @ApiParam(value = "设备ID", required = true)
             @RequestParam String deviceId) {
-        return AjaxResult.success(speakerService.getVolume(terminalId, deviceId));
+        return AjaxResult.success(speakerService.getVolume(robotId, deviceId));
     }
 
     @ApiOperation("获取所有音频")

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

@@ -26,14 +26,14 @@ public class EdgeSystemController extends BaseController {
 
     @ApiOperation("Get edge system information")
     @GetMapping("/info")
-    public AjaxResult info(@RequestParam("terminalId") String terminalId) {
+    public AjaxResult info(@RequestParam("robotId") String robotId) {
-        return success(JSON.toJSONString(edgeSystemService.getSystemInfo(terminalId)));
+        return success(JSON.toJSONString(edgeSystemService.getSystemInfo(robotId)));
     }
 
     @ApiOperation("Get edge system runtime status")
     @GetMapping("/status")
-    public AjaxResult status(@RequestParam("terminalId") String terminalId) {
+    public AjaxResult status(@RequestParam("robotId") String robotId) {
-        return success(JSON.toJSONString(edgeSystemService.getSystemStatus(terminalId)));
+        return success(JSON.toJSONString(edgeSystemService.getSystemStatus(robotId)));
     }
 
     @ApiOperation("Update edge device parameters")
@@ -50,7 +50,7 @@ public class EdgeSystemController extends BaseController {
 
     @ApiOperation("停止所有设备")
     @GetMapping("/stopAll")
-    public AjaxResult stopAll(@RequestParam("terminalId") String terminalId) {
+    public AjaxResult stopAll(@RequestParam("robotId") String robotId) {
-        return AjaxResult.ok(edgeSystemService.stopAll(terminalId));
+        return AjaxResult.ok(edgeSystemService.stopAll(robotId));
     }
 }

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/inspection/InspectionRobotController.java

@@ -70,6 +70,25 @@ public class InspectionRobotController extends BaseController
         return success(inspectionRobotService.selectInspectionRobotById(id));
     }
 
+    @ApiOperation("查询机器人自动发现的设备")
+    @PreAuthorize("@ss.hasPermi('inspection:robot:query')")
+    @GetMapping("/{id}/devices")
+    public AjaxResult devices(@PathVariable("id") String id)
+    {
+        return success(inspectionRobotService.selectRobotDevices(id));
+    }
+
+    @ApiOperation("按机器人ID查询自动发现的设备")
+    @PreAuthorize("@ss.hasPermi('inspection:robot:query')")
+    @GetMapping("/devices")
+    public AjaxResult devicesByRobotId(
+            @RequestParam @ApiParam(value = "机器人永久唯一ID", required = true) String robotId,
+            @RequestParam(required = false) @ApiParam("设备类型") Integer deviceKind,
+            @RequestParam(defaultValue = "true") @ApiParam("是否只查询在线且启用的设备") boolean onlineOnly)
+    {
+        return success(inspectionRobotService.selectRobotDevicesByRobotId(robotId, deviceKind, onlineOnly));
+    }
+
     /**
      * 新增巡检机器人
      */

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

@@ -157,7 +157,7 @@ public class TeFlowController extends BaseController {
 
     @PostMapping("/action")
     @ApiOperation(value = "单个节点执行",
-            notes = "设备通用指令action=DEVICE_EXECUTE_JSON_COMMAND，payload需要terminalId、deviceId、requestJson；"
+            notes = "设备通用指令action=DEVICE_EXECUTE_JSON_COMMAND，payload需要robotId、deviceId、requestJson；"
                     + "巡检仪表节点action=INSPECTION_METER_RECOGNIZE，payload使用InspectionMeterRecognizeConfigVO；"
                     + "人工判断节点action=INSPECTION_MANUAL_REVIEW_CREATE，payload使用InspectionManualReviewConfigVO。"
                     + "该接口用于试调节点，不会生成正式巡检任务结果")

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

@@ -51,7 +51,7 @@ public class TeFlowiseController extends BaseController {
         runParams.put("5bb26d52e1861c6936f3c3149eaf17e8", runParams1);
         TeTaskExecuteNormalVO taskExecuteNormalVO = TeTaskExecuteNormalVO.builder()
                 .taskId("b6ab5ffff783d9b25d0dc34f13be222d")
-                .terminalId("4ed1246c465b97975f96c9ef8371a3bd")
+                .robotId("4ed1246c465b97975f96c9ef8371a3bd")
                 .runParams(JSONObject.from(runParams)).build();
         if (!taskInstIdList.isEmpty()) {
             try {

cmvr-iot-admin/src/main/java/com/cmvr/web/service/CameraStreamTicketService.java

@@ -13,11 +13,11 @@ public class CameraStreamTicketService {
     private static final long TICKET_LIFETIME_MILLIS = Duration.ofSeconds(30).toMillis();
     private final Map<String, StreamTarget> tickets = new ConcurrentHashMap<>();
 
-    public String issue(String terminalId, String deviceId) {
+    public String issue(String robotId, String deviceId) {
         long now = System.currentTimeMillis();
         tickets.entrySet().removeIf(entry -> entry.getValue().expiresAt() < now);
         String ticket = UUID.randomUUID().toString().replace("-", "");
-        tickets.put(ticket, new StreamTarget(terminalId, deviceId, now + TICKET_LIFETIME_MILLIS));
+        tickets.put(ticket, new StreamTarget(robotId, deviceId, now + TICKET_LIFETIME_MILLIS));
         return ticket;
     }
 
@@ -33,6 +33,6 @@ public class CameraStreamTicketService {
         return target;
     }
 
-    public record StreamTarget(String terminalId, String deviceId, long expiresAt) {
+    public record StreamTarget(String robotId, String deviceId, long expiresAt) {
     }
 }

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/adapter/RobotAudioGrpcAdapter.java

@@ -62,33 +62,33 @@ public class RobotAudioGrpcAdapter {
     private final GrpcServiceManager grpcServiceManager;
     private final ConcurrentMap<String, RobotAudioStream> streams = new ConcurrentHashMap<>();
 
-    public RobotAudioStream openStream(String terminalId,
+    public RobotAudioStream openStream(String robotId,
                                        String deviceId,
                                        String sessionId,
                                        String operatorId,
                                        RobotAudioStreamListener listener) {
-        return openStream(terminalId, deviceId, deviceId, sessionId, operatorId, listener);
+        return openStream(robotId, deviceId, deviceId, sessionId, operatorId, listener);
     }
 
-    public RobotAudioStream openStream(String terminalId,
+    public RobotAudioStream openStream(String robotId,
                                        String speakerDeviceId,
                                        String micDeviceId,
                                        String sessionId,
                                        String operatorId,
                                        RobotAudioStreamListener listener) {
         SpeakerServiceGrpc.SpeakerServiceStub speakerStub =
-                grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceStub.class);
+                grpcServiceManager.getGrpcClient(robotId, SpeakerServiceGrpc.SpeakerServiceStub.class);
         MicPhoneServiceGrpc.MicPhoneServiceStub micStub =
-                grpcServiceManager.getGrpcClient(terminalId, MicPhoneServiceGrpc.MicPhoneServiceStub.class);
+                grpcServiceManager.getGrpcClient(robotId, MicPhoneServiceGrpc.MicPhoneServiceStub.class);
         SpeakerServiceGrpc.SpeakerServiceBlockingStub speakerBlockingStub =
-                grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
+                grpcServiceManager.getGrpcClient(robotId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
         MicPhoneServiceGrpc.MicPhoneServiceBlockingStub micBlockingStub =
-                grpcServiceManager.getGrpcClient(terminalId, MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
+                grpcServiceManager.getGrpcClient(robotId, MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
 
         preflightDeviceStatus(speakerBlockingStub, micBlockingStub, speakerDeviceId, micDeviceId, sessionId);
 
         RobotAudioStream stream = new RobotAudioStream(
-                terminalId, speakerDeviceId, micDeviceId, sessionId, operatorId, speakerStub, micStub, listener);
+                robotId, speakerDeviceId, micDeviceId, sessionId, operatorId, speakerStub, micStub, listener);
         RobotAudioStream exists = streams.putIfAbsent(sessionId, stream);
         if (exists != null) {
             throw new IllegalStateException("实时语音会话已存在：" + sessionId);
@@ -96,8 +96,8 @@ public class RobotAudioGrpcAdapter {
 
         try {
             stream.start();
-            log.info("实时对讲 gRPC 流已创建，sessionId={}，terminalId={}，speakerDeviceId={}，micDeviceId={}，operatorId={}，sampleRate={}，channels={}，bits={}，frameMs={}，frameBytes={}",
+            log.info("实时对讲 gRPC 流已创建，sessionId={}，robotId={}，speakerDeviceId={}，micDeviceId={}，operatorId={}，sampleRate={}，channels={}，bits={}，frameMs={}，frameBytes={}",
-                    sessionId, terminalId, speakerDeviceId, micDeviceId, operatorId, SAMPLE_RATE, CHANNELS, BITS_PER_SAMPLE, FRAME_MS, FRAME_BYTES);
+                    sessionId, robotId, speakerDeviceId, micDeviceId, operatorId, SAMPLE_RATE, CHANNELS, BITS_PER_SAMPLE, FRAME_MS, FRAME_BYTES);
             return stream;
         } catch (RuntimeException e) {
             streams.remove(sessionId, stream);
@@ -163,7 +163,7 @@ public class RobotAudioGrpcAdapter {
     }
 
     public class RobotAudioStream {
-        private final String terminalId;
+        private final String robotId;
         private final String speakerDeviceId;
         private final String micDeviceId;
         private final String sessionId;
@@ -190,7 +190,7 @@ public class RobotAudioGrpcAdapter {
         private volatile long lastStatsLogAt;
         private volatile byte[] pendingBrowserBytes = new byte[0];
 
-        private RobotAudioStream(String terminalId,
+        private RobotAudioStream(String robotId,
                                  String speakerDeviceId,
                                  String micDeviceId,
                                  String sessionId,
@@ -198,7 +198,7 @@ public class RobotAudioGrpcAdapter {
                                  SpeakerServiceGrpc.SpeakerServiceStub speakerStub,
                                  MicPhoneServiceGrpc.MicPhoneServiceStub micStub,
                                  RobotAudioStreamListener listener) {
-            this.terminalId = terminalId;
+            this.robotId = robotId;
             this.speakerDeviceId = speakerDeviceId;
             this.micDeviceId = micDeviceId;
             this.sessionId = sessionId;
@@ -365,8 +365,8 @@ public class RobotAudioGrpcAdapter {
             return sessionId;
         }
 
-        public String getTerminalId() {
+        public String getRobotId() {
-            return terminalId;
+            return robotId;
         }
 
         public String getDeviceId() {
@@ -639,8 +639,8 @@ public class RobotAudioGrpcAdapter {
                 return;
             }
             Throwable actual = throwable == null ? new RuntimeException("audio stream failed") : throwable;
-            log.error("实时对讲 gRPC 流异常，source={}，sessionId={}，terminalId={}，speakerDeviceId={}，micDeviceId={}",
+            log.error("实时对讲 gRPC 流异常，source={}，sessionId={}，robotId={}，speakerDeviceId={}，micDeviceId={}",
-                    source, sessionId, terminalId, speakerDeviceId, micDeviceId, actual);
+                    source, sessionId, robotId, speakerDeviceId, micDeviceId, actual);
             sendExecutor.execute(new Runnable() {
                 @Override
                 public void run() {
@@ -660,7 +660,7 @@ public class RobotAudioGrpcAdapter {
             if (!closed.compareAndSet(false, true)) {
                 return;
             }
-            log.info("实时对讲 gRPC 流远端结束，sessionId={}，terminalId={}，speakerDeviceId={}，micDeviceId={}", sessionId, terminalId, speakerDeviceId, micDeviceId);
+            log.info("实时对讲 gRPC 流远端结束，sessionId={}，robotId={}，speakerDeviceId={}，micDeviceId={}", sessionId, robotId, speakerDeviceId, micDeviceId);
             sendExecutor.execute(new Runnable() {
                 @Override
                 public void run() {

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/manage/GrpcChannelCache.java

@@ -14,7 +14,7 @@ import java.util.function.Function;
 public class GrpcChannelCache {
 
     private final long ttlSeconds; // 通道存活时间（秒）
-    private final Map<String, ChannelWrapper> channelMap = new ConcurrentHashMap<>(); // 设备 ID -> 通道包装器
+    private final Map<String, ChannelWrapper> channelMap = new ConcurrentHashMap<>(); // 机器人 ID -> 通道包装器
 
     public GrpcChannelCache(long ttlSeconds) {
         this.ttlSeconds = ttlSeconds;
@@ -23,11 +23,11 @@ public class GrpcChannelCache {
     /**
      * 获取通道：存在则刷新时间，过期则重建，不存在则创建
      */
-    public ManagedChannel get(String terminalId, Function<String, ManagedChannel> supplier) {
+    public ManagedChannel get(String robotId, Function<String, ManagedChannel> supplier) {
-        return channelMap.compute(terminalId, (k, v) -> {
+        return channelMap.compute(robotId, (k, v) -> {
             if (v == null || v.isExpired(ttlSeconds)) { // 为空或过期时重建
                 if (v != null) v.close(); // 关闭旧通道
-                return new ChannelWrapper(supplier.apply(terminalId)); // 创建新通道包装器
+                return new ChannelWrapper(supplier.apply(robotId)); // 创建新通道包装器
             } else {
                 v.refresh(); // 更新最后访问时间
                 return v;
@@ -50,11 +50,11 @@ public class GrpcChannelCache {
     }
 
     /**
-     * 终端主动上报的gRPC地址发生变化时立即关闭旧通道。
+     * 机器人主动上报的gRPC地址发生变化时立即关闭旧通道。
      * 下一次业务调用仍通过原有supplier创建ManagedChannel。
      */
-    public void invalidate(String terminalId) {
+    public void invalidate(String robotId) {
-        ChannelWrapper wrapper = channelMap.remove(terminalId);
+        ChannelWrapper wrapper = channelMap.remove(robotId);
         if (wrapper != null) {
             wrapper.close();
         }

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/manage/GrpcServiceManager.java

@@ -2,9 +2,8 @@ package com.cmvr.edge.client.manage;
 
 import cmvr.api.*;
 import cmvr.api.armteleop.v1.ArmTeleopServiceGrpc;
-import cn.hutool.core.util.ObjUtil;
+import com.cmvr.common.robot.RobotEndpoint;
-import com.cmvr.device.domain.DeDeviceTerminalConfig;
+import com.cmvr.common.robot.RobotEndpointResolver;
-import com.cmvr.device.service.IDeDeviceTerminalConfigService;
 import io.grpc.ManagedChannel;
 import io.grpc.ManagedChannelBuilder;
 import lombok.RequiredArgsConstructor;
@@ -25,7 +24,7 @@ import java.util.function.Function;
 @RequiredArgsConstructor
 public class GrpcServiceManager {
 
-    private final IDeDeviceTerminalConfigService deviceTerminalConfigService;
+    private final RobotEndpointResolver robotEndpointResolver;
 
     @Value("${grpc.client.grpc-server.address}")
     private String DEFAULT_GRPC_ADDRESS;
@@ -73,8 +72,8 @@ public class GrpcServiceManager {
      * 获取 gRPC 客户端 Stub
      */
     @SuppressWarnings("unchecked")
-    public <T> T getGrpcClient(String terminalId, Class<T> serviceClass) {
+    public <T> T getGrpcClient(String robotId, Class<T> serviceClass) {
-        ManagedChannel channel = grpcChannelCache.get(terminalId, this::createChannel);
+        ManagedChannel channel = grpcChannelCache.get(robotId, this::createChannel);
         GrpcClientFactory<T> factory = (GrpcClientFactory<T>) clientFactories.get(serviceClass);
 
         if (factory == null) {
@@ -87,8 +86,8 @@ public class GrpcServiceManager {
     /**
      * 创建gRPC通道
      */
-    private ManagedChannel createChannel(String terminalId) {
+    private ManagedChannel createChannel(String robotId) {
-        InetSocketAddress endpoint = getGrpcServiceEndpoint(terminalId);
+        InetSocketAddress endpoint = getGrpcServiceEndpoint(robotId);
         return ManagedChannelBuilder.forAddress(endpoint.getHostString(), endpoint.getPort())
                 .usePlaintext()
                 .maxInboundMessageSize(50 * 1024 * 1024) // 50MB
@@ -98,12 +97,9 @@ public class GrpcServiceManager {
     /**
      * 获取终端地址
      */
-    private InetSocketAddress getGrpcServiceEndpoint(String terminalId) {
+    private InetSocketAddress getGrpcServiceEndpoint(String robotId) {
-        DeDeviceTerminalConfig terminal = deviceTerminalConfigService.selectDeDeviceTerminalConfigById(terminalId);
+        RobotEndpoint endpoint = robotEndpointResolver.resolve(robotId);
-        if (ObjUtil.isEmpty(terminal)) {
+        return createEndpoint(endpoint.host(), (long) endpoint.port(), "机器人 " + robotId);
-            return parseGrpcAddress(DEFAULT_GRPC_ADDRESS);
-        }
-        return createEndpoint(terminal.getHost(), terminal.getPort(), "终端 " + terminalId);
     }
 
     /**
@@ -172,8 +168,8 @@ public class GrpcServiceManager {
     }
 
     /** QUIC发现终端地址变化后，使指定终端的旧gRPC通道立即失效。 */
-    public void invalidateTerminal(String terminalId) {
+    public void invalidateRobot(String robotId) {
-        grpcChannelCache.invalidate(terminalId);
+        grpcChannelCache.invalidate(robotId);
     }
 
     /**

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

@@ -10,9 +10,9 @@ import jakarta.validation.constraints.NotEmpty;
 @ApiModel("边缘系统通用VO")
 public class EdgeCommonVO {
 
-    @ApiModelProperty("终端ID")
+    @ApiModelProperty("机器人ID")
-    @NotEmpty(message = "终端ID不能为空")
+    @NotEmpty(message = "机器人ID不能为空")
-    private String  terminalId;
+    private String  robotId;
 
     @ApiModelProperty("设备ID")
     @NotEmpty(message = "设备ID不能为空")

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/armteleop/EdgeArmTeleopOpenVO.java

@@ -6,11 +6,10 @@ import java.util.List;
 
 @Data
 public class EdgeArmTeleopOpenVO {
-    private String terminalId;
+    private String robotId;
     private Integer protocolMajor;
     private Integer protocolMinor;
     private String clientInstanceId;
-    private String robotId;
     private String modelSha256;
     private String calibrationSha256;
     private List<String> jointNames;

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/quic/QuicGatewayNodeSyncService.java

@@ -1,224 +0,0 @@
-package com.cmvr.edge.client.quic;
-
-import com.cmvr.device.domain.DeDeviceTerminalConfig;
-import com.cmvr.device.service.IDeDeviceTerminalConfigService;
-import com.cmvr.edge.client.manage.GrpcServiceManager;
-import com.cmvr.quic.contract.QuicEventBus;
-import com.cmvr.quic.gateway.v1.NodeEvent;
-import com.cmvr.quic.gateway.v1.NodeEventType;
-import com.cmvr.quic.gateway.v1.NodeSnapshot;
-import jakarta.annotation.PostConstruct;
-import jakarta.annotation.PreDestroy;
-import lombok.RequiredArgsConstructor;
-import org.slf4j.Logger;
-import org.slf4j.LoggerFactory;
-import org.springframework.beans.factory.annotation.Value;
-import org.springframework.stereotype.Service;
-
-import java.util.Date;
-import java.util.Map;
-import java.util.Set;
-import java.util.concurrent.ConcurrentHashMap;
-import java.util.concurrent.ExecutorService;
-import java.util.concurrent.Executors;
-import java.util.concurrent.RejectedExecutionException;
-import java.util.concurrent.ThreadFactory;
-import java.util.concurrent.TimeUnit;
-import java.util.concurrent.atomic.AtomicBoolean;
-
-/** 直接订阅进程内 QUIC 节点事件，并同步已绑定终端的运行状态和 gRPC 地址。 */
-@Service
-@RequiredArgsConstructor
-public class QuicGatewayNodeSyncService {
-
-    private static final Logger log = LoggerFactory.getLogger(QuicGatewayNodeSyncService.class);
-    private static final long HEARTBEAT_PERSIST_INTERVAL_MS = 15000L;
-
-    private final IDeDeviceTerminalConfigService terminalConfigService;
-    private final GrpcServiceManager grpcServiceManager;
-    private final QuicEventBus quicEventBus;
-
-    @Value("${cmvr.quic.enabled:false}")
-    private boolean enabled;
-
-    /** observed-source 使用 QUIC 来源 IP；advertised 使用节点主动上报的 gRPC host。 */
-    @Value("${cmvr.quic.grpc-host-source:observed-source}")
-    private String grpcHostSource;
-
-    private final AtomicBoolean stopping = new AtomicBoolean(false);
-    private final AtomicBoolean grpcHostSourceWarningLogged = new AtomicBoolean(false);
-    private final Set<String> unknownNodes = ConcurrentHashMap.newKeySet();
-    private final Set<String> grpcAddressMismatchNodes = ConcurrentHashMap.newKeySet();
-    private final ConcurrentHashMap<String, Long> lastPersistedAt = new ConcurrentHashMap<String, Long>();
-    private final ConcurrentHashMap<String, String> synchronizedTerminals =
-            new ConcurrentHashMap<String, String>();
-    private ExecutorService eventExecutor;
-    private QuicEventBus.Subscription subscription;
-
-    @PostConstruct
-    public void start() {
-        if (!enabled) {
-            log.info("QUIC 节点状态同步未启用");
-            return;
-        }
-        eventExecutor = Executors.newSingleThreadExecutor(new ThreadFactory() {
-            @Override
-            public Thread newThread(Runnable runnable) {
-                Thread thread = new Thread(runnable, "quic-node-sync");
-                thread.setDaemon(true);
-                return thread;
-            }
-        });
-        subscription = quicEventBus.watchNodes(true, this::enqueueEvent);
-        log.info("已通过进程内事件总线订阅 QUIC 节点事件");
-    }
-
-    private void enqueueEvent(final NodeEvent event) {
-        ExecutorService executor = eventExecutor;
-        if (stopping.get() || executor == null) {
-            return;
-        }
-        try {
-            executor.execute(new Runnable() {
-                @Override
-                public void run() {
-                    handleEventSafely(event);
-                }
-            });
-        } catch (RejectedExecutionException ignored) {
-            if (!stopping.get()) {
-                log.warn("QUIC 节点事件线程已停止，忽略事件，nodeId={}", event.getNode().getNodeId());
-            }
-        }
-    }
-
-    private void handleEventSafely(NodeEvent event) {
-        try {
-            syncNode(event);
-        } catch (RuntimeException error) {
-            log.error("同步 QUIC 终端状态失败，nodeId={}，eventType={}",
-                    event.getNode().getNodeId(), event.getType(), error);
-        }
-    }
-
-    private void syncNode(NodeEvent event) {
-        NodeSnapshot node = event.getNode();
-        if (node.getNodeId().isEmpty()) {
-            return;
-        }
-        DeDeviceTerminalConfig terminal = terminalConfigService.selectByQuicNodeId(node.getNodeId());
-        if (terminal == null) {
-            if (unknownNodes.add(node.getNodeId())) {
-                log.warn("QUIC 节点尚未绑定平台终端，忽略运行状态同步，nodeId={}，remoteIp={}",
-                        node.getNodeId(), node.getObservedSourceIp());
-            }
-            return;
-        }
-        unknownNodes.remove(node.getNodeId());
-
-        boolean offline = event.getType() == NodeEventType.NODE_EVENT_TYPE_OFFLINE || !node.getOnline();
-        if (offline) {
-            synchronizedTerminals.remove(node.getNodeId());
-        } else {
-            synchronizedTerminals.put(node.getNodeId(), terminal.getId());
-        }
-        String grpcHost = offline ? null : resolveGrpcHost(node);
-        Long grpcPort = offline || node.getGrpcEndpoint().getPort() == 0
-                ? null : Long.valueOf(node.getGrpcEndpoint().getPort());
-        boolean endpointChanged = !offline && grpcHost != null && grpcPort != null
-                && (!grpcHost.equals(terminal.getHost()) || !grpcPort.equals(terminal.getPort()));
-        long now = System.currentTimeMillis();
-        Long previousPersisted = lastPersistedAt.get(node.getNodeId());
-        boolean immediate = event.getType() == NodeEventType.NODE_EVENT_TYPE_REGISTERED
-                || event.getType() == NodeEventType.NODE_EVENT_TYPE_OFFLINE || endpointChanged;
-        if (!immediate && previousPersisted != null
-                && now - previousPersisted.longValue() < HEARTBEAT_PERSIST_INTERVAL_MS) {
-            return;
-        }
-
-        terminalConfigService.updateQuicRuntimeState(terminal.getId(), grpcHost, grpcPort,
-                node.getObservedSourceIp(), node.getSessionId(), node.getBootId(),
-                node.getSoftwareVersion(), offline ? "0" : "1",
-                new Date(event.getEventTimeUnixMs() == 0 ? now : event.getEventTimeUnixMs()));
-        lastPersistedAt.put(node.getNodeId(), now);
-        if (offline) {
-            lastPersistedAt.remove(node.getNodeId());
-        }
-        if (endpointChanged || offline) {
-            grpcServiceManager.invalidateTerminal(terminal.getId());
-        }
-        log.info("QUIC 终端状态已同步，terminalId={}，nodeId={}，online={}，grpc={}:{}",
-                terminal.getId(), node.getNodeId(), !offline,
-                grpcHost == null ? terminal.getHost() : grpcHost,
-                grpcPort == null ? terminal.getPort() : grpcPort);
-    }
-
-    private String resolveGrpcHost(NodeSnapshot node) {
-        String advertisedHost = emptyToNull(node.getGrpcEndpoint().getHost());
-        if ("advertised".equalsIgnoreCase(grpcHostSource)) {
-            return advertisedHost;
-        }
-        if (!"observed-source".equalsIgnoreCase(grpcHostSource)
-                && grpcHostSourceWarningLogged.compareAndSet(false, true)) {
-            log.warn("未知的 QUIC gRPC 地址来源配置，按 observed-source 处理，value={}", grpcHostSource);
-        }
-        String observedHost = emptyToNull(node.getObservedSourceIp());
-        if (observedHost == null) {
-            log.warn("QUIC 节点缺少来源 IP，回退到节点上报地址，nodeId={}，advertisedHost={}",
-                    node.getNodeId(), advertisedHost);
-            return advertisedHost;
-        }
-        if (advertisedHost != null && !observedHost.equals(advertisedHost)
-                && grpcAddressMismatchNodes.add(node.getNodeId())) {
-            log.info("QUIC 节点上报的 gRPC 地址与来源 IP 不同，使用来源 IP，nodeId={}，"
-                            + "observedHost={}，advertisedHost={}",
-                    node.getNodeId(), observedHost, advertisedHost);
-        } else if (observedHost.equals(advertisedHost)) {
-            grpcAddressMismatchNodes.remove(node.getNodeId());
-        }
-        return observedHost;
-    }
-
-    private void markSynchronizedTerminalsOffline() {
-        for (Map.Entry<String, String> entry : synchronizedTerminals.entrySet()) {
-            try {
-                terminalConfigService.updateQuicRuntimeState(entry.getValue(), null, null,
-                        null, null, null, null, "0", new Date());
-                grpcServiceManager.invalidateTerminal(entry.getValue());
-            } catch (RuntimeException error) {
-                log.error("标记 QUIC 终端离线失败，nodeId={}，terminalId={}",
-                        entry.getKey(), entry.getValue(), error);
-            }
-        }
-        synchronizedTerminals.clear();
-        lastPersistedAt.clear();
-    }
-
-    private static String emptyToNull(String value) {
-        return value == null || value.trim().isEmpty() ? null : value.trim();
-    }
-
-    @PreDestroy
-    public void stop() {
-        if (!stopping.compareAndSet(false, true)) {
-            return;
-        }
-        QuicEventBus.Subscription currentSubscription = subscription;
-        if (currentSubscription != null) {
-            currentSubscription.close();
-        }
-        ExecutorService executor = eventExecutor;
-        if (executor != null) {
-            executor.shutdown();
-            try {
-                if (!executor.awaitTermination(5, TimeUnit.SECONDS)) {
-                    executor.shutdownNow();
-                }
-            } catch (InterruptedException interrupted) {
-                executor.shutdownNow();
-                Thread.currentThread().interrupt();
-            }
-        }
-        markSynchronizedTerminalsOffline();
-    }
-}

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

@@ -176,7 +176,7 @@ public class AudioService implements RobotAudioStreamListener {
     }
 
     private void handleJoin(WebSocketSession webSocketSession, JsonNode jsonNode) {
-        String terminalId = getText(jsonNode, "terminalId");
+        String robotId = getText(jsonNode, "robotId");
         String deviceId = getText(jsonNode, "deviceId");
         String speakerDeviceId = getText(jsonNode, "speakerDeviceId");
         String micDeviceId = getText(jsonNode, "micDeviceId");
@@ -190,8 +190,8 @@ public class AudioService implements RobotAudioStreamListener {
             micDeviceId = deviceId;
         }
 
-        if (terminalId == null || speakerDeviceId == null || micDeviceId == null) {
+        if (robotId == null || speakerDeviceId == null || micDeviceId == null) {
-            sendError(webSocketSession, sessionId, "terminalId、speakerDeviceId、micDeviceId不能为空");
+            sendError(webSocketSession, sessionId, "robotId、speakerDeviceId、micDeviceId不能为空");
             return;
         }
         if (deviceId == null) {
@@ -213,7 +213,7 @@ public class AudioService implements RobotAudioStreamListener {
 
             AudioSession session = new AudioSession();
             session.sessionId = sessionId;
-            session.terminalId = terminalId;
+            session.robotId = robotId;
             session.deviceId = deviceId;
             session.speakerDeviceId = speakerDeviceId;
             session.micDeviceId = micDeviceId;
@@ -228,7 +228,7 @@ public class AudioService implements RobotAudioStreamListener {
             sessionMap.put(sessionId, session);
             webSocketSessionMap.put(webSocketSession.getId(), sessionId);
             try {
-                session.robotStream = robotAudioGrpcAdapter.openStream(terminalId, speakerDeviceId, micDeviceId, sessionId, operatorId, this);
+                session.robotStream = robotAudioGrpcAdapter.openStream(robotId, speakerDeviceId, micDeviceId, sessionId, operatorId, this);
             } catch (Exception e) {
                 sessionMap.remove(sessionId);
                 webSocketSessionMap.remove(webSocketSession.getId());
@@ -236,7 +236,7 @@ public class AudioService implements RobotAudioStreamListener {
                 throw e;
             }
             sendState(session, "joined");
-            log.info("实时语音会话创建成功，sessionId={}，terminalId={}，speakerDeviceId={}，micDeviceId={}", sessionId, terminalId, speakerDeviceId, micDeviceId);
+            log.info("实时语音会话创建成功，sessionId={}，robotId={}，speakerDeviceId={}，micDeviceId={}", sessionId, robotId, speakerDeviceId, micDeviceId);
         } catch (Exception e) {
             log.error("创建实时语音会话失败，sessionId={}", sessionId, e);
             sendError(webSocketSession, sessionId, "创建实时语音会话失败：" + e.getMessage());
@@ -347,8 +347,8 @@ public class AudioService implements RobotAudioStreamListener {
                 continue;
             }
             if (now - session.lastRobotHeartbeatAt > ROBOT_HEARTBEAT_TIMEOUT_MS) {
-                log.warn("机器人心跳超时，sessionId={}，terminalId={}，speakerDeviceId={}，micDeviceId={}",
+                log.warn("机器人心跳超时，sessionId={}，robotId={}，speakerDeviceId={}，micDeviceId={}",
-                        session.sessionId, session.terminalId, session.speakerDeviceId, session.micDeviceId);
+                        session.sessionId, session.robotId, session.speakerDeviceId, session.micDeviceId);
                 // 先从业务会话表摘除，避免 cancel/close 触发的异步回调再次进入同一个会话并重复关闭 native 对象。
                 iterator.remove();
                 session.state = AudioSessionState.ROBOT_OFFLINE;
@@ -466,7 +466,7 @@ public class AudioService implements RobotAudioStreamListener {
 
     private void sendState(AudioSession session, String type) {
         ObjectNode event = baseMessage(type, session.sessionId);
-        event.put("terminalId", session.terminalId);
+        event.put("robotId", session.robotId);
         event.put("deviceId", session.deviceId);
         event.put("speakerDeviceId", session.speakerDeviceId);
         event.put("micDeviceId", session.micDeviceId);
@@ -705,7 +705,7 @@ public class AudioService implements RobotAudioStreamListener {
      */
     private static class AudioSession {
         private String sessionId;
-        private String terminalId;
+        private String robotId;
         private String deviceId;
         private String speakerDeviceId;
         private String micDeviceId;

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

@@ -33,7 +33,7 @@ public interface EdgeArmService {
     /**
      * 清除机械臂故障状态。
      *
-     * @param edgeCommonVO 边缘设备通用参数，包含 terminalId 和 deviceId
+     * @param edgeCommonVO 边缘设备通用参数，包含 robotId 和 deviceId
      * @return 机器人终端返回的通用反馈
      */
     Common.CommandHeader.Feedback clearFault(EdgeCommonVO edgeCommonVO);

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

@@ -37,6 +37,6 @@ public interface EdgeBioHeadService {
     /**
      * 表情
      */
-    public String specialExpression(String terminalId,String deviceId,Integer expressKey);
+    public String specialExpression(String robotId,String deviceId,Integer expressKey);
 
 }

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

@@ -58,9 +58,9 @@ public interface EdgeCameraService {
 
     StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request> getRGBImageStream(EdgeCommonVO edgeCommonVO);
 
-    StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request> getRGBImageStream(String terminalId, String deviceId);
+    StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request> getRGBImageStream(String robotId, String deviceId);
 
-    void writeRGBVideoStream(String terminalId, String deviceId, OutputStream outputStream);
+    void writeRGBVideoStream(String robotId, String deviceId, OutputStream outputStream);
 
     void getDepthImageStream(EdgeCommonVO edgeCommonVO);
     void getRGBDImagesStream(EdgeCommonVO edgeCommonVO);

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

@@ -8,12 +8,12 @@ import io.grpc.stub.StreamObserver;
  */
 public interface EdgeDexHandService {
     // 基本控制
-    DexhandCommand.DexHandState getStatus(String terminalId, String deviceId);
+    DexhandCommand.DexHandState getStatus(String robotId, String deviceId);
-    void setDexHandPos(String terminalId, String deviceId);
+    void setDexHandPos(String robotId, String deviceId);
-    void setDexHandAngle(String terminalId, String deviceId, int id, float value) ;
+    void setDexHandAngle(String robotId, String deviceId, int id, float value) ;
-    void setDexHandForce(String terminalId, String deviceId) ;
+    void setDexHandForce(String robotId, String deviceId) ;
-    void setDexHandSpeed(String terminalId, String deviceId) ;
+    void setDexHandSpeed(String robotId, String deviceId) ;
-    void setDexHandPresetAct(String terminalId, String deviceId);
+    void setDexHandPresetAct(String robotId, String deviceId);
-    String getSensorData(String terminalId, String deviceId) ;
+    String getSensorData(String robotId, String deviceId) ;
-    StreamObserver<DexhandCommand.GetSensorDataStreamCommand.Request> getSensorDataStream(String terminalId, String deviceId) ;
+    StreamObserver<DexhandCommand.GetSensorDataStreamCommand.Request> getSensorDataStream(String robotId, String deviceId) ;
 }

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

@@ -9,7 +9,7 @@ public interface EdgeHlcService {
     /**
      * 触控
      */
-    public String touch(File image, String terminalId, String deviceId, int x, int y, double maxForce);
+    public String touch(File image, String robotId, String deviceId, int x, int y, double maxForce);
 
     /**
      * 图片标注

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

@@ -14,75 +14,75 @@ public interface EdgeSpeakerService {
      * 获取扬声器当前状态
      * 通过gRPC调用获取扬声器的运行状态，包括是否正在播放、音量等信息
      *
-     * @param terminalId 终端设备ID
+     * @param robotId 机器人永久唯一ID
      * @param deviceId 设备ID
      * @return SpeakerState 返回扬声器的当前状态
      * @throws RuntimeException 当gRPC调用失败时抛出异常
      */
-    SpeakerCommand.GetSpeakerStateCommand.Feedback getStatus(String terminalId, String deviceId);
+    SpeakerCommand.GetSpeakerStateCommand.Feedback getStatus(String robotId, String deviceId);
 
     /**
      * 播放音频文件
      * 通过gRPC调用播放指定路径的音频文件
      *
-     * @param terminalId 终端设备ID
+     * @param robotId 机器人永久唯一ID
      * @param deviceId 设备ID
      * @param audioPath 音频文件的路径
      * @throws RuntimeException 当gRPC调用失败时抛出异常
      */
-    String playAudio(String terminalId, String deviceId, String audioPath);
+    String playAudio(String robotId, String deviceId, String audioPath);
 
     /**
      * 停止当前播放
      * 通过gRPC调用停止扬声器的当前播放
      *
-     * @param terminalId 终端设备ID
+     * @param robotId 机器人永久唯一ID
      * @param deviceId 设备ID
      * @throws RuntimeException 当gRPC调用失败时抛出异常
      */
-    void stopPlayback(String terminalId, String deviceId);
+    void stopPlayback(String robotId, String deviceId);
 
     /**
      * 暂停当前播放
      * 通过gRPC调用暂停扬声器的当前播放
      *
-     * @param terminalId 终端设备ID
+     * @param robotId 机器人永久唯一ID
      * @param deviceId 设备ID
      * @throws RuntimeException 当gRPC调用失败时抛出异常
      */
-    void pausePlayback(String terminalId, String deviceId);
+    void pausePlayback(String robotId, String deviceId);
 
     /**
      * 恢复暂停的播放
      * 通过gRPC调用恢复扬声器之前暂停的播放
      *
-     * @param terminalId 终端设备ID
+     * @param robotId 机器人永久唯一ID
      * @param deviceId 设备ID
      * @throws RuntimeException 当gRPC调用失败时抛出异常
      */
-    void resumePlayback(String terminalId, String deviceId);
+    void resumePlayback(String robotId, String deviceId);
 
     /**
      * 设置扬声器音量
      * 通过gRPC调用设置扬声器的音量大小
      *
-     * @param terminalId 终端设备ID
+     * @param robotId 机器人永久唯一ID
      * @param deviceId 设备ID
      * @param volume 音量大小（0-100）
      * @throws RuntimeException 当gRPC调用失败时抛出异常
      */
-    void setVolume(String terminalId, String deviceId, int volume);
+    void setVolume(String robotId, String deviceId, int volume);
 
     /**
      * 获取当前音量
      * 通过gRPC调用获取扬声器的当前音量大小
      *
-     * @param terminalId 终端设备ID
+     * @param robotId 机器人永久唯一ID
      * @param deviceId 设备ID
      * @return int 返回当前音量大小（0-100）
      * @throws RuntimeException 当gRPC调用失败时抛出异常
      */
-    int getVolume(String terminalId, String deviceId);
+    int getVolume(String robotId, String deviceId);
 
     /**
      * 获取所有音频文件

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

@@ -12,20 +12,20 @@ import java.util.List;
  * 边缘系统服务接口
  */
 public interface EdgeSystemService {
-    SystemCommand.GetSystemInfoCommand.Feedback getSystemInfo(String terminalId);
+    SystemCommand.GetSystemInfoCommand.Feedback getSystemInfo(String robotId);
 
     /**
      * 获取系统状态
      * @return 系统状态信息，包含CPU使用率、内存使用情况、磁盘使用情况和设备列表
      */
-    SystemCommand.GetSystemStatusCommand.Feedback getSystemStatus(String terminalId);
+    SystemCommand.GetSystemStatusCommand.Feedback getSystemStatus(String robotId);
 
     Common.CommandHeader.Feedback updateParams(EdgeSystemUpdateParamsVO request);
 
     Common.JsonDeviceCommand.Feedback executeJsonCommand(EdgeSystemJsonCommandVO request);
 
 
-    public List<DeDeviceRegistration> deviceList(String terminalId);
+    public List<DeDeviceRegistration> deviceList(String robotId);
 
-    public String stopAll(String terminalId);
+    public String stopAll(String robotId);
 }

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

@@ -32,7 +32,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
     @Override
     public AgvUtils.AgvRuntimeState getRuntimeState(EdgeCommonVO edgeCommonVO) {
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
         AgvCommand.AgvRuntimeStateCommand.Request request = AgvCommand.AgvRuntimeStateCommand.Request.newBuilder()
             .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
             .build();
@@ -42,7 +42,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
     @Override
     public AgvUtils.AgvNavigationStatus getNavigationStatus(EdgeCommonVO edgeCommonVO) {
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
         AgvCommand.AgvNavigationStatusCommand.Request request = AgvCommand.AgvNavigationStatusCommand.Request.newBuilder()
             .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
             .build();
@@ -52,7 +52,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
     @Override
     public void emergencyStop(EdgeCommonVO edgeCommonVO) {
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
         Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
         executeGrpcCall(() -> stub.emergencyStop(request));
     }
@@ -60,7 +60,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
     @Override
     public void clearFault(EdgeCommonVO edgeCommonVO) {
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
         Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
         executeGrpcCall(() -> stub.clearFault(request));
     }
@@ -72,7 +72,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
         }
         
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
         AgvCommand.AgvNavigateToPoseCommand.Request request = AgvCommand.AgvNavigateToPoseCommand.Request.newBuilder()
             .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
             .setPose(pose)
@@ -87,7 +87,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
         }
         
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
         AgvCommand.AgvNavigateToStationCommand.Request request = AgvCommand.AgvNavigateToStationCommand.Request.newBuilder()
             .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
             .setStationId(stationId)
@@ -102,7 +102,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
         }
         
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
         AgvCommand.AgvFollowPathCommand.Request request = AgvCommand.AgvFollowPathCommand.Request.newBuilder()
             .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
             .addAllPath(pathSegments)
@@ -113,7 +113,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
     @Override
     public void pauseNavigation(EdgeCommonVO edgeCommonVO) {
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
         Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
         executeGrpcCall(() -> stub.pauseNavigation(request));
     }
@@ -121,7 +121,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
     @Override
     public void resumeNavigation(EdgeCommonVO edgeCommonVO) {
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
         Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
         executeGrpcCall(() -> stub.resumeNavigation(request));
     }
@@ -129,7 +129,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
     @Override
     public void cancelNavigation(EdgeCommonVO edgeCommonVO) {
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
         Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
         executeGrpcCall(() -> stub.cancelNavigation(request));
     }
@@ -141,7 +141,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
         }
         
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
         AgvCommand.AgvSetVelocityCommand.Request request = AgvCommand.AgvSetVelocityCommand.Request.newBuilder()
             .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
             .setVelocity(velocity)
@@ -152,7 +152,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
     @Override
     public void stopVelocityControl(EdgeCommonVO edgeCommonVO) {
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
         Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
         executeGrpcCall(() -> stub.stopVelocityControl(request));
     }
@@ -160,7 +160,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
     @Override
     public List<String> listMaps(EdgeCommonVO edgeCommonVO) {
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
         AgvCommand.AgvListMapsCommand.Request request = AgvCommand.AgvListMapsCommand.Request.newBuilder()
             .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
             .build();
@@ -170,7 +170,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
     @Override
     public List<AgvUtils.AgvStation> listStations(EdgeCommonVO edgeCommonVO) {
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
         AgvCommand.AgvListStationsCommand.Request request = AgvCommand.AgvListStationsCommand.Request.newBuilder()
             .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
             .build();
@@ -184,7 +184,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
         }
         
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
         AgvCommand.AgvMapCommand.Request request = AgvCommand.AgvMapCommand.Request.newBuilder()
             .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
             .setMapName(mapName)
@@ -202,7 +202,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
         }
         
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
         AgvCommand.AgvMapCommand.Request request = AgvCommand.AgvMapCommand.Request.newBuilder()
             .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
             .setMapName(mapName)
@@ -218,7 +218,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
         }
         
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
         AgvCommand.AgvMapCommand.Request request = AgvCommand.AgvMapCommand.Request.newBuilder()
             .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
             .setMapName(mapName)
@@ -229,7 +229,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
     @Override
     public String startMapping(EdgeCommonVO edgeCommonVO, AgvUtils.AgvMapDimension dimension, String mapName, boolean realTime) {
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
         AgvCommand.AgvStartMappingCommand.Request.Builder requestBuilder = AgvCommand.AgvStartMappingCommand.Request.newBuilder()
             .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
             .setDimension(dimension != null ? dimension : AgvUtils.AgvMapDimension.AGV_MAP_DIMENSION_UNSPECIFIED)
@@ -246,7 +246,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
     @Override
     public void stopMapping(EdgeCommonVO edgeCommonVO) {
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
         Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
         executeGrpcCall(() -> stub.stopMapping(request));
     }

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

@@ -31,7 +31,7 @@ public class EdgeArmServiceImpl implements EdgeArmService {
     @Override
     public Common.CommandHeader.Feedback torqueOff(EdgeCommonVO edgeCommonVO) {
         ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
         Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
         return executeGrpcCall(() -> stub.torqueOff(request));
     }
@@ -39,7 +39,7 @@ public class EdgeArmServiceImpl implements EdgeArmService {
     @Override
     public Common.CommandHeader.Feedback torqueOn(EdgeCommonVO edgeCommonVO) {
         ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
         Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
         return executeGrpcCall(() -> stub.torqueOn(request));
     }
@@ -47,7 +47,7 @@ public class EdgeArmServiceImpl implements EdgeArmService {
     @Override
     public Common.CommandHeader.Feedback clearFault(EdgeCommonVO edgeCommonVO) {
         ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
         Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
         return executeGrpcCall(() -> stub.clearFault(request));
     }
@@ -61,7 +61,7 @@ public class EdgeArmServiceImpl implements EdgeArmService {
         }
 
         ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
 
         // 构建关节位置命令
         ArmCommand.JointPositionCommand targetCommand = ArmCommand.JointPositionCommand.newBuilder()
@@ -104,7 +104,7 @@ public class EdgeArmServiceImpl implements EdgeArmService {
                                             double rx, double ry, double rz, String frame,
                                             Double velocity, Double acceleration, Double blendRadius) {
         ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
 
         // 构建笛卡尔位姿
         ArmCommand.CartesianPose targetPose = ArmCommand.CartesianPose.newBuilder()
@@ -149,7 +149,7 @@ public class EdgeArmServiceImpl implements EdgeArmService {
         }
 
         ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
 
         // 构建关节速度命令
         ArmCommand.JointVelocityCommand velocityCommand = ArmCommand.JointVelocityCommand.newBuilder()
@@ -177,7 +177,7 @@ public class EdgeArmServiceImpl implements EdgeArmService {
                                               double wx, double wy, double wz, String frame,
                                               Double acceleration, Double duration) {
         ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
 
         // 构建笛卡尔速度
         ArmCommand.CartesianVelocity velocity = ArmCommand.CartesianVelocity.newBuilder()
@@ -214,7 +214,7 @@ public class EdgeArmServiceImpl implements EdgeArmService {
         }
 
         ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
 
         // 构建关节位置命令
         ArmCommand.JointPositionCommand targetCommand = ArmCommand.JointPositionCommand.newBuilder()
@@ -234,7 +234,7 @@ public class EdgeArmServiceImpl implements EdgeArmService {
     @Override
     public Common.CommandHeader.Feedback stopMotion(EdgeCommonVO edgeCommonVO) {
         ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
         Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
         return executeGrpcCall(() -> stub.stopMotion(request));
     }
@@ -242,7 +242,7 @@ public class EdgeArmServiceImpl implements EdgeArmService {
     @Override
     public ArmCommand.JointResponse getJointState(EdgeCommonVO edgeCommonVO) {
         ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
         ArmCommand.JointRequest request = ArmCommand.JointRequest.newBuilder()
             .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
             .build();
@@ -252,7 +252,7 @@ public class EdgeArmServiceImpl implements EdgeArmService {
     @Override
     public ArmCommand.GetPose.Response getPose(EdgeCommonVO edgeCommonVO, String baseLink, String eeLink) {
         ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
 
         ArmCommand.GetPose.Request.Builder requestBuilder = ArmCommand.GetPose.Request.newBuilder()
             .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()));
@@ -270,7 +270,7 @@ public class EdgeArmServiceImpl implements EdgeArmService {
     @Override
     public ArmCommand.CalibrateZeroQ.Response calibrateZeroQ(EdgeCommonVO edgeCommonVO, String jointName) {
         ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
 
         ArmCommand.CalibrateZeroQ.Request.Builder requestBuilder = ArmCommand.CalibrateZeroQ.Request.newBuilder()
             .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()));
@@ -285,7 +285,7 @@ public class EdgeArmServiceImpl implements EdgeArmService {
     @Override
     public ArmCommand.GetPoseMatrix.Response getPoseMatrix(EdgeCommonVO edgeCommonVO, String baseLink, String eeLink) {
         ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
 
         ArmCommand.GetPoseMatrix.Request.Builder requestBuilder = ArmCommand.GetPoseMatrix.Request.newBuilder()
             .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()));
@@ -310,7 +310,7 @@ public class EdgeArmServiceImpl implements EdgeArmService {
         }
 
         ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+            edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
 
         // 构建关节位置命令
         ArmCommand.JointPositionCommand jointsCommand = ArmCommand.JointPositionCommand.newBuilder()

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

@@ -23,8 +23,8 @@ public class EdgeArmTeleopServiceImpl implements EdgeArmTeleopService {
 
     @Override
     public String open(EdgeArmTeleopOpenVO request) {
-        if (request.getTerminalId() == null || request.getTerminalId().trim().isEmpty()) {
+        if (request.getRobotId() == null || request.getRobotId().trim().isEmpty()) {
-            throw new GlobalException("terminalId cannot be empty");
+            throw new GlobalException("robotId cannot be empty");
         }
         ArmTeleopV1.RobotManifest.Builder manifest = ArmTeleopV1.RobotManifest.newBuilder();
         if (request.getRobotId() != null) manifest.setRobotId(request.getRobotId());
@@ -49,7 +49,7 @@ public class EdgeArmTeleopServiceImpl implements EdgeArmTeleopService {
         if (request.getLeaseMs() != null) open.setRequestedLeaseMs(request.getLeaseMs());
 
         ArmTeleopServiceGrpc.ArmTeleopServiceStub stub = grpcServiceManager.getGrpcClient(
-                request.getTerminalId(), ArmTeleopServiceGrpc.ArmTeleopServiceStub.class);
+                request.getRobotId(), ArmTeleopServiceGrpc.ArmTeleopServiceStub.class);
         return sessions.open(stub::teleoperate, ArmTeleopV1.ClientFrame.newBuilder().setOpen(open).build());
     }
 

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

@@ -23,9 +23,9 @@ public class EdgeBioHeadServiceImpl implements EdgeBioHeadService {
 
     @Override
     public String setExpression(EdgeFacialExpressionVO facialExpressionVo) {
-        String terminalId = facialExpressionVo.getTerminalId();
+        String robotId = facialExpressionVo.getRobotId();
         String deviceId = facialExpressionVo.getDeviceId();
-        BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
+        BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
 
         // 请求头
         Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(deviceId);
@@ -110,9 +110,9 @@ public class EdgeBioHeadServiceImpl implements EdgeBioHeadService {
 
     @Override
     public String getSystemStatus(EdgeCommonVO edgeCommonVO) {
-        String terminalId = edgeCommonVO.getTerminalId();
+        String robotId = edgeCommonVO.getRobotId();
         String deviceId = edgeCommonVO.getDeviceId();
-        BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
+        BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
 
         // 请求头
         Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(deviceId);
@@ -126,9 +126,9 @@ public class EdgeBioHeadServiceImpl implements EdgeBioHeadService {
 
     @Override
     public String emergencyStop(EdgeCommonVO edgeCommonVO) {
-        String terminalId = edgeCommonVO.getTerminalId();
+        String robotId = edgeCommonVO.getRobotId();
         String deviceId = edgeCommonVO.getDeviceId();
-        BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
+        BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
 
         // 请求头
         Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(deviceId);
@@ -142,9 +142,9 @@ public class EdgeBioHeadServiceImpl implements EdgeBioHeadService {
 
     @Override
     public String speakStart(EdgeCommonVO edgeCommonVO) {
-        String terminalId = edgeCommonVO.getTerminalId();
+        String robotId = edgeCommonVO.getRobotId();
         String deviceId = edgeCommonVO.getDeviceId();
-        BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
+        BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
 
         // 请求头
         Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(deviceId);
@@ -155,9 +155,9 @@ public class EdgeBioHeadServiceImpl implements EdgeBioHeadService {
 
     @Override
     public String speakStop(EdgeCommonVO edgeCommonVO) {
-        String terminalId = edgeCommonVO.getTerminalId();
+        String robotId = edgeCommonVO.getRobotId();
         String deviceId = edgeCommonVO.getDeviceId();
-        BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
+        BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
 
         // 请求头
         Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(deviceId);
@@ -167,8 +167,8 @@ public class EdgeBioHeadServiceImpl implements EdgeBioHeadService {
     }
 
     @Override
-    public String specialExpression(String terminalId, String deviceId, Integer expressKey) {
+    public String specialExpression(String robotId, String deviceId, Integer expressKey) {
-        BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
+        BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
 
         // 请求头
         Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(deviceId);

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

@@ -71,7 +71,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
 
     @Override
     public CameraCommand.CameraState status(EdgeCommonVO edgeCommonVO) {
-        CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
+        CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
         CameraCommand.GetCameraStateCommand.Request request = CameraCommand.GetCameraStateCommand.Request.newBuilder()
                 .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
                 .build();
@@ -89,7 +89,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
 
     @Override
     public String start(EdgeCommonVO edgeCommonVO) {
-        CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
+        CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
         CameraCommand.StartCameraCommand.Request request = CameraCommand.StartCameraCommand.Request.newBuilder()
                 .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
                 .build();
@@ -99,7 +99,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
 
     @Override
     public String stop(EdgeCommonVO edgeCommonVO) {
-        CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
+        CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
         CameraCommand.StopCameraCommand.Request request = CameraCommand.StopCameraCommand.Request.newBuilder()
                 .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
                 .build();
@@ -113,7 +113,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
         if (!checkStatus(edgeCommonVO)) {
             start(edgeCommonVO);
         }
-        CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
+        CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
         CameraCommand.GetRGBImageCommand.Request request = CameraCommand.GetRGBImageCommand.Request.newBuilder()
                 .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
                 .build();
@@ -131,7 +131,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
         } finally {
             deleteTempFile(filePath);
 //             todo 暂时不关闭摄像头
-//            stop(terminalId, deviceId);
+//            stop(robotId, deviceId);
         }
     }
 
@@ -141,7 +141,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
             start(edgeCommonVO);
         }
         CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-                edgeCommonVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
+                edgeCommonVO.getRobotId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
         CameraCommand.GetDepthImageCommand.Request request = CameraCommand.GetDepthImageCommand.Request.newBuilder()
                 .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
                 .build();
@@ -165,7 +165,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
         if (!checkStatus(edgeCommonVO)) {
             start(edgeCommonVO);
         }
-        CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
+        CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
         String videoPath = StrUtil.format("{}/{}_{}.mp4", "/home/share/assets/video", edgeCommonVO.getDeviceId(), System.currentTimeMillis());
 
         CameraCommand.StartCameraRecordingCommand.Request request = CameraCommand.StartCameraRecordingCommand.Request.newBuilder()
@@ -178,7 +178,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
 
     @Override
     public String stopRecording(EdgeCommonVO edgeCommonVO) {
-        CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
+        CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
         CameraCommand.StopCameraRecordingCommand.Request request = CameraCommand.StopCameraRecordingCommand.Request.newBuilder()
                 .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
                 .build();
@@ -192,7 +192,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
             start(edgeCommonVO);
         }
 
-        CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
+        CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
         CameraCommand.GetRGBDImagesCommand.Request request = CameraCommand.GetRGBDImagesCommand.Request.newBuilder()
                 .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
                 .build();
@@ -221,7 +221,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
 //            deleteTempFile(filePath);
 //            deleteTempFile(deepFilePath);
 //             todo 暂时不关闭摄像头
-//            stop(terminalId, deviceId);
+//            stop(robotId, deviceId);
         }
 //        return JSON.toJSONString(result);
     }
@@ -237,7 +237,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
             throw new GlobalException("Invalid PTZ command or action");
         }
         CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-                ptzVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
+                ptzVO.getRobotId(), CameraServiceGrpc.CameraServiceBlockingStub.class);
         CameraCommand.ControlPtzCommand.Request request = CameraCommand.ControlPtzCommand.Request.newBuilder()
                 .setHeader(EdgeCommonUtil.buildRequest(ptzVO.getDeviceId()))
                 .setCommand(command)
@@ -249,13 +249,13 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
 
     @Override
     public StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request> getRGBImageStream(EdgeCommonVO edgeCommonVO) {
-        return getRGBImageStream(edgeCommonVO.getTerminalId(), edgeCommonVO.getDeviceId());
+        return getRGBImageStream(edgeCommonVO.getRobotId(), edgeCommonVO.getDeviceId());
     }
 
     @Override
-    public StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request> getRGBImageStream(String terminalId, String deviceId) {
+    public StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request> getRGBImageStream(String robotId, String deviceId) {
         EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
-        edgeCommonVO.setTerminalId(terminalId);
+        edgeCommonVO.setRobotId(robotId);
         edgeCommonVO.setDeviceId(deviceId);
         CameraCommand.CameraState cameraState = status(edgeCommonVO);
         if (cameraState.getIsError()) {
@@ -266,8 +266,8 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
             cameraState = status(edgeCommonVO);
         }
         int frameRate = cameraState.getFps();
-        String channel = "edgeCameraServiceImpl/getRGBImageStream/" + terminalId + "/" + deviceId;
+        String channel = "edgeCameraServiceImpl/getRGBImageStream/" + robotId + "/" + deviceId;
-        String streamKey = terminalId + deviceId + "edgeCameraServiceImpl" + "getRGBImageStream";
+        String streamKey = robotId + deviceId + "edgeCameraServiceImpl" + "getRGBImageStream";
         AtomicInteger sequence = new AtomicInteger();
         AtomicBoolean firstMediaChunk = new AtomicBoolean(true);
         AtomicReference<StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request>> requestObserverRef = new AtomicReference<>();
@@ -275,18 +275,18 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
         H265Fmp4Transcoder transcoder;
         try {
             transcoder = new H265Fmp4Transcoder(
-                    terminalId + "-" + deviceId,
+                    robotId + "-" + deviceId,
                     frameRate,
                     chunk -> {
                         int currentSequence = sequence.incrementAndGet();
                         if (firstMediaChunk.compareAndSet(true, false)) {
-                            log.info("摄像头流已输出首个fMP4片段, terminalId: {}, deviceId: {}, bytes: {}",
+                            log.info("摄像头流已输出首个fMP4片段, robotId: {}, deviceId: {}, bytes: {}",
-                                    terminalId, deviceId, chunk.length);
+                                    robotId, deviceId, chunk.length);
                         }
                         messagePushService.pushH264Fmp4ToChannel(channel, chunk, currentSequence);
                     },
                     throwable -> {
-                        log.error("摄像头媒体转码失败, terminalId: {}, deviceId: {}", terminalId, deviceId, throwable);
+                        log.error("摄像头媒体转码失败, robotId: {}, deviceId: {}", robotId, deviceId, throwable);
                         messagePushService.pushToChannel(channel, "500");
                         StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request> observer = requestObserverRef.get();
                         if (observer != null) {
@@ -299,7 +299,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
             throw new GlobalException("摄像头媒体转码器初始化失败: " + exception.getMessage());
         }
 
-        CameraServiceGrpc.CameraServiceStub stub = grpcServiceManager.getGrpcClient(terminalId, CameraServiceGrpc.CameraServiceStub.class);
+        CameraServiceGrpc.CameraServiceStub stub = grpcServiceManager.getGrpcClient(robotId, CameraServiceGrpc.CameraServiceStub.class);
         StreamObserver<CameraCommand.GetRGBImageStreamCommand.Feedback> responseObserver = new StreamObserver<CameraCommand.GetRGBImageStreamCommand.Feedback>() {
             @Override
             public void onNext(CameraCommand.GetRGBImageStreamCommand.Feedback value) {
@@ -307,7 +307,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
                     CameraCommand.FrameData frame = value.getColorFrame();
                     transcoder.write(frame.getData().toByteArray(), frame.getIsKeyFrame(), frame.getCodec());
                 } catch (IOException exception) {
-                    log.error("写入摄像头媒体流失败, terminalId: {}, deviceId: {}", terminalId, deviceId, exception);
+                    log.error("写入摄像头媒体流失败, robotId: {}, deviceId: {}", robotId, deviceId, exception);
                     transcoder.close();
                     messagePushService.pushToChannel(channel, "500");
                 }
@@ -319,7 +319,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
                 GrpcStreamManager.removeStream(streamKey);
                 Status status = Status.fromThrowable(t);
                 if (status.getCode() != Status.Code.CANCELLED) {
-                    log.error("摄像头gRPC流异常, terminalId: {}, deviceId: {}", terminalId, deviceId, t);
+                    log.error("摄像头gRPC流异常, robotId: {}, deviceId: {}", robotId, deviceId, t);
                     messagePushService.pushToChannel(channel, "500");
                 }
             }
@@ -328,7 +328,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
             public void onCompleted() {
                 transcoder.close();
                 GrpcStreamManager.removeStream(streamKey);
-                log.info("摄像头gRPC流结束, terminalId: {}, deviceId: {}", terminalId, deviceId);
+                log.info("摄像头gRPC流结束, robotId: {}, deviceId: {}", robotId, deviceId);
             }
         };
         StreamObserver<CameraCommand.GetRGBImageStreamCommand.Request> grpcRequestObserver;
@@ -368,9 +368,9 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
     }
 
     @Override
-    public void writeRGBVideoStream(String terminalId, String deviceId, OutputStream outputStream) {
+    public void writeRGBVideoStream(String robotId, String deviceId, OutputStream outputStream) {
         EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
-        edgeCommonVO.setTerminalId(terminalId);
+        edgeCommonVO.setRobotId(robotId);
         edgeCommonVO.setDeviceId(deviceId);
         CameraCommand.CameraState cameraState = status(edgeCommonVO);
         if (cameraState.getIsError()) {
@@ -394,7 +394,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
         H265Fmp4Transcoder transcoder;
         try {
             transcoder = new H265Fmp4Transcoder(
-                    "http-" + terminalId + "-" + deviceId,
+                    "http-" + robotId + "-" + deviceId,
                     cameraState.getFps(),
                     chunk -> {
                         try {
@@ -406,8 +406,8 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
                     },
                     throwable -> {
                         if (!(throwable instanceof CameraStreamWriteException)) {
-                            log.error("HTTP camera media transcoding failed, terminalId: {}, deviceId: {}",
+                            log.error("HTTP camera media transcoding failed, robotId: {}, deviceId: {}",
-                                    terminalId, deviceId, throwable);
+                                    robotId, deviceId, throwable);
                         }
                         finishStream.run();
                     }
@@ -418,7 +418,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
         }
 
         CameraServiceGrpc.CameraServiceStub stub = grpcServiceManager.getGrpcClient(
-                terminalId, CameraServiceGrpc.CameraServiceStub.class);
+                robotId, CameraServiceGrpc.CameraServiceStub.class);
         StreamObserver<CameraCommand.GetRGBImageStreamCommand.Feedback> responseObserver =
                 new StreamObserver<CameraCommand.GetRGBImageStreamCommand.Feedback>() {
                     @Override
@@ -427,8 +427,8 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
                         try {
                             transcoder.write(frame.getData().toByteArray(), frame.getIsKeyFrame(), frame.getCodec());
                         } catch (IOException exception) {
-                            log.error("Failed to write HTTP camera frame, terminalId: {}, deviceId: {}, codec: {}",
+                            log.error("Failed to write HTTP camera frame, robotId: {}, deviceId: {}, codec: {}",
-                                    terminalId, deviceId, frame.getCodec(), exception);
+                                    robotId, deviceId, frame.getCodec(), exception);
                             finishStream.run();
                         }
                     }
@@ -437,8 +437,8 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi
                     public void onError(Throwable throwable) {
                         Status status = Status.fromThrowable(throwable);
                         if (status.getCode() != Status.Code.CANCELLED && !streamFinished.get()) {
-                            log.warn("HTTP camera gRPC stream ended, terminalId: {}, deviceId: {}, status: {}",
+                            log.warn("HTTP camera gRPC stream ended, robotId: {}, deviceId: {}, status: {}",
-                                    terminalId, deviceId, status);
+                                    robotId, deviceId, status);
                         }
                         finishStream.run();
                     }

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

@@ -24,8 +24,8 @@ public class EdgeDexHandServiceImpl implements EdgeDexHandService, EdgeStreamSer
     private final MessagePushService messagePushService;
 
     @Override
-    public DexhandCommand.DexHandState getStatus(String terminalId, String deviceId) {
+    public DexhandCommand.DexHandState getStatus(String robotId, String deviceId) {
-        DexHandServiceGrpc.DexHandServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, DexHandServiceGrpc.DexHandServiceBlockingStub.class);
+        DexHandServiceGrpc.DexHandServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, DexHandServiceGrpc.DexHandServiceBlockingStub.class);
         DexhandCommand.GetDexHandStateCommand.Request request = DexhandCommand.GetDexHandStateCommand.Request.newBuilder()
                 .setHeader(EdgeCommonUtil.buildRequest(deviceId))
                 .build();
@@ -33,13 +33,13 @@ public class EdgeDexHandServiceImpl implements EdgeDexHandService, EdgeStreamSer
     }
 
     @Override
-    public void setDexHandPos(String terminalId, String deviceId) {
+    public void setDexHandPos(String robotId, String deviceId) {
 
     }
 
     @Override
-    public void setDexHandAngle(String terminalId, String deviceId, int id, float value) {
+    public void setDexHandAngle(String robotId, String deviceId, int id, float value) {
-        DexHandServiceGrpc.DexHandServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, DexHandServiceGrpc.DexHandServiceBlockingStub.class);
+        DexHandServiceGrpc.DexHandServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, DexHandServiceGrpc.DexHandServiceBlockingStub.class);
         DexhandCommand.FreedomValue.Builder builder = DexhandCommand.FreedomValue.newBuilder();
         builder.setId(id);
         builder.setValue(value);
@@ -51,23 +51,23 @@ public class EdgeDexHandServiceImpl implements EdgeDexHandService, EdgeStreamSer
     }
 
     @Override
-    public void setDexHandForce(String terminalId, String deviceId) {
+    public void setDexHandForce(String robotId, String deviceId) {
 
     }
 
     @Override
-    public void setDexHandSpeed(String terminalId, String deviceId) {
+    public void setDexHandSpeed(String robotId, String deviceId) {
 
     }
 
     @Override
-    public void setDexHandPresetAct(String terminalId, String deviceId) {
+    public void setDexHandPresetAct(String robotId, String deviceId) {
 
     }
 
     @Override
-    public String getSensorData(String terminalId, String deviceId) {
+    public String getSensorData(String robotId, String deviceId) {
-        DexHandServiceGrpc.DexHandServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, DexHandServiceGrpc.DexHandServiceBlockingStub.class);
+        DexHandServiceGrpc.DexHandServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, DexHandServiceGrpc.DexHandServiceBlockingStub.class);
         DexhandCommand.GetSensorDataCommand.Request request = DexhandCommand.GetSensorDataCommand.Request.newBuilder()
                 .setHeader(EdgeCommonUtil.buildRequest(deviceId))
                 .build();
@@ -76,14 +76,14 @@ public class EdgeDexHandServiceImpl implements EdgeDexHandService, EdgeStreamSer
     }
 
     @Override
-    public StreamObserver<DexhandCommand.GetSensorDataStreamCommand.Request> getSensorDataStream(String terminalId, String deviceId) {
+    public StreamObserver<DexhandCommand.GetSensorDataStreamCommand.Request> getSensorDataStream(String robotId, String deviceId) {
-        DexHandServiceGrpc.DexHandServiceStub stub = grpcServiceManager.getGrpcClient(terminalId, DexHandServiceGrpc.DexHandServiceStub.class);
+        DexHandServiceGrpc.DexHandServiceStub stub = grpcServiceManager.getGrpcClient(robotId, DexHandServiceGrpc.DexHandServiceStub.class);
         StreamObserver<DexhandCommand.GetSensorDataStreamCommand.Feedback> responseObserver = new StreamObserver<DexhandCommand.GetSensorDataStreamCommand.Feedback>() {
             @Override
             public void onNext(DexhandCommand.GetSensorDataStreamCommand.Feedback value) {
                 // 例如，将传感器数据转换为JSON字符串
                 String playLoad = JSON.toJSONString(value.getSensorList());
-                messagePushService.pushToChannel("edgeDexHandServiceImpl/getSensorDataStream/" + terminalId + "/" + deviceId, playLoad);
+                messagePushService.pushToChannel("edgeDexHandServiceImpl/getSensorDataStream/" + robotId + "/" + deviceId, playLoad);
             }
 
             @Override

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

@@ -26,8 +26,8 @@ public class EdgeHlcServiceImpl implements EdgeHlcService {
     private final GrpcServiceManager grpcServiceManager;
 
     @Override
-    public String touch(File image, String terminalId, String deviceId, int x, int y, double maxForce) {
+    public String touch(File image, String robotId, String deviceId, int x, int y, double maxForce) {
-        HlcServiceGrpc.HlcServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, HlcServiceGrpc.HlcServiceBlockingStub.class);
+        HlcServiceGrpc.HlcServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, HlcServiceGrpc.HlcServiceBlockingStub.class);
         HlcCommand.Touch.Request request = HlcCommand.Touch.Request.newBuilder()
                 .setHeader(EdgeCommonUtil.buildRequest(deviceId))
                 .setU(x)
@@ -89,7 +89,7 @@ public class EdgeHlcServiceImpl implements EdgeHlcService {
         if (edgeTouchVO.getX() == edgeTouchVO.getY() && edgeTouchVO.getX() == 0) {
             throw new GlobalException("触控坐标不能为0");
         }
-        HlcServiceGrpc.HlcServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeTouchVO.getTerminalId(), HlcServiceGrpc.HlcServiceBlockingStub.class);
+        HlcServiceGrpc.HlcServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeTouchVO.getRobotId(), HlcServiceGrpc.HlcServiceBlockingStub.class);
         HlcCommand.Touch.Request request = HlcCommand.Touch.Request.newBuilder()
                 .setHeader(EdgeCommonUtil.buildRequest(edgeTouchVO.getDeviceId()))
                 .setU(edgeTouchVO.getX())

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

@@ -41,7 +41,7 @@ public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService {
     @Override
     public String getStatus(EdgeCommonVO edgeCommonVO) {
         try {
-            MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
+            MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
             MicrophoneCommand.GetMicStateCommand.Request request = MicrophoneCommand.GetMicStateCommand.Request.newBuilder()
                     .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
                     .build();
@@ -63,7 +63,7 @@ public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService {
         String deviceId = edgeCommonVO.getDeviceId();
         try {
             // 获取gRPC客户端存根
-            MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
+            MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
             String filePath = StrUtil.format("{}/{}_{}.wav", "/home/share/assets/video", deviceId, System.currentTimeMillis());
 
             // 构建请求消息
@@ -89,7 +89,7 @@ public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService {
     public String stopRecord(EdgeCommonVO edgeCommonVO) {
         try {
             // 获取gRPC客户端存根
-            MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
+            MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
 
             // 构建请求消息
             MicrophoneCommand.StopMicRecordingCommand.Request request = MicrophoneCommand.StopMicRecordingCommand.Request.newBuilder()
@@ -113,7 +113,7 @@ public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService {
     public void pauseRecord(EdgeCommonVO edgeCommonVO) {
         try {
             // 获取gRPC客户端存根
-            MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
+            MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
 
             // 构建请求消息
             MicrophoneCommand.PauseMicRecordingCommand.Request request = MicrophoneCommand.PauseMicRecordingCommand.Request.newBuilder()
@@ -136,7 +136,7 @@ public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService {
     public void resumeRecord(EdgeCommonVO edgeCommonVO) {
         try {
             // 获取gRPC客户端存根
-            MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
+            MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
 
             // 构建请求消息
             MicrophoneCommand.ResumeMicRecordingCommand.Request request = MicrophoneCommand.ResumeMicRecordingCommand.Request.newBuilder()
@@ -159,7 +159,7 @@ public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService {
     public void setVolume(EdgeMicrophoneVolumeVO edgeMicrophoneVolumeVO) {
         try {
             // 获取gRPC客户端存根
-            MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeMicrophoneVolumeVO.getTerminalId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
+            MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeMicrophoneVolumeVO.getRobotId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
 
             // 构建请求消息
             MicrophoneCommand.SetMicPhoneVolumeCommand.Request request = MicrophoneCommand.SetMicPhoneVolumeCommand.Request.newBuilder()
@@ -183,7 +183,7 @@ public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService {
     public int getVolume(EdgeCommonVO edgeCommonVO) {
         try {
             // 获取gRPC客户端存根
-            MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
+            MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
 
             // 构建请求消息
             MicrophoneCommand.GetMicPhoneVolumeCommand.Request request = MicrophoneCommand.GetMicPhoneVolumeCommand.Request.newBuilder()

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

@@ -31,7 +31,7 @@ public class EdgeMotorServiceImpl implements EdgeMotorService {
 
     @Override
     public MotorCommand.MotorCommandResponse setZero(EdgeMotorTargetVO request) {
-        return blockingStub(request.getTerminalId()).setZero(MotorCommand.SetMotorZeroRequest.newBuilder()
+        return blockingStub(request.getRobotId()).setZero(MotorCommand.SetMotorZeroRequest.newBuilder()
                 .setTarget(buildTarget(request)).build());
     }
 
@@ -41,7 +41,7 @@ public class EdgeMotorServiceImpl implements EdgeMotorService {
                 .setTarget(buildTarget(request)).setWait(buildWait(request));
         if (request.getMaxVelocityRadS() != null) builder.setMaxVelocityRadS(request.getMaxVelocityRadS());
         if (request.getAccelerationRadS2() != null) builder.setAccelerationRadS2(request.getAccelerationRadS2());
-        return blockingStub(request.getTerminalId()).moveToZero(builder.build());
+        return blockingStub(request.getRobotId()).moveToZero(builder.build());
     }
 
     @Override
@@ -55,7 +55,7 @@ public class EdgeMotorServiceImpl implements EdgeMotorService {
                 .setWait(buildWait(request));
         if (request.getMaxVelocityRadS() != null) builder.setMaxVelocityRadS(request.getMaxVelocityRadS());
         if (request.getAccelerationRadS2() != null) builder.setAccelerationRadS2(request.getAccelerationRadS2());
-        return blockingStub(request.getTerminalId()).profilePosition(builder.build());
+        return blockingStub(request.getRobotId()).profilePosition(builder.build());
     }
 
     @Override
@@ -68,30 +68,30 @@ public class EdgeMotorServiceImpl implements EdgeMotorService {
                 .setTargetVelocityRadS(request.getTargetVelocityRadS())
                 .setWait(buildWait(request));
         if (request.getAccelerationRadS2() != null) builder.setAccelerationRadS2(request.getAccelerationRadS2());
-        return blockingStub(request.getTerminalId()).profileVelocity(builder.build());
+        return blockingStub(request.getRobotId()).profileVelocity(builder.build());
     }
 
     @Override
     public MotorCommand.MotorCommandResponse emergencyStop(EdgeMotorTargetVO request) {
-        return blockingStub(request.getTerminalId()).emergencyStop(MotorCommand.EmergencyStopRequest.newBuilder()
+        return blockingStub(request.getRobotId()).emergencyStop(MotorCommand.EmergencyStopRequest.newBuilder()
                 .setTarget(buildTarget(request)).build());
     }
 
     @Override
     public MotorCommand.GetMotorStatusResponse getStatus(EdgeMotorTargetVO request) {
-        return blockingStub(request.getTerminalId()).getStatus(MotorCommand.GetMotorStatusRequest.newBuilder()
+        return blockingStub(request.getRobotId()).getStatus(MotorCommand.GetMotorStatusRequest.newBuilder()
                 .setTarget(buildTarget(request)).build());
     }
 
     @Override
     public MotorCommand.MotorCommandResponse setEnabled(EdgeMotorEnabledVO request) {
-        return blockingStub(request.getTerminalId()).setEnabled(MotorCommand.SetMotorEnabledRequest.newBuilder()
+        return blockingStub(request.getRobotId()).setEnabled(MotorCommand.SetMotorEnabledRequest.newBuilder()
                 .setTarget(buildTarget(request)).setEnabled(request.isEnabled()).build());
     }
 
     @Override
     public String openCyclicPosition(EdgeMotorCyclicOpenVO request) {
-        MotorServiceGrpc.MotorServiceStub stub = asyncStub(request.getTerminalId());
+        MotorServiceGrpc.MotorServiceStub stub = asyncStub(request.getRobotId());
         MotorCommand.CyclicPositionRequest open = MotorCommand.CyclicPositionRequest.newBuilder()
                 .setOpen(buildOpen(request)).build();
         String sessionId = positionStreams.open(stub::streamCyclicPosition, open);
@@ -115,7 +115,7 @@ public class EdgeMotorServiceImpl implements EdgeMotorService {
 
     @Override
     public String openCyclicVelocity(EdgeMotorCyclicOpenVO request) {
-        MotorServiceGrpc.MotorServiceStub stub = asyncStub(request.getTerminalId());
+        MotorServiceGrpc.MotorServiceStub stub = asyncStub(request.getRobotId());
         MotorCommand.CyclicVelocityRequest open = MotorCommand.CyclicVelocityRequest.newBuilder()
                 .setOpen(buildOpen(request)).build();
         String sessionId = velocityStreams.open(stub::streamCyclicVelocity, open);
@@ -179,11 +179,11 @@ public class EdgeMotorServiceImpl implements EdgeMotorService {
         return builder.build();
     }
 
-    private MotorServiceGrpc.MotorServiceBlockingStub blockingStub(String terminalId) {
+    private MotorServiceGrpc.MotorServiceBlockingStub blockingStub(String robotId) {
-        return grpcServiceManager.getGrpcClient(terminalId, MotorServiceGrpc.MotorServiceBlockingStub.class);
+        return grpcServiceManager.getGrpcClient(robotId, MotorServiceGrpc.MotorServiceBlockingStub.class);
     }
 
-    private MotorServiceGrpc.MotorServiceStub asyncStub(String terminalId) {
+    private MotorServiceGrpc.MotorServiceStub asyncStub(String robotId) {
-        return grpcServiceManager.getGrpcClient(terminalId, MotorServiceGrpc.MotorServiceStub.class);
+        return grpcServiceManager.getGrpcClient(robotId, MotorServiceGrpc.MotorServiceStub.class);
     }
 }

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

@@ -40,15 +40,15 @@ public class EdgeSpeakerServiceImpl implements EdgeSpeakerService {
      * 获取扬声器当前状态
      * 通过gRPC调用获取扬声器的运行状态，包括是否正在播放、音量等信息
      *
-     * @param terminalId 终端设备ID
+     * @param robotId 机器人永久唯一ID
      * @param deviceId 设备ID
      * @return SpeakerState 返回扬声器的当前状态
      * @throws RuntimeException 当gRPC调用失败时抛出异常
      */
     @Override
-    public SpeakerCommand.GetSpeakerStateCommand.Feedback getStatus(String terminalId, String deviceId) {
+    public SpeakerCommand.GetSpeakerStateCommand.Feedback getStatus(String robotId, String deviceId) {
         try {
-            SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
+            SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
             SpeakerCommand.GetSpeakerStateCommand.Request request = SpeakerCommand.GetSpeakerStateCommand.Request.newBuilder()
                     .setHeader(EdgeCommonUtil.buildRequest(deviceId))
                     .build();
@@ -64,16 +64,16 @@ public class EdgeSpeakerServiceImpl implements EdgeSpeakerService {
      * 播放音频文件
      * 通过gRPC调用播放指定路径的音频文件
      *
-     * @param terminalId 终端设备ID
+     * @param robotId 机器人永久唯一ID
      * @param deviceId 设备ID
      * @param audioPath 音频文件的路径
      * @throws RuntimeException 当gRPC调用失败时抛出异常
      */
     @Override
-    public String playAudio(String terminalId, String deviceId, String audioPath) {
+    public String playAudio(String robotId, String deviceId, String audioPath) {
         try {
             // 获取gRPC客户端存根
-            SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
+            SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
 
             // 构建请求消息
             SpeakerCommand.PlayAudioCommand.Request request = SpeakerCommand.PlayAudioCommand.Request.newBuilder()
@@ -97,15 +97,15 @@ public class EdgeSpeakerServiceImpl implements EdgeSpeakerService {
      * 停止当前播放
      * 通过gRPC调用停止扬声器的当前播放
      *
-     * @param terminalId 终端设备ID
+     * @param robotId 机器人永久唯一ID
      * @param deviceId 设备ID
      * @throws RuntimeException 当gRPC调用失败时抛出异常
      */
     @Override
-    public void stopPlayback(String terminalId, String deviceId) {
+    public void stopPlayback(String robotId, String deviceId) {
         try {
             // 获取gRPC客户端存根
-            SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
+            SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
 
             // 构建请求消息
             SpeakerCommand.StopSpeakerCommand.Request request = SpeakerCommand.StopSpeakerCommand.Request.newBuilder()
@@ -124,15 +124,15 @@ public class EdgeSpeakerServiceImpl implements EdgeSpeakerService {
      * 暂停当前播放
      * 通过gRPC调用暂停扬声器的当前播放
      *
-     * @param terminalId 终端设备ID
+     * @param robotId 机器人永久唯一ID
      * @param deviceId 设备ID
      * @throws RuntimeException 当gRPC调用失败时抛出异常
      */
     @Override
-    public void pausePlayback(String terminalId, String deviceId) {
+    public void pausePlayback(String robotId, String deviceId) {
         try {
             // 获取gRPC客户端存根
-            SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
+            SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
 
             // 构建请求消息
             SpeakerCommand.PauseSpeakerCommand.Request request = SpeakerCommand.PauseSpeakerCommand.Request.newBuilder()
@@ -151,15 +151,15 @@ public class EdgeSpeakerServiceImpl implements EdgeSpeakerService {
      * 恢复暂停的播放
      * 通过gRPC调用恢复扬声器之前暂停的播放
      *
-     * @param terminalId 终端设备ID
+     * @param robotId 机器人永久唯一ID
      * @param deviceId 设备ID
      * @throws RuntimeException 当gRPC调用失败时抛出异常
      */
     @Override
-    public void resumePlayback(String terminalId, String deviceId) {
+    public void resumePlayback(String robotId, String deviceId) {
         try {
             // 获取gRPC客户端存根
-            SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
+            SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
 
             // 构建请求消息
             SpeakerCommand.ResumeSpeakerCommand.Request request = SpeakerCommand.ResumeSpeakerCommand.Request.newBuilder()
@@ -178,16 +178,16 @@ public class EdgeSpeakerServiceImpl implements EdgeSpeakerService {
      * 设置扬声器音量
      * 通过gRPC调用设置扬声器的音量大小
      *
-     * @param terminalId 终端设备ID
+     * @param robotId 机器人永久唯一ID
      * @param deviceId 设备ID
      * @param volume 音量大小（0-100）
      * @throws RuntimeException 当gRPC调用失败时抛出异常
      */
     @Override
-    public void setVolume(String terminalId, String deviceId, int volume) {
+    public void setVolume(String robotId, String deviceId, int volume) {
         try {
             // 获取gRPC客户端存根
-            SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
+            SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
 
             // 构建请求消息
             SpeakerCommand.SetSpeakerVolumeCommand.Request request = SpeakerCommand.SetSpeakerVolumeCommand.Request.newBuilder()
@@ -207,16 +207,16 @@ public class EdgeSpeakerServiceImpl implements EdgeSpeakerService {
      * 获取当前音量
      * 通过gRPC调用获取扬声器的当前音量大小
      *
-     * @param terminalId 终端设备ID
+     * @param robotId 机器人永久唯一ID
      * @param deviceId 设备ID
      * @return int 返回当前音量大小（0-100）
      * @throws RuntimeException 当gRPC调用失败时抛出异常
      */
     @Override
-    public int getVolume(String terminalId, String deviceId) {
+    public int getVolume(String robotId, String deviceId) {
         try {
             // 获取gRPC客户端存根
-            SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
+            SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
 
             // 构建请求消息
             SpeakerCommand.GetSpeakerVolumeCommand.Request request = SpeakerCommand.GetSpeakerVolumeCommand.Request.newBuilder()

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

@@ -37,9 +37,9 @@ public class EdgeSystemServiceImpl implements EdgeSystemService {
     private final GrpcServiceManager grpcServiceManager;
 
     @Override
-    public SystemCommand.GetSystemInfoCommand.Feedback getSystemInfo(String terminalId) {
+    public SystemCommand.GetSystemInfoCommand.Feedback getSystemInfo(String robotId) {
         SystemServiceGrpc.SystemServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-                terminalId, SystemServiceGrpc.SystemServiceBlockingStub.class);
+                robotId, SystemServiceGrpc.SystemServiceBlockingStub.class);
         return stub.getSystemInfo(SystemCommand.GetSystemInfoCommand.Request.newBuilder().build());
     }
 
@@ -54,7 +54,7 @@ public class EdgeSystemServiceImpl implements EdgeSystemService {
             }
         }
         SystemServiceGrpc.SystemServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-                request.getTerminalId(), SystemServiceGrpc.SystemServiceBlockingStub.class);
+                request.getRobotId(), SystemServiceGrpc.SystemServiceBlockingStub.class);
         return stub.updateParams(requestBuilder.build()).getHeader();
     }
 
@@ -65,7 +65,7 @@ public class EdgeSystemServiceImpl implements EdgeSystemService {
                 .setRequestJson(request.getRequestJson() == null ? "" : request.getRequestJson())
                 .build();
         ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-                request.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
+                request.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class);
         return stub.executeJsonCommand(grpcRequest);
     }
 
@@ -107,10 +107,10 @@ public class EdgeSystemServiceImpl implements EdgeSystemService {
 
 
     @Override
-    public List<DeDeviceRegistration> deviceList(String terminalId) {
+    public List<DeDeviceRegistration> deviceList(String robotId) {
         try {
             SystemServiceGrpc.SystemServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-                    terminalId, SystemServiceGrpc.SystemServiceBlockingStub.class);
+                    robotId, SystemServiceGrpc.SystemServiceBlockingStub.class);
             SystemCommand.GetDeviceListCommand.Feedback response = stub.getDeviceList(
                     SystemCommand.GetDeviceListCommand.Request.newBuilder().build());
 
@@ -120,7 +120,7 @@ public class EdgeSystemServiceImpl implements EdgeSystemService {
                 DeDeviceRegistration registration = new DeDeviceRegistration();
                 registration.setDeviceCode(device.getDeviceId());
                 registration.setDeviceModel(toDeviceModel(device));
-                registration.setIdDeDeviceTerminalConfig(terminalId);
+                registration.setIdDeDeviceTerminalConfig(robotId);
                 devices.add(registration);
             }
 
@@ -173,9 +173,9 @@ public class EdgeSystemServiceImpl implements EdgeSystemService {
     }
 
     @Override
-    public String stopAll(String terminalId) {
+    public String stopAll(String robotId) {
         SystemServiceGrpc.SystemServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-                terminalId,
+                robotId,
                 SystemServiceGrpc.SystemServiceBlockingStub.class);
         SystemCommand.StopAllCommand.Request build = SystemCommand.StopAllCommand.Request.newBuilder()
                 .setHeader(EdgeCommonUtil.buildRequest(""))
@@ -192,11 +192,11 @@ public class EdgeSystemServiceImpl implements EdgeSystemService {
      * @return 系统状态信息，如果获取失败则返回null
      */
     @Override
-    public SystemCommand.GetSystemStatusCommand.Feedback getSystemStatus(String terminalId) {
+    public SystemCommand.GetSystemStatusCommand.Feedback getSystemStatus(String robotId) {
         try {
             // 创建gRPC阻塞式存根，用于调用服务端方法
             SystemServiceGrpc.SystemServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-                    terminalId,
+                    robotId,
                     SystemServiceGrpc.SystemServiceBlockingStub.class);
             
             // 构建请求对象，由于是获取系统状态，请求参数为空

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

@@ -39,7 +39,7 @@ public class GrpcClientServiceImpl implements GrpcClientService {
     }
 
     @Override
-    public void send(boolean isStart, String terminalId, String deviceId, String service, String method) {
+    public void send(boolean isStart, String robotId, String deviceId, String service, String method) {
         try {
             // 从 Map 中获取服务实例
             EdgeStreamService serviceInstance = serviceMap.get(service);
@@ -48,8 +48,8 @@ public class GrpcClientServiceImpl implements GrpcClientService {
             }
 
             // 构造流键
-            String key = terminalId + deviceId + service + method;
+            String key = robotId + deviceId + service + method;
-            String channel = service + "/" + method + "/" + terminalId + "/" + deviceId;
+            String channel = service + "/" + method + "/" + robotId + "/" + deviceId;
             Object streamLock = streamLocks.computeIfAbsent(key, ignored -> new Object());
 
             synchronized (streamLock) {
@@ -58,7 +58,7 @@ public class GrpcClientServiceImpl implements GrpcClientService {
                         return;
                     }
                     Method streamMethod = serviceInstance.getClass().getMethod(method, String.class, String.class);
-                    StreamObserver<?> streamObserver = (StreamObserver<?>) streamMethod.invoke(serviceInstance, terminalId, deviceId);
+                    StreamObserver<?> streamObserver = (StreamObserver<?>) streamMethod.invoke(serviceInstance, robotId, deviceId);
                     if (streamObserver != null) {
                         GrpcStreamManager.addStream(key, streamObserver);
                     }

cmvr-iot-common/src/main/java/com/cmvr/common/robot/RobotEndpoint.java

@@ -0,0 +1,5 @@
+package com.cmvr.common.robot;
+
+/** Resolved gRPC endpoint for a permanently identified robot. */
+public record RobotEndpoint(String host, int port) {
+}

cmvr-iot-common/src/main/java/com/cmvr/common/robot/RobotEndpointResolver.java

@@ -0,0 +1,6 @@
+package com.cmvr.common.robot;
+
+public interface RobotEndpointResolver {
+
+    RobotEndpoint resolve(String robotId);
+}

cmvr-iot-device/src/main/java/com/cmvr/device/domain/DeRobotConfig.java

@@ -29,9 +29,9 @@ public class DeRobotConfig extends BaseEntity
     @TableId(value = "id" , type = IdType.ASSIGN_UUID)
     private String id;
 
-    /** 配置ID，32位的UUID，可以是设备ID或终端ID。 */
+    /** 配置ID，32位的UUID，可以是设备ID或机器人ID。 */
-    @Excel(name = "配置ID，32位的UUID，可以是设备ID或终端ID。")
+    @Excel(name = "配置ID，32位的UUID，可以是设备ID或机器人ID。")
-    @ApiModelProperty("配置ID，32位的UUID，可以是设备ID或终端ID。")
+    @ApiModelProperty("配置ID，32位的UUID，可以是设备ID或机器人ID。")
     private String configId;
 
     /** 配置类型，区分是设备还是终端 */

cmvr-iot-device/src/main/java/com/cmvr/device/service/InspectionAlertListenService.java

@@ -1,7 +1,8 @@
 package com.cmvr.device.service;
 
 import com.cmvr.common.exception.GlobalException;
-import com.cmvr.device.domain.DeDeviceTerminalConfig;
+import com.cmvr.common.robot.RobotEndpoint;
+import com.cmvr.common.robot.RobotEndpointResolver;
 import lombok.Data;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -38,23 +39,23 @@ public class InspectionAlertListenService
         SUPPORTED_EVENT_TYPES = Collections.unmodifiableSet(values);
     }
 
-    private final IDeDeviceTerminalConfigService terminalConfigService;
+    private final RobotEndpointResolver robotEndpointResolver;
 
     /** key=grpcIp，value=当前IP下的工作流监听订阅。 */
     private final ConcurrentMap<String, ConcurrentMap<String, ListenSubscription>> subscriptions =
             new ConcurrentHashMap<>();
 
     /** 兼容原有调用方式，创建一个不绑定工作流的监听。 */
-    public ListenState startListen(String terminalId, Collection<String> eventTypes)
+    public ListenState startListen(String robotId, Collection<String> eventTypes)
     {
-        return startListen(terminalId, eventTypes, null, null, null, null, null);
+        return startListen(robotId, eventTypes, null, null, null, null, null);
     }
 
-    public ListenState startListen(String terminalId, Collection<String> eventTypes,
+    public ListenState startListen(String robotId, Collection<String> eventTypes,
                                    String flowInstanceId, String taskId, String itemId,
                                    String nodeId, String listenerKey)
     {
-        String grpcIp = resolveTerminalIp(terminalId);
+        String grpcIp = resolveRobotIp(robotId);
         Set<String> normalizedTypes = normalizeEventTypes(eventTypes, true);
         ConcurrentMap<String, ListenSubscription> target =
                 subscriptions.computeIfAbsent(grpcIp, key -> new ConcurrentHashMap<>());
@@ -63,7 +64,7 @@ public class InspectionAlertListenService
         {
             ListenSubscription subscription = new ListenSubscription();
             subscription.setSubscriptionId(buildSubscriptionId(flowInstanceId, itemId, listenerKey, eventType));
-            subscription.setTerminalId(terminalId);
+            subscription.setRobotId(robotId);
             subscription.setGrpcIp(grpcIp);
             subscription.setEventType(eventType);
             subscription.setFlowInstanceId(flowInstanceId);
@@ -75,28 +76,28 @@ public class InspectionAlertListenService
             target.put(subscription.getSubscriptionId(), subscription);
         }
 
-        log.info("开始监听巡检报警，terminalId={}，grpcIp={}，flowInstanceId={}，itemId={}，eventTypes={}",
+        log.info("开始监听巡检报警，robotId={}，grpcIp={}，flowInstanceId={}，itemId={}，eventTypes={}",
-                terminalId, grpcIp, flowInstanceId, itemId, normalizedTypes);
+                robotId, grpcIp, flowInstanceId, itemId, normalizedTypes);
-        return new ListenState(terminalId, grpcIp, currentTypes(target));
+        return new ListenState(robotId, grpcIp, currentTypes(target));
     }
 
     /** 兼容原有调用方式，移除该IP下指定类型的全部监听。 */
-    public ListenState stopListen(String terminalId, Collection<String> eventTypes)
+    public ListenState stopListen(String robotId, Collection<String> eventTypes)
     {
-        return stopListen(terminalId, eventTypes, null, null, null);
+        return stopListen(robotId, eventTypes, null, null, null);
     }
 
-    public ListenState stopListen(String terminalId, Collection<String> eventTypes,
+    public ListenState stopListen(String robotId, Collection<String> eventTypes,
                                   String flowInstanceId, String itemId, String listenerKey)
     {
-        String grpcIp = resolveTerminalIp(terminalId);
+        String grpcIp = resolveRobotIp(robotId);
         Set<String> normalizedTypes = normalizeEventTypes(eventTypes, true);
         ConcurrentMap<String, ListenSubscription> current = subscriptions.get(grpcIp);
         if (current == null || current.isEmpty())
         {
-            log.warn("结束监听巡检报警时未找到IP监听状态，terminalId={}，grpcIp={}，eventTypes={}",
+            log.warn("结束监听巡检报警时未找到IP监听状态，robotId={}，grpcIp={}，eventTypes={}",
-                    terminalId, grpcIp, normalizedTypes);
+                    robotId, grpcIp, normalizedTypes);
-            return new ListenState(terminalId, grpcIp, Collections.emptyList());
+            return new ListenState(robotId, grpcIp, Collections.emptyList());
         }
 
         for (String eventType : normalizedTypes)
@@ -104,8 +105,8 @@ public class InspectionAlertListenService
             int removed = removeMatching(current, eventType, flowInstanceId, itemId, listenerKey);
             if (removed == 0)
             {
-                log.warn("结束监听巡检报警时未找到匹配订阅，terminalId={}，grpcIp={}，flowInstanceId={}，itemId={}，eventType={}",
+                log.warn("结束监听巡检报警时未找到匹配订阅，robotId={}，grpcIp={}，flowInstanceId={}，itemId={}，eventType={}",
-                        terminalId, grpcIp, flowInstanceId, itemId, eventType);
+                        robotId, grpcIp, flowInstanceId, itemId, eventType);
             }
         }
         if (current.isEmpty())
@@ -114,9 +115,9 @@ public class InspectionAlertListenService
         }
 
         List<String> remainingTypes = currentTypes(current);
-        log.info("结束监听巡检报警，terminalId={}，grpcIp={}，flowInstanceId={}，itemId={}，remainingTypes={}",
+        log.info("结束监听巡检报警，robotId={}，grpcIp={}，flowInstanceId={}，itemId={}，remainingTypes={}",
-                terminalId, grpcIp, flowInstanceId, itemId, remainingTypes);
+                robotId, grpcIp, flowInstanceId, itemId, remainingTypes);
-        return new ListenState(terminalId, grpcIp, remainingTypes);
+        return new ListenState(robotId, grpcIp, remainingTypes);
     }
 
     /** 返回命中IP和任一标签的全部活动订阅。 */
@@ -187,10 +188,10 @@ public class InspectionAlertListenService
         }
     }
 
-    public ListenState getListenState(String terminalId)
+    public ListenState getListenState(String robotId)
     {
-        String grpcIp = resolveTerminalIp(terminalId);
+        String grpcIp = resolveRobotIp(robotId);
-        return new ListenState(terminalId, grpcIp, currentTypes(subscriptions.get(grpcIp)));
+        return new ListenState(robotId, grpcIp, currentTypes(subscriptions.get(grpcIp)));
     }
 
     private int removeMatching(ConcurrentMap<String, ListenSubscription> current, String eventType,
@@ -221,23 +222,18 @@ public class InspectionAlertListenService
         return flow + "|" + item + "|" + key + "|" + eventType;
     }
 
-    private String resolveTerminalIp(String terminalId)
+    private String resolveRobotIp(String robotId)
     {
-        String normalizedTerminalId = StringUtils.trimToNull(terminalId);
+        String normalizedRobotId = StringUtils.trimToNull(robotId);
-        if (normalizedTerminalId == null)
+        if (normalizedRobotId == null)
         {
-            throw new GlobalException("terminalId不能为空");
+            throw new GlobalException("机器人ID不能为空");
         }
-        DeDeviceTerminalConfig terminalConfig =
+        RobotEndpoint endpoint = robotEndpointResolver.resolve(normalizedRobotId);
-                terminalConfigService.selectDeDeviceTerminalConfigById(normalizedTerminalId);
+        String grpcIp = StringUtils.trimToNull(endpoint.host());
-        if (terminalConfig == null)
-        {
-            throw new GlobalException("未找到终端配置，terminalId=" + normalizedTerminalId);
-        }
-        String grpcIp = StringUtils.trimToNull(terminalConfig.getHost());
         if (grpcIp == null)
         {
-            throw new GlobalException("终端配置host不能为空，terminalId=" + normalizedTerminalId);
+            throw new GlobalException("机器人连接地址不能为空，robotId=" + normalizedRobotId);
         }
         return grpcIp;
     }
@@ -298,7 +294,7 @@ public class InspectionAlertListenService
     @Data
     public static class ListenState
     {
-        private final String terminalId;
+        private final String robotId;
         private final String grpcIp;
         private final List<String> eventTypes;
     }
@@ -308,9 +304,9 @@ public class InspectionAlertListenService
     {
         /** flowInstanceId、itemId、listenerKey、eventType组成的订阅唯一标识。 */
         private String subscriptionId;
-        /** 工作流节点配置的终端ID。 */
+        /** 工作流节点配置的机器人永久唯一 ID。 */
-        private String terminalId;
+        private String robotId;
-        /** 由终端配置解析出的gRPC IP，也是PPE事件匹配IP。 */
+        /** 由机器人在线信息解析出的 gRPC IP，也是 PPE 事件匹配 IP。 */
         private String grpcIp;
         /** 当前订阅监听的PPE事件类型。 */
         private String eventType;
@@ -331,7 +327,7 @@ public class InspectionAlertListenService
         {
             ListenSubscription copy = new ListenSubscription();
             copy.subscriptionId = subscriptionId;
-            copy.terminalId = terminalId;
+            copy.robotId = robotId;
             copy.grpcIp = grpcIp;
             copy.eventType = eventType;
             copy.flowInstanceId = flowInstanceId;

cmvr-iot-framework/src/main/java/com/cmvr/framework/websocket/handler/BaseChannelSubscribeHandler.java

@@ -21,13 +21,13 @@ public abstract class BaseChannelSubscribeHandler implements WSMessageHandler<WS
 
     /**
      * 是否需要GRPC远程调用
-     * true=格式 service/method/terminalId/deviceId 走grpc
+     * true=格式 service/method/robotId/deviceId 走grpc
      * false=普通频道，只本地订阅，不调用grpc
      */
     protected abstract boolean isNeedGrpc(String channel);
 
     /**
-     * 解析grpc四个参数 [service,method,terminalId,deviceId]
+     * 解析grpc四个参数 [service,method,robotId,deviceId]
      * 只有isNeedGrpc=true才会进入执行
      */
     protected abstract String[] parseGrpcParam(String channel);
@@ -70,11 +70,11 @@ public abstract class BaseChannelSubscribeHandler implements WSMessageHandler<WS
             String[] params = parseGrpcParam(channel);
             String service = params[0];
             String method = params[1];
-            String terminalId = params[2];
+            String robotId = params[2];
             String deviceId = params[3];
             CompletableFuture.runAsync(() -> {
                 try {
-                    grpcClientService.send(true, terminalId, deviceId, service, method);
+                    grpcClientService.send(true, robotId, deviceId, service, method);
                 } catch (Exception e) {
                     log.error("频道{} grpc订阅异常", channel, e);
                 }
@@ -92,11 +92,11 @@ public abstract class BaseChannelSubscribeHandler implements WSMessageHandler<WS
             String[] params = parseGrpcParam(channel);
             String service = params[0];
             String method = params[1];
-            String terminalId = params[2];
+            String robotId = params[2];
             String deviceId = params[3];
             CompletableFuture.runAsync(() -> {
                 try {
-                    grpcClientService.send(false, terminalId, deviceId, service, method);
+                    grpcClientService.send(false, robotId, deviceId, service, method);
                 } catch (Exception e) {
                     log.error("频道{} grpc取消订阅异常", channel, e);
                 } finally {

cmvr-iot-framework/src/main/java/com/cmvr/framework/websocket/service/GrpcClientService.java

@@ -7,9 +7,9 @@ public interface GrpcClientService {
     /**
      * 发送 gRPC 请求
      * @param isStart 是否开始
-     * @param terminalId 终端ID
+     * @param robotId 机器人永久唯一 ID
      * @param deviceId 设备ID
      * @param method  方法
      */
-    void send(boolean isStart, String terminalId, String deviceId, String service,String method);
+    void send(boolean isStart, String robotId, String deviceId, String service,String method);
 }

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

@@ -11,6 +11,8 @@ import lombok.NoArgsConstructor;
 import com.cmvr.common.annotation.Excel;
 import com.cmvr.common.core.domain.BaseEntity;
 
+import java.util.Date;
+
 /**
  * 巡检机器人对象 inspection_robot
  * 
@@ -31,6 +33,11 @@ public class InspectionRobot extends BaseEntity
     @TableId(value = "id", type = IdType.ASSIGN_UUID)
     private String id;
 
+    /** Permanent robot identity reported by QUIC. */
+    @Excel(name = "机器人ID")
+    @ApiModelProperty("机器人永久唯一ID")
+    private String robotId;
+
     /** 机器人编码 */
     @Excel(name = "机器人编码")
     @ApiModelProperty("机器人编码")
@@ -81,9 +88,29 @@ public class InspectionRobot extends BaseEntity
     @ApiModelProperty("当前位置")
     private String currentPosition;
 
-    /** 终端id */
+    /** QUIC runtime state, independent from the robot business status. */
-    @Excel(name = "终端id")
+    @ApiModelProperty("连接状态：0离线，1在线")
-    @ApiModelProperty("终端id")
+    private String connectStatus;
-    private String terminalId;
+
+    @ApiModelProperty("当前QUIC节点ID")
+    private String quicNodeId;
+
+    @ApiModelProperty("当前QUIC会话ID")
+    private String quicSessionId;
+
+    @ApiModelProperty("边缘端启动ID")
+    private String quicBootId;
+
+    @ApiModelProperty("QUIC连接来源IP")
+    private String observedIp;
+
+    @ApiModelProperty("边缘端软件版本")
+    private String softwareVersion;
+
+    @ApiModelProperty("最后心跳时间")
+    private Date lastHeartbeatTime;
+
+    @ApiModelProperty("归档状态：0正常，1归档")
+    private String archivedStatus;
 
 }

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

@@ -0,0 +1,41 @@
+package com.cmvr.inspection.domain;
+
+import com.baomidou.mybatisplus.annotation.IdType;
+import com.baomidou.mybatisplus.annotation.TableId;
+import com.cmvr.common.core.domain.BaseEntity;
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+import java.util.Date;
+
+@Data
+@EqualsAndHashCode(callSuper = true)
+@ApiModel("机器人设备")
+public class InspectionRobotDevice extends BaseEntity {
+
+    private static final long serialVersionUID = 1L;
+
+    @TableId(value = "id", type = IdType.ASSIGN_UUID)
+    private String id;
+
+    @ApiModelProperty("机器人永久唯一ID")
+    private String robotId;
+
+    @ApiModelProperty("边缘端设备ID")
+    private String deviceId;
+
+    private String deviceName;
+    private Integer deviceKind;
+    private String typeName;
+    private String enabled;
+    private Integer managerState;
+    private Integer healthStatus;
+    private String onlineStatus;
+    private String hasError;
+    private String errorMessage;
+    private Date statusUpdatedTime;
+    private Date lastSeenTime;
+    private Date offlineTime;
+}

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

@@ -9,6 +9,8 @@ import lombok.Data;
 import lombok.EqualsAndHashCode;
 import lombok.NoArgsConstructor;
 
+import java.util.Date;
+
 /**
  * 巡检机器人视图对象（包含关联信息）
  * 
@@ -28,6 +30,10 @@ public class InspectionRobotVo extends BaseEntity
     @ApiModelProperty("id")
     private String id;
 
+    @Excel(name = "机器人ID")
+    @ApiModelProperty("机器人永久唯一ID")
+    private String robotId;
+
     /** 机器人编码 */
     @Excel(name = "机器人编码")
     @ApiModelProperty("机器人编码")
@@ -98,9 +104,34 @@ public class InspectionRobotVo extends BaseEntity
     @ApiModelProperty("修改人昵称")
     private String updateByName;
 
-    /** 终端id */
+    @ApiModelProperty("连接状态：0离线，1在线")
-    @Excel(name = "终端id")
+    private String connectStatus;
-    @ApiModelProperty("终端id")
+
-    private String terminalId;
+    @ApiModelProperty("当前QUIC节点ID")
+    private String quicNodeId;
+
+    @ApiModelProperty("当前QUIC会话ID")
+    private String quicSessionId;
+
+    @ApiModelProperty("边缘端启动ID")
+    private String quicBootId;
+
+    @ApiModelProperty("QUIC连接来源IP")
+    private String observedIp;
+
+    @ApiModelProperty("边缘端软件版本")
+    private String softwareVersion;
+
+    @ApiModelProperty("最后心跳时间")
+    private Date lastHeartbeatTime;
+
+    @ApiModelProperty("设备总数")
+    private Integer deviceTotal;
+
+    @ApiModelProperty("在线设备数")
+    private Integer onlineDeviceCount;
+
+    @ApiModelProperty("故障设备数")
+    private Integer faultDeviceCount;
 
 }

cmvr-iot-inspection/src/main/java/com/cmvr/inspection/mapper/InspectionRobotDeviceMapper.java

@@ -0,0 +1,29 @@
+package com.cmvr.inspection.mapper;
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.cmvr.inspection.domain.InspectionRobotDevice;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.Date;
+import java.util.List;
+
+public interface InspectionRobotDeviceMapper extends BaseMapper<InspectionRobotDevice> {
+
+    List<InspectionRobotDevice> selectByRobotId(@Param("robotId") String robotId);
+
+    List<InspectionRobotDevice> selectByRobotIdAndKind(@Param("robotId") String robotId,
+                                                        @Param("deviceKind") Integer deviceKind,
+                                                        @Param("onlineOnly") boolean onlineOnly);
+
+    List<InspectionRobotDevice> selectByIdentity(@Param("robotId") String robotId,
+                                                  @Param("deviceId") String deviceId);
+
+    int updateRuntimeState(InspectionRobotDevice device);
+
+    int markMissingOffline(@Param("robotId") String robotId,
+                           @Param("deviceIds") List<String> deviceIds,
+                           @Param("offlineTime") Date offlineTime);
+
+    int markAllOffline(@Param("robotId") String robotId,
+                       @Param("offlineTime") Date offlineTime);
+}

cmvr-iot-inspection/src/main/java/com/cmvr/inspection/mapper/InspectionRobotMapper.java

@@ -1,9 +1,11 @@
 package com.cmvr.inspection.mapper;
 
 import java.util.List;
+import java.util.Date;
 import com.cmvr.inspection.domain.InspectionRobot;
 import com.cmvr.inspection.domain.vo.InspectionRobotVo;
 import com.github.yulichang.base.MPJBaseMapper;
+import org.apache.ibatis.annotations.Param;
 
 /**
  * 巡检机器人Mapper接口
@@ -21,6 +23,12 @@ public interface InspectionRobotMapper  extends MPJBaseMapper<InspectionRobot>
      */
     InspectionRobot selectInspectionRobotById(String id);
 
+    List<InspectionRobot> selectByRobotId(String robotId);
+
+    int updateQuicRuntimeState(InspectionRobot robot);
+
+    int archiveInspectionRobotByIds(@Param("ids") String[] ids, @Param("updateBy") String updateBy);
+
     /**
      * 新增巡检机器人
      * 

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

@@ -6,6 +6,7 @@ import java.util.List;
 import cmvr.msgs.AgvUtils;
 import com.baomidou.mybatisplus.spring.service.IService;
 import com.cmvr.inspection.domain.InspectionRobot;
+import com.cmvr.inspection.domain.InspectionRobotDevice;
 import com.cmvr.inspection.domain.vo.InspectionRobotVo;
 
 /**
@@ -56,6 +57,11 @@ public interface IInspectionRobotService extends IService<InspectionRobot>
      */
     int deleteInspectionRobotByIds(String[] ids);
 
+    List<InspectionRobotDevice> selectRobotDevices(String id);
+
+    List<InspectionRobotDevice> selectRobotDevicesByRobotId(String robotId, Integer deviceKind,
+                                                             boolean onlineOnly);
+
     /**
      * 获取机器人地图列表（从AGV获取）
      *

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

@@ -0,0 +1,45 @@
+package com.cmvr.inspection.service;
+
+import com.cmvr.common.exception.GlobalException;
+import com.cmvr.common.robot.RobotEndpoint;
+import com.cmvr.common.robot.RobotEndpointResolver;
+import com.cmvr.inspection.domain.InspectionRobot;
+import com.cmvr.inspection.mapper.InspectionRobotMapper;
+import lombok.RequiredArgsConstructor;
+import org.apache.commons.lang3.StringUtils;
+import org.springframework.stereotype.Service;
+
+import java.util.List;
+
+@Service
+@RequiredArgsConstructor
+public class InspectionRobotEndpointResolver implements RobotEndpointResolver {
+
+    private final InspectionRobotMapper robotMapper;
+
+    @Override
+    public RobotEndpoint resolve(String robotId) {
+        String normalized = StringUtils.trimToNull(robotId);
+        if (normalized == null) {
+            throw new GlobalException("机器人ID不能为空");
+        }
+        List<InspectionRobot> robots = robotMapper.selectByRobotId(normalized);
+        if (robots.isEmpty()) {
+            throw new GlobalException("机器人不存在：" + normalized);
+        }
+        if (robots.size() > 1) {
+            throw new GlobalException("机器人ID存在重复数据：" + normalized);
+        }
+        InspectionRobot robot = robots.get(0);
+        if ("1".equals(robot.getArchivedStatus())) {
+            throw new GlobalException("机器人已归档：" + normalized);
+        }
+        if (!"1".equals(robot.getConnectStatus())) {
+            throw new GlobalException("机器人当前离线：" + normalized);
+        }
+        if (StringUtils.isBlank(robot.getIpAddress()) || robot.getPort() == null) {
+            throw new GlobalException("机器人尚未上报gRPC地址：" + normalized);
+        }
+        return new RobotEndpoint(robot.getIpAddress(), robot.getPort().intValue());
+    }
+}

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

@@ -0,0 +1,21 @@
+package com.cmvr.inspection.service;
+
+import com.cmvr.test.flow.runtime.engine.RobotExecutionTarget;
+import com.cmvr.test.flow.runtime.engine.RobotExecutionTargetResolver;
+import lombok.RequiredArgsConstructor;
+import org.apache.commons.lang3.StringUtils;
+import org.springframework.stereotype.Service;
+
+@Service
+@RequiredArgsConstructor
+public class InspectionRobotExecutionTargetResolver implements RobotExecutionTargetResolver {
+
+    private final InspectionRobotEndpointResolver endpointResolver;
+
+    @Override
+    public RobotExecutionTarget resolve(String robotId) {
+        String normalized = StringUtils.trimToNull(robotId);
+        endpointResolver.resolve(normalized);
+        return new RobotExecutionTarget(normalized);
+    }
+}

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

@@ -0,0 +1,80 @@
+package com.cmvr.inspection.service;
+
+import com.cmvr.quic.contract.QuicEventBus;
+import com.cmvr.quic.gateway.v1.NodeEvent;
+import jakarta.annotation.PostConstruct;
+import jakarta.annotation.PreDestroy;
+import lombok.RequiredArgsConstructor;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.stereotype.Service;
+
+import java.util.concurrent.ExecutorService;
+import java.util.concurrent.Executors;
+import java.util.concurrent.RejectedExecutionException;
+import java.util.concurrent.TimeUnit;
+
+@Service
+@RequiredArgsConstructor
+public class RobotQuicEventSubscriber {
+
+    private static final Logger log = LoggerFactory.getLogger(RobotQuicEventSubscriber.class);
+
+    private final QuicEventBus eventBus;
+    private final RobotQuicStateService stateService;
+
+    @Value("${cmvr.quic.enabled:false}")
+    private boolean enabled;
+
+    private ExecutorService executor;
+    private QuicEventBus.Subscription subscription;
+
+    @PostConstruct
+    public void start() {
+        if (!enabled) {
+            return;
+        }
+        executor = Executors.newSingleThreadExecutor(runnable -> {
+            Thread thread = new Thread(runnable, "quic-robot-sync");
+            thread.setDaemon(true);
+            return thread;
+        });
+        subscription = eventBus.watchNodes(true, this::enqueue);
+        log.info("已启动QUIC机器人身份和设备同步");
+    }
+
+    private void enqueue(NodeEvent event) {
+        try {
+            executor.execute(() -> {
+                try {
+                    stateService.synchronize(event);
+                } catch (RuntimeException error) {
+                    log.error("同步QUIC机器人失败，robotId={}，nodeId={}，eventType={}",
+                            event.getNode().getRobotId(), event.getNode().getNodeId(),
+                            event.getType(), error);
+                }
+            });
+        } catch (RejectedExecutionException ignored) {
+            log.debug("QUIC机器人同步线程已停止");
+        }
+    }
+
+    @PreDestroy
+    public void stop() {
+        if (subscription != null) {
+            subscription.close();
+        }
+        if (executor != null) {
+            executor.shutdown();
+            try {
+                if (!executor.awaitTermination(5, TimeUnit.SECONDS)) {
+                    executor.shutdownNow();
+                }
+            } catch (InterruptedException error) {
+                executor.shutdownNow();
+                Thread.currentThread().interrupt();
+            }
+        }
+    }
+}

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

@@ -0,0 +1,173 @@
+package com.cmvr.inspection.service;
+
+import com.cmvr.common.utils.DateUtils;
+import com.cmvr.edge.client.manage.GrpcServiceManager;
+import com.cmvr.inspection.domain.InspectionRobot;
+import com.cmvr.inspection.domain.InspectionRobotDevice;
+import com.cmvr.inspection.mapper.InspectionRobotDeviceMapper;
+import com.cmvr.inspection.mapper.InspectionRobotMapper;
+import com.cmvr.quic.gateway.v1.ManagedDeviceStatus;
+import com.cmvr.quic.gateway.v1.NodeEvent;
+import com.cmvr.quic.gateway.v1.NodeEventType;
+import com.cmvr.quic.gateway.v1.NodeSnapshot;
+import lombok.RequiredArgsConstructor;
+import org.apache.commons.lang3.StringUtils;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
+
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+import java.util.Objects;
+
+@Service
+@RequiredArgsConstructor
+public class RobotQuicStateService {
+
+    private static final Logger log = LoggerFactory.getLogger(RobotQuicStateService.class);
+
+    private final InspectionRobotMapper robotMapper;
+    private final InspectionRobotDeviceMapper deviceMapper;
+    private final GrpcServiceManager grpcServiceManager;
+
+    @Value("${cmvr.quic.grpc-host-source:observed-source}")
+    private String grpcHostSource;
+
+    @Transactional(rollbackFor = Exception.class)
+    public void synchronize(NodeEvent event) {
+        NodeSnapshot node = event.getNode();
+        String robotId = StringUtils.trimToNull(node.getRobotId());
+        if (robotId == null) {
+            log.warn("忽略未携带机器人ID的QUIC事件，nodeId={}，eventType={}",
+                    node.getNodeId(), event.getType());
+            return;
+        }
+
+        List<InspectionRobot> matches = robotMapper.selectByRobotId(robotId);
+        if (matches.isEmpty()) {
+            log.warn("QUIC机器人尚未在平台登记，robotId={}，nodeId={}", robotId, node.getNodeId());
+            return;
+        }
+        if (matches.size() != 1) {
+            log.error("机器人ID存在{}条重复记录，拒绝同步，robotId={}", matches.size(), robotId);
+            return;
+        }
+
+        InspectionRobot robot = matches.get(0);
+        if ("1".equals(robot.getArchivedStatus())) {
+            log.warn("已归档机器人尝试连接，拒绝同步，robotId={}", robotId);
+            return;
+        }
+
+        boolean offline = event.getType() == NodeEventType.NODE_EVENT_TYPE_OFFLINE || !node.getOnline();
+        if (offline && StringUtils.isNotBlank(robot.getQuicSessionId())
+                && !robot.getQuicSessionId().equals(node.getSessionId())) {
+            log.info("忽略旧QUIC会话的离线事件，robotId={}，activeSession={}，eventSession={}",
+                    robotId, robot.getQuicSessionId(), node.getSessionId());
+            return;
+        }
+
+        Date eventTime = new Date(event.getEventTimeUnixMs() == 0
+                ? System.currentTimeMillis() : event.getEventTimeUnixMs());
+        String oldHost = robot.getIpAddress();
+        Long oldPort = robot.getPort();
+        if (!offline) {
+            String host = resolveGrpcHost(node);
+            Long port = node.getGrpcEndpoint().getPort() == 0
+                    ? null : Long.valueOf(node.getGrpcEndpoint().getPort());
+            robot.setIpAddress(host);
+            robot.setPort(port);
+        }
+
+        robot.setConnectStatus(offline ? "0" : "1");
+        robot.setQuicNodeId(node.getNodeId());
+        robot.setQuicSessionId(node.getSessionId());
+        robot.setQuicBootId(node.getBootId());
+        robot.setObservedIp(node.getObservedSourceIp());
+        robot.setSoftwareVersion(node.getSoftwareVersion());
+        robot.setLastHeartbeatTime(eventTime);
+        robot.setUpdateTime(DateUtils.getNowDate());
+        robotMapper.updateQuicRuntimeState(robot);
+
+        if (offline) {
+            deviceMapper.markAllOffline(robotId, eventTime);
+        } else {
+            synchronizeDevices(robotId, node, eventTime);
+        }
+
+        if (offline || !Objects.equals(oldHost, robot.getIpAddress())
+                || !Objects.equals(oldPort, robot.getPort())) {
+            grpcServiceManager.invalidateRobot(robotId);
+        }
+        if (event.getType() == NodeEventType.NODE_EVENT_TYPE_HEARTBEAT) {
+            log.debug("QUIC机器人心跳已同步，robotId={}，nodeId={}，grpc={}:{}，devices={}",
+                    robotId, node.getNodeId(), robot.getIpAddress(), robot.getPort(),
+                    node.getDeviceManager().getDevicesCount());
+        } else {
+            log.info("QUIC机器人状态已同步，robotId={}，nodeId={}，online={}，grpc={}:{}，devices={}",
+                    robotId, node.getNodeId(), !offline, robot.getIpAddress(), robot.getPort(),
+                    node.getDeviceManager().getDevicesCount());
+        }
+    }
+
+    private void synchronizeDevices(String robotId, NodeSnapshot node, Date eventTime) {
+        List<String> reportedIds = new ArrayList<>();
+        for (ManagedDeviceStatus status : node.getDeviceManager().getDevicesList()) {
+            String deviceId = StringUtils.trimToNull(status.getDeviceId());
+            if (deviceId == null) {
+                continue;
+            }
+            reportedIds.add(deviceId);
+            List<InspectionRobotDevice> matches = deviceMapper.selectByIdentity(robotId, deviceId);
+            if (matches.size() > 1) {
+                log.error("机器人设备存在重复记录，跳过更新，robotId={}，deviceId={}，count={}",
+                        robotId, deviceId, matches.size());
+                continue;
+            }
+            InspectionRobotDevice device = matches.isEmpty()
+                    ? createDevice(robotId, deviceId, eventTime) : matches.get(0);
+            device.setDeviceKind(status.getKind());
+            device.setTypeName(status.getTypeName());
+            device.setEnabled(status.getEnabled() ? "1" : "0");
+            device.setManagerState(status.getManagerState());
+            device.setHealthStatus(status.getHealth());
+            device.setOnlineStatus("1");
+            device.setHasError(status.getHasError() ? "1" : "0");
+            device.setErrorMessage(status.getErrorMessage());
+            device.setStatusUpdatedTime(status.getStatusUpdatedAtUnixMs() == 0
+                    ? null : new Date(status.getStatusUpdatedAtUnixMs()));
+            device.setLastSeenTime(eventTime);
+            device.setOfflineTime(null);
+            device.setUpdateBy("quic");
+            device.setUpdateTime(eventTime);
+            if (matches.isEmpty()) {
+                deviceMapper.insert(device);
+            } else {
+                deviceMapper.updateRuntimeState(device);
+            }
+        }
+        deviceMapper.markMissingOffline(robotId, reportedIds, eventTime);
+    }
+
+    private InspectionRobotDevice createDevice(String robotId, String deviceId, Date now) {
+        InspectionRobotDevice device = new InspectionRobotDevice();
+        device.setRobotId(robotId);
+        device.setDeviceId(deviceId);
+        device.setDeviceName(deviceId);
+        device.setCreateBy("quic");
+        device.setCreateTime(now);
+        return device;
+    }
+
+    private String resolveGrpcHost(NodeSnapshot node) {
+        String advertised = StringUtils.trimToNull(node.getGrpcEndpoint().getHost());
+        String observed = StringUtils.trimToNull(node.getObservedSourceIp());
+        if ("advertised".equalsIgnoreCase(grpcHostSource)) {
+            return advertised != null ? advertised : observed;
+        }
+        return observed != null ? observed : advertised;
+    }
+}

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

@@ -1,20 +1,19 @@
 
 package com.cmvr.inspection.service.impl;
 
-import java.util.Arrays;
 import java.util.List;
 import java.util.UUID;
 
 import cmvr.msgs.AgvUtils;
 import com.baomidou.mybatisplus.spring.service.impl.ServiceImpl;
 import com.cmvr.common.utils.SecurityUtils;
-import com.cmvr.device.domain.DeDeviceTerminalConfig;
-import com.cmvr.device.service.IDeDeviceTerminalConfigService;
 import com.cmvr.edge.client.model.EdgeCommonVO;
 import com.cmvr.edge.client.service.EdgeAgvService;
 import com.cmvr.inspection.domain.InspectionMap;
+import com.cmvr.inspection.domain.InspectionRobotDevice;
 import com.cmvr.inspection.domain.vo.InspectionRobotVo;
 import com.cmvr.inspection.mapper.InspectionMapMapper;
+import com.cmvr.inspection.mapper.InspectionRobotDeviceMapper;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 import com.cmvr.common.utils.DateUtils;
@@ -43,7 +42,7 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
     private EdgeAgvService edgeAgvService;
 
     @Autowired
-    private IDeDeviceTerminalConfigService deDeviceTerminalConfigService;
+    private InspectionRobotDeviceMapper inspectionRobotDeviceMapper;
 
     /**
      * 查询巡检机器人
@@ -76,17 +75,20 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
      * @return 结果
      */
     @Override
-    public int insertInspectionRobot(InspectionRobot inspectionRobot)
+    public synchronized int insertInspectionRobot(InspectionRobot inspectionRobot)
     {
-        DeDeviceTerminalConfig deDeviceTerminalConfig = new DeDeviceTerminalConfig();
+        String robotId = normalizeRobotId(inspectionRobot.getRobotId());
-        deDeviceTerminalConfig.setName(inspectionRobot.getRobotName());
+        if (StrUtil.isBlank(robotId)) {
-        deDeviceTerminalConfig.setDescription("机器人终端");
+            throw new GlobalException("机器人ID不能为空");
-        deDeviceTerminalConfig.setStatus("1");
+        }
-        deDeviceTerminalConfig.setHost(inspectionRobot.getIpAddress());
+        if (!inspectionRobotMapper.selectByRobotId(robotId).isEmpty()) {
-        deDeviceTerminalConfig.setPort(inspectionRobot.getPort());
+            throw new GlobalException("机器人ID已存在：" + robotId);
-        // 自动创建设备管理模块的终端并将终端id保存机器人中
+        }
-        deDeviceTerminalConfigService.insertDeDeviceTerminalConfig(deDeviceTerminalConfig);
+        inspectionRobot.setRobotId(robotId);
-        inspectionRobot.setTerminalId(deDeviceTerminalConfig.getId());
+        inspectionRobot.setIpAddress(null);
+        inspectionRobot.setPort(null);
+        inspectionRobot.setConnectStatus("0");
+        inspectionRobot.setArchivedStatus("0");
         // 生成UUID作为主键
         if (inspectionRobot.getId() == null || inspectionRobot.getId().isEmpty()) {
             inspectionRobot.setId(UUID.randomUUID().toString().replace("-", ""));
@@ -105,13 +107,18 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
     @Override
     public int updateInspectionRobot(InspectionRobot inspectionRobot)
     {
+        InspectionRobot existing = inspectionRobotMapper.selectInspectionRobotById(inspectionRobot.getId());
+        if (existing == null) {
+            throw new GlobalException("机器人不存在");
+        }
+        if (!java.util.Objects.equals(existing.getRobotId(), normalizeRobotId(inspectionRobot.getRobotId()))) {
+            throw new GlobalException("机器人ID是永久身份标识，不允许修改");
+        }
+        inspectionRobot.setRobotId(null);
+        inspectionRobot.setIpAddress(null);
+        inspectionRobot.setPort(null);
         inspectionRobot.setUpdateTime(DateUtils.getNowDate());
         inspectionRobot.setUpdateBy(SecurityUtils.getUsername());
-        DeDeviceTerminalConfig deDeviceTerminalConfig = deDeviceTerminalConfigService.selectDeDeviceTerminalConfigById(inspectionRobot.getTerminalId());
-        deDeviceTerminalConfig.setName(inspectionRobot.getRobotName());
-        deDeviceTerminalConfig.setHost(inspectionRobot.getIpAddress());
-        deDeviceTerminalConfig.setPort(inspectionRobot.getPort());
-        deDeviceTerminalConfigService.updateDeDeviceTerminalConfig(deDeviceTerminalConfig);
         return inspectionRobotMapper.updateInspectionRobot(inspectionRobot);
     }
 
@@ -124,9 +131,40 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
     @Override
     public int deleteInspectionRobotByIds(String[] ids)
     {
-        List<InspectionRobot> inspectionRobots = inspectionRobotMapper.selectBatchIds(Arrays.asList(ids));
+        return inspectionRobotMapper.archiveInspectionRobotByIds(ids, SecurityUtils.getUsername());
-        deDeviceTerminalConfigService.deleteDeDeviceTerminalConfigByIds(inspectionRobots.stream().map(InspectionRobot::getTerminalId).toArray(String[]::new));
+    }
-        return inspectionRobotMapper.deleteInspectionRobotByIds(ids);
+
+    @Override
+    public List<InspectionRobotDevice> selectRobotDevices(String id)
+    {
+        InspectionRobot robot = inspectionRobotMapper.selectInspectionRobotById(id);
+        if (robot == null) {
+            throw new GlobalException("机器人不存在");
+        }
+        if (StrUtil.isBlank(robot.getRobotId())) {
+            return java.util.Collections.emptyList();
+        }
+        return inspectionRobotDeviceMapper.selectByRobotId(robot.getRobotId());
+    }
+
+    @Override
+    public List<InspectionRobotDevice> selectRobotDevicesByRobotId(String robotId, Integer deviceKind,
+                                                                   boolean onlineOnly)
+    {
+        String normalizedRobotId = normalizeRobotId(robotId);
+        if (StrUtil.isBlank(normalizedRobotId)) {
+            throw new GlobalException("机器人ID不能为空");
+        }
+        if (inspectionRobotMapper.selectByRobotId(normalizedRobotId).isEmpty()) {
+            throw new GlobalException("机器人不存在：" + normalizedRobotId);
+        }
+        return inspectionRobotDeviceMapper.selectByRobotIdAndKind(
+                normalizedRobotId, deviceKind, onlineOnly);
+    }
+
+    private static String normalizeRobotId(String robotId)
+    {
+        return robotId == null ? null : robotId.trim();
     }
 
     /**
@@ -147,7 +185,7 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
         }
 
         EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
-        edgeCommonVO.setTerminalId(robot.getTerminalId());
+        edgeCommonVO.setRobotId(robot.getRobotId());
         edgeCommonVO.setDeviceId(robot.getRobotCode());
 
         return edgeAgvService.listMaps(edgeCommonVO);
@@ -196,7 +234,7 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
         }
 
         EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
-        edgeCommonVO.setTerminalId(robot.getTerminalId());
+        edgeCommonVO.setRobotId(robot.getRobotId());
         edgeCommonVO.setDeviceId(robot.getRobotCode());
 
         return edgeAgvService.downloadMap(edgeCommonVO, mapName);
@@ -239,7 +277,7 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
 
         // 5. 从来源机器人下载地图JSON
         EdgeCommonVO sourceEdgeVO = new EdgeCommonVO();
-        sourceEdgeVO.setTerminalId(sourceRobot.getTerminalId());
+        sourceEdgeVO.setRobotId(sourceRobot.getRobotId());
         sourceEdgeVO.setDeviceId(sourceRobot.getRobotCode());
 
         String mapContent = edgeAgvService.downloadMap(sourceEdgeVO, map.getMapSourceName());
@@ -250,7 +288,7 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
 
         // 6. 上传地图到目标机器人
         EdgeCommonVO targetEdgeVO = new EdgeCommonVO();
-        targetEdgeVO.setTerminalId(targetRobot.getTerminalId());
+        targetEdgeVO.setRobotId(targetRobot.getRobotId());
         targetEdgeVO.setDeviceId(targetRobot.getRobotCode());
 
         edgeAgvService.uploadMap(targetEdgeVO, map.getMapSourceName(), mapContent);
@@ -273,7 +311,7 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
         }
 
         EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
-        edgeCommonVO.setTerminalId(robot.getTerminalId());
+        edgeCommonVO.setRobotId(robot.getRobotId());
         edgeCommonVO.setDeviceId(robot.getRobotCode());
 
         try {
@@ -317,7 +355,7 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
         }
 
         EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
-        edgeCommonVO.setTerminalId(robot.getTerminalId());
+        edgeCommonVO.setRobotId(robot.getRobotId());
         edgeCommonVO.setDeviceId(robot.getRobotCode());
 
         AgvUtils.AgvRuntimeState runtimeState = edgeAgvService.getRuntimeState(edgeCommonVO);
@@ -352,7 +390,7 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
             .build();
 
         EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
-        edgeCommonVO.setTerminalId(robot.getTerminalId());
+        edgeCommonVO.setRobotId(robot.getRobotId());
         edgeCommonVO.setDeviceId(robot.getRobotCode());
 
         // 调用边缘端接口进行导航
@@ -377,7 +415,7 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
         }
 
         EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
-        edgeCommonVO.setTerminalId(robot.getTerminalId());
+        edgeCommonVO.setRobotId(robot.getRobotId());
         edgeCommonVO.setDeviceId(robot.getRobotCode());
 
         AgvUtils.AgvMapDimension mapDimension = AgvUtils.AgvMapDimension.forNumber(dimension);
@@ -398,7 +436,7 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
         }
 
         EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
-        edgeCommonVO.setTerminalId(robot.getTerminalId());
+        edgeCommonVO.setRobotId(robot.getRobotId());
         edgeCommonVO.setDeviceId(robot.getRobotCode());
 
         edgeAgvService.stopMapping(edgeCommonVO);

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

@@ -7,10 +7,12 @@ import com.alibaba.fastjson2.JSONObject;
 import com.baomidou.mybatisplus.spring.service.impl.ServiceImpl;
 import com.cmvr.common.exception.ServiceException;
 import com.cmvr.common.utils.SecurityUtils;
+import com.cmvr.inspection.domain.InspectionRobot;
 import com.cmvr.inspection.domain.InspectionTask;
 import com.cmvr.inspection.domain.dto.InspectionTaskInstanceQuery;
 import com.cmvr.inspection.domain.vo.InspectionTaskInstanceVo;
 import com.cmvr.inspection.enums.TaskStatusEnum;
+import com.cmvr.inspection.mapper.InspectionRobotMapper;
 import com.cmvr.inspection.service.IInspectionTaskService;
 import com.cmvr.test.flow.control.FlowControlService;
 import com.cmvr.test.flow.runtime.engine.FlowTaskRuntimeService;
@@ -38,6 +40,8 @@ public class InspectionTaskInstanceServiceImpl extends ServiceImpl<InspectionTas
     private IInspectionTaskService inspectionTaskService;
     @Autowired
     private InspectionTaskInstanceMapper inspectionTaskInstanceMapper;
+    @Autowired
+    private InspectionRobotMapper inspectionRobotMapper;
 
     @Autowired
     private ITeTaskOrchestrationService teTaskOrchestrationService;
@@ -155,12 +159,18 @@ public class InspectionTaskInstanceServiceImpl extends ServiceImpl<InspectionTas
         update.setUpdateTime(DateUtils.getNowDate());
         update.setUpdateBy(SecurityUtils.getUsername());
         InspectionTask inspectionTask = inspectionTaskService.selectInspectionTaskById(instance.getTaskId());
+        InspectionRobot robot = inspectionRobotMapper.selectInspectionRobotById(instance.getRobotId());
+        if (robot == null) {
+            throw new ServiceException("巡检任务实例关联的机器人不存在");
+        }
         JSONObject runParams = new JSONObject();
         // 获取所有的检测项id
         teTaskOrchestrationService.queryByTaskId(inspectionTask.getTaskConfigId()).forEach(item -> runParams.put(item.getItemId(), new JSONObject()));
         // 调用真正的执行
         String insId = flowTaskRuntimeService.executeTask(TeTaskExecuteNormalVO.builder()
                 .taskId(inspectionTask.getTaskConfigId())
+                .robotId(robot.getRobotId())
+                .robotId(robot.getRobotId())
                 .moduleCode(FlowExecutionModuleCodes.INSPECTION)
                 .runParams(runParams)
                 .build());

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

@@ -0,0 +1,85 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.cmvr.inspection.mapper.InspectionRobotDeviceMapper">
+    <resultMap id="RobotDeviceResult" type="com.cmvr.inspection.domain.InspectionRobotDevice">
+        <id property="id" column="id"/>
+        <result property="robotId" column="robot_id"/>
+        <result property="deviceId" column="device_id"/>
+        <result property="deviceName" column="device_name"/>
+        <result property="deviceKind" column="device_kind"/>
+        <result property="typeName" column="type_name"/>
+        <result property="enabled" column="enabled"/>
+        <result property="managerState" column="manager_state"/>
+        <result property="healthStatus" column="health_status"/>
+        <result property="onlineStatus" column="online_status"/>
+        <result property="hasError" column="has_error"/>
+        <result property="errorMessage" column="error_message"/>
+        <result property="statusUpdatedTime" column="status_updated_time"/>
+        <result property="lastSeenTime" column="last_seen_time"/>
+        <result property="offlineTime" column="offline_time"/>
+        <result property="createBy" column="create_by"/>
+        <result property="createTime" column="create_time"/>
+        <result property="updateBy" column="update_by"/>
+        <result property="updateTime" column="update_time"/>
+        <result property="remark" column="remark"/>
+    </resultMap>
+
+    <sql id="columns">id, robot_id, device_id, device_name, device_kind, type_name, enabled,
+        manager_state, health_status, online_status, has_error, error_message,
+        status_updated_time, last_seen_time, offline_time, create_by, create_time,
+        update_by, update_time, remark</sql>
+
+    <select id="selectByRobotId" resultMap="RobotDeviceResult">
+        select <include refid="columns"/> from inspection_robot_device
+        where robot_id = #{robotId}
+        order by online_status desc, device_kind, device_id
+    </select>
+
+    <select id="selectByRobotIdAndKind" resultMap="RobotDeviceResult">
+        select <include refid="columns"/> from inspection_robot_device
+        where robot_id = #{robotId}
+        <if test="deviceKind != null">
+            and device_kind = #{deviceKind}
+        </if>
+        <if test="onlineOnly">
+            and online_status = '1' and enabled = '1'
+        </if>
+        order by online_status desc, device_kind, device_name, device_id
+    </select>
+
+    <select id="selectByIdentity" resultMap="RobotDeviceResult">
+        select <include refid="columns"/> from inspection_robot_device
+        where robot_id = #{robotId} and device_id = #{deviceId}
+    </select>
+
+    <update id="updateRuntimeState" parameterType="com.cmvr.inspection.domain.InspectionRobotDevice">
+        update inspection_robot_device
+        set device_kind = #{deviceKind}, type_name = #{typeName}, enabled = #{enabled},
+            manager_state = #{managerState}, health_status = #{healthStatus},
+            online_status = #{onlineStatus}, has_error = #{hasError},
+            error_message = #{errorMessage}, status_updated_time = #{statusUpdatedTime},
+            last_seen_time = #{lastSeenTime}, offline_time = #{offlineTime},
+            update_by = #{updateBy}, update_time = #{updateTime}
+        where id = #{id}
+    </update>
+
+    <update id="markMissingOffline">
+        update inspection_robot_device
+        set online_status = '0', offline_time = #{offlineTime},
+            update_by = 'quic', update_time = #{offlineTime}
+        where robot_id = #{robotId} and online_status != '0'
+        <if test="deviceIds != null and deviceIds.size() > 0">
+            and device_id not in
+            <foreach collection="deviceIds" item="deviceId" open="(" separator="," close=")">
+                #{deviceId}
+            </foreach>
+        </if>
+    </update>
+
+    <update id="markAllOffline">
+        update inspection_robot_device
+        set online_status = '0', offline_time = #{offlineTime},
+            update_by = 'quic', update_time = #{offlineTime}
+        where robot_id = #{robotId} and online_status != '0'
+    </update>
+</mapper>

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

@@ -6,6 +6,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
     
     <resultMap type="InspectionRobot" id="InspectionRobotResult">
         <result property="id"    column="id"    />
+        <result property="robotId" column="robot_id" />
         <result property="createBy"    column="create_by"    />
         <result property="createTime"    column="create_time"    />
         <result property="updateBy"    column="update_by"    />
@@ -21,11 +22,19 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         <result property="status"    column="status"    />
         <result property="batteryLevel"    column="battery_level"    />
         <result property="currentPosition"    column="current_position"    />
-        <result property="terminalId"    column="terminal_id"    />
+        <result property="connectStatus" column="connect_status" />
+        <result property="quicNodeId" column="quic_node_id" />
+        <result property="quicSessionId" column="quic_session_id" />
+        <result property="quicBootId" column="quic_boot_id" />
+        <result property="observedIp" column="observed_ip" />
+        <result property="softwareVersion" column="software_version" />
+        <result property="lastHeartbeatTime" column="last_heartbeat_time" />
+        <result property="archivedStatus" column="archived_status" />
     </resultMap>
 
     <resultMap type="com.cmvr.inspection.domain.vo.InspectionRobotVo" id="InspectionRobotVoResult">
         <result property="id"    column="id"    />
+        <result property="robotId" column="robot_id" />
         <result property="createBy"    column="create_by"    />
         <result property="createTime"    column="create_time"    />
         <result property="updateBy"    column="update_by"    />
@@ -45,17 +54,32 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         <result property="currentPosition"    column="current_position"    />
         <result property="createByName"    column="create_by_name"    />
         <result property="updateByName"    column="update_by_name"    />
-        <result property="terminalId"    column="terminal_id"    />
+        <result property="connectStatus" column="connect_status" />
+        <result property="quicNodeId" column="quic_node_id" />
+        <result property="quicSessionId" column="quic_session_id" />
+        <result property="quicBootId" column="quic_boot_id" />
+        <result property="observedIp" column="observed_ip" />
+        <result property="softwareVersion" column="software_version" />
+        <result property="lastHeartbeatTime" column="last_heartbeat_time" />
+        <result property="deviceTotal" column="device_total" />
+        <result property="onlineDeviceCount" column="online_device_count" />
+        <result property="faultDeviceCount" column="fault_device_count" />
     </resultMap>
 
     <sql id="selectInspectionRobotVo">
-        select id, create_by, create_time, update_by, update_time, remark, robot_code, robot_name, robot_model, robot_type, ip_address, port, current_map_id, status, battery_level, current_position, terminal_id from inspection_robot
+        select id, robot_id, create_by, create_time, update_by, update_time, remark,
+               robot_code, robot_name, robot_model, robot_type, ip_address, port,
+               current_map_id, status, battery_level, current_position,
+               connect_status, quic_node_id, quic_session_id, quic_boot_id,
+               observed_ip, software_version, last_heartbeat_time, archived_status
+        from inspection_robot
     </sql>
 
     <select id="selectInspectionRobotList" parameterType="InspectionRobot" resultMap="InspectionRobotResult">
         <include refid="selectInspectionRobotVo"/>
         <where>  
             <if test="robotCode != null  and robotCode != ''"> and robot_code = #{robotCode}</if>
+            <if test="robotId != null and robotId != ''"> and robot_id = #{robotId}</if>
             <if test="robotName != null  and robotName != ''"> and robot_name like concat('%', #{robotName}, '%')</if>
             <if test="robotModel != null  and robotModel != ''"> and robot_model = #{robotModel}</if>
             <if test="robotType != null  and robotType != ''"> and robot_type = #{robotType}</if>
@@ -69,10 +93,16 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         where id = #{id}
     </select>
 
+    <select id="selectByRobotId" parameterType="String" resultMap="InspectionRobotResult">
+        <include refid="selectInspectionRobotVo"/>
+        where robot_id = #{robotId}
+    </select>
+
     <insert id="insertInspectionRobot" parameterType="InspectionRobot">
         insert into inspection_robot
         <trim prefix="(" suffix=")" suffixOverrides=",">
             <if test="id != null">id,</if>
+            <if test="robotId != null">robot_id,</if>
             <if test="createBy != null">create_by,</if>
             <if test="createTime != null">create_time,</if>
             <if test="updateBy != null">update_by,</if>
@@ -88,10 +118,12 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="status != null">status,</if>
             <if test="batteryLevel != null">battery_level,</if>
             <if test="currentPosition != null">current_position,</if>
-            <if test="terminalId != null">terminal_id,</if>
+            <if test="connectStatus != null">connect_status,</if>
+            <if test="archivedStatus != null">archived_status,</if>
          </trim>
         <trim prefix="values (" suffix=")" suffixOverrides=",">
             <if test="id != null">#{id},</if>
+            <if test="robotId != null">#{robotId},</if>
             <if test="createBy != null">#{createBy},</if>
             <if test="createTime != null">#{createTime},</if>
             <if test="updateBy != null">#{updateBy},</if>
@@ -107,7 +139,8 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="status != null">#{status},</if>
             <if test="batteryLevel != null">#{batteryLevel},</if>
             <if test="currentPosition != null">#{currentPosition},</if>
-            <if test="terminalId != null">#{terminalId},</if>
+            <if test="connectStatus != null">#{connectStatus},</if>
+            <if test="archivedStatus != null">#{archivedStatus},</if>
          </trim>
     </insert>
 
@@ -129,11 +162,29 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="status != null">status = #{status},</if>
             <if test="batteryLevel != null">battery_level = #{batteryLevel},</if>
             <if test="currentPosition != null">current_position = #{currentPosition},</if>
-            <if test="terminalId != null">terminal_id = #{terminalId},</if>
         </trim>
         where id = #{id}
     </update>
 
+    <update id="updateQuicRuntimeState" parameterType="InspectionRobot">
+        update inspection_robot
+        set ip_address = #{ipAddress}, port = #{port}, connect_status = #{connectStatus},
+            quic_node_id = #{quicNodeId}, quic_session_id = #{quicSessionId},
+            quic_boot_id = #{quicBootId}, observed_ip = #{observedIp},
+            software_version = #{softwareVersion}, last_heartbeat_time = #{lastHeartbeatTime},
+            update_by = 'quic', update_time = #{updateTime}
+        where id = #{id}
+    </update>
+
+    <update id="archiveInspectionRobotByIds" parameterType="String">
+        update inspection_robot set archived_status = '1', connect_status = '0',
+            update_time = sysdate(), update_by = #{updateBy}
+        where id in
+        <foreach item="id" collection="ids" open="(" separator="," close=")">
+            #{id}
+        </foreach>
+    </update>
+
     <delete id="deleteInspectionRobotById" parameterType="String">
         delete from inspection_robot where id = #{id}
     </delete>
@@ -147,20 +198,28 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
 
     <select id="selectInspectionRobotVoList" parameterType="InspectionRobot" resultMap="InspectionRobotVoResult">
         select r.id, r.create_by, r.create_time, r.update_by, r.update_time, r.remark,
-               r.robot_code, r.robot_name, r.robot_model, r.robot_type,
+               r.robot_id, r.robot_code, r.robot_name, r.robot_model, r.robot_type,
                r.ip_address, r.port, r.current_map_id,
                m.map_name as current_map_name,
-               r.status, r.battery_level, r.current_position, r.terminal_id,
+               r.status, r.battery_level, r.current_position,
+               r.connect_status, r.quic_node_id, r.quic_session_id, r.quic_boot_id,
+               r.observed_ip, r.software_version, r.last_heartbeat_time,
+               (select count(*) from inspection_robot_device d where d.robot_id = r.robot_id) as device_total,
+               (select count(*) from inspection_robot_device d where d.robot_id = r.robot_id and d.online_status = '1') as online_device_count,
+               (select count(*) from inspection_robot_device d where d.robot_id = r.robot_id and (d.health_status = 3 or d.has_error = '1')) as fault_device_count,
                u1.nick_name as create_by_name, u2.nick_name as update_by_name, m.map_source_name as robot_map_name
         from inspection_robot r
         left join inspection_map m on r.current_map_id = m.id
         left join sys_user u1 on r.create_by = u1.user_name  <!-- 创建人关联用户 -->
         left join sys_user u2 on r.update_by = u2.user_name <!-- 更新人关联用户 -->
         <where>
+            and coalesce(r.archived_status, '0') = '0'
+            <if test="robotId != null and robotId != ''"> and r.robot_id = #{robotId}</if>
             <if test="robotCode != null and robotCode != ''"> and r.robot_code = #{robotCode}</if>
             <if test="robotName != null and robotName != ''"> and r.robot_name like concat('%', #{robotName}, '%')</if>
             <if test="robotModel != null and robotModel != ''"> and r.robot_model = #{robotModel}</if>
             <if test="robotType != null and robotType != ''"> and r.robot_type = #{robotType}</if>
+            <if test="connectStatus != null and connectStatus != ''"> and r.connect_status = #{connectStatus}</if>
             <if test="status != null and status != ''"> and r.status = #{status}</if>
             <if test="currentMapId != null and currentMapId != ''"> and r.current_map_id = #{currentMapId}</if>
             <if test="ipAddress != null and ipAddress != ''"> and r.ip_address = #{ipAddress}</if>

cmvr-iot-quic/README.md

@@ -13,12 +13,12 @@ cmvr-es / 边缘节点
 cmvr-iot-admin
   |-- QuicGatewayServer
   |-- NodeEventBroker
-  `-- QuicGatewayNodeSyncService（进程内直接订阅）
+  `-- RobotQuicEventSubscriber（进程内直接订阅）
   v
-de_device_terminal_config + 原有机器人 gRPC 客户端
+inspection_robot + inspection_robot_device + 原有机器人 gRPC 客户端
 ```
 
-QUIC 链路不启动内部 gRPC Server，也不经过本机 TCP 端口。平台调用机器人设备的原有 gRPC 客户端保持不变，两者只在终端 endpoint 同步和 channel 失效处理处协作。
+QUIC 链路不启动内部 gRPC Server，也不经过本机 TCP 端口。QUIC 注册中的永久 `robotId` 是机器人唯一业务身份；平台据此同步机器人 gRPC endpoint、设备快照，并在地址变化时清理对应 channel。
 
 ## 组件职责
 
@@ -27,7 +27,8 @@ QUIC 链路不启动内部 gRPC Server，也不经过本机 TCP 端口。平台
 - `ControlStreamHandler`：解析注册、心跳和设备快照控制帧。
 - `MediaReassembler`：按帧重组媒体 DATAGRAM，并限制内存和超时。
 - `NodeEventBroker`：Spring 单例，向当前 JVM 内的订阅者直接发布节点和媒体事件。
-- `QuicGatewayNodeSyncService`：把在线状态和 gRPC endpoint 同步到终端表，并清理旧 gRPC channel。
+- `RobotQuicEventSubscriber`：订阅当前 JVM 中的 QUIC 节点事件。
+- `RobotQuicStateService`：按永久 `robotId` 更新机器人、设备在线状态和 gRPC endpoint，并清理旧 gRPC channel。
 
 协议定义位于：
 
@@ -79,25 +80,25 @@ Linux 部署时将证书路径换成实际绝对路径。对应配置也可以
 首次使用前执行：
 
 ```text
-sql/quic_gateway_terminal_migration.sql
+sql/robot_quic_identity_migration.sql
+sql/robot_id_only_migration.sql
 ```
 
-然后把边缘节点的稳定 `node_id` 绑定到已有终端：
+先在机器人管理页面新增机器人并填写边缘端上报的永久 `robotId`。机器人首次连接后，平台自动补全地址、端口、QUIC 会话信息和设备清单，无需绑定终端：
 
 ```sql
-UPDATE de_device_terminal_config
+INSERT INTO inspection_robot (id, robot_name, robot_id, connect_status, archived_status)
-SET quic_node_id = 'robot-edge-001'
+VALUES ('业务主键', '测试机器人', '边缘端永久机器人ID', '0', '0');
-WHERE id = '平台终端ID';
 ```
 
-平台不会根据陌生 QUIC 节点自动创建设备。未绑定节点只记录警告，不更新业务数据。
+平台不会根据陌生 `robotId` 自动创建机器人，未登记的机器人只记录警告；已登记机器人上报的新设备会自动写入设备快照表，未继续上报的设备会标记为离线。
 
-节点上线后，平台会根据 `cmvr.quic.grpc-host-source` 更新终端的 gRPC 地址：
+机器人上线后，平台会根据 `cmvr.quic.grpc-host-source` 更新机器人的 gRPC 地址：
 
 - `observed-source`：使用 Gateway 观察到的连接源 IP，适合 QUIC 与机器人 gRPC 同机部署。
 - `advertised`：使用节点注册时主动上报的 gRPC host。
 
-endpoint 变化或节点离线时，原有 `GrpcServiceManager` 缓存的 channel 会立即失效，下次业务调用建立新连接。
+endpoint 变化或机器人离线时，`GrpcServiceManager` 中按 `robotId` 缓存的 channel 会立即失效，下次业务调用使用最新地址建立连接。
 
 ## 构建与测试
 

cmvr-iot-test/pom.xml

@@ -35,7 +35,7 @@
             <artifactId>cmvr-iot-grpc-client</artifactId>
         </dependency>
 
-        <!-- 设备终端配置，用于工作流报警监听组件按终端ID解析边缘端IP -->
+        <!-- 设备服务，供工作流报警监听组件使用 -->
         <dependency>
             <groupId>com.cmvr</groupId>
             <artifactId>cmvr-iot-device</artifactId>

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

@@ -41,10 +41,11 @@ public class TaskContext {
      */
     private String itemId;
 
-    /**
+    /** 机器人永久唯一 ID，用于执行路由和互斥。 */
-     * 所属终端 ID
+    private String robotId;
-     */
+
-    private String terminalId;
+    /** 稳定的机器人锁键。 */
+    private String lockKey;
 
     /**
      * 当前运行状态（运行中/已完成/失败/暂停/终止）

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

@@ -25,20 +25,20 @@ public class TaskContextManager {
     private final Map<String, TaskContext> instContextMap = new ConcurrentHashMap<>();
 
     /**
-     * 终端 ID → 实例 ID（标识该终端被哪个任务占用）
+     * 机器人锁键 → 实例 ID（标识该机器人被哪个任务占用）
      */
-    private final Map<String, String> terminalInstMap = new ConcurrentHashMap<>();
+    private final Map<String, String> robotInstMap = new ConcurrentHashMap<>();
 
     /**
      * 注册任务上下文（任务启动时调用）
      */
     public void register(TaskContext context) {
         instContextMap.put(context.getInstId(), context);
-        if (context.getTerminalId() != null) {
+        if (context.getLockKey() != null) {
-            terminalInstMap.put(context.getTerminalId(), context.getInstId());
+            robotInstMap.put(context.getLockKey(), context.getInstId());
         }
         context.setTerminalStatus(TerminalStatusEnum.RUNNING);
-        log.info("注册任务上下文：instId={}, terminalId={}", context.getInstId(), context.getTerminalId());
+        log.info("注册任务上下文：instId={}, robotId={}", context.getInstId(), context.getRobotId());
     }
 
     /**
@@ -49,10 +49,10 @@ public class TaskContextManager {
         if (ctx != null) {
             ctx.setTerminalStatus(TerminalStatusEnum.READY);
             ctx.setTerminalLocked(false);
-            if (ctx.getTerminalId() != null) {
+            if (ctx.getLockKey() != null) {
-                terminalInstMap.remove(ctx.getTerminalId());
+                robotInstMap.remove(ctx.getLockKey());
             }
-            log.info("注销任务上下文：instId={}, terminalId={}", instId, ctx.getTerminalId());
+            log.info("注销任务上下文：instId={}, robotId={}", instId, ctx.getRobotId());
         }
     }
 
@@ -71,25 +71,25 @@ public class TaskContextManager {
     }
 
     /**
-     * 判断某个终端是否已被占用（用于任务启动前判断）
+     * 判断某个机器人是否已被占用（用于任务启动前判断）
      */
-    public boolean isTerminalLocked(String terminalId) {
+    public boolean isRobotLocked(String lockKey) {
-        return terminalInstMap.containsKey(terminalId);
+        return robotInstMap.containsKey(lockKey);
     }
 
     /**
-     * 判断终端是否被其他任务占用（用于任务恢复时判断）
+     * 判断机器人是否被其他任务占用（用于任务恢复时判断）
      */
-    public boolean isTerminalOccupied(String terminalId, String excludingInstId) {
+    public boolean isRobotOccupied(String lockKey, String excludingInstId) {
-        return terminalInstMap.containsKey(terminalId)
+        return robotInstMap.containsKey(lockKey)
-                && !terminalInstMap.get(terminalId).equals(excludingInstId);
+                && !robotInstMap.get(lockKey).equals(excludingInstId);
     }
 
     /**
-     * 根据终端ID获取正在执行的实例ID
+     * 根据机器人锁键获取正在执行的实例ID
      */
-    public String getInstIdByTerminal(String terminalId) {
+    public String getInstIdByRobot(String lockKey) {
-        return terminalInstMap.get(terminalId);
+        return robotInstMap.get(lockKey);
     }
 
     /**
@@ -97,7 +97,7 @@ public class TaskContextManager {
      */
     public void clearAll() {
         instContextMap.clear();
-        terminalInstMap.clear();
+        robotInstMap.clear();
         log.info("任务上下文已清空");
     }
 

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

@@ -39,8 +39,8 @@ public class TaskInstHolder {
         return taskContextManager.get(instId);
     }
 
-    public boolean isTerminalLocked(String terminalId) {
+    public boolean isRobotLocked(String lockKey) {
-        return taskContextManager.isTerminalLocked(terminalId);
+        return taskContextManager.isRobotLocked(lockKey);
     }
 
     public void markRunning(String instId, String taskId, String itemId,
@@ -87,7 +87,7 @@ public class TaskInstHolder {
         // 更新任务状态为SUCCESS
         syncStatus(instId, TaskStatusEnum.SUCCESS);
 
-        // 注销任务上下文（释放终端锁）
+        // 注销任务上下文（释放机器人锁）
         taskContextManager.unregister(instId);
 
         // 发布任务完成事件

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

@@ -55,7 +55,7 @@ public class FlowControlService {
             throw new GlobalException("任务已终止，无需重复操作");
         }
         // 异步终止
-        executor.execute(() -> edgeSystemService.stopAll(ctx.getTerminalId()));
+        executor.execute(() -> edgeSystemService.stopAll(ctx.getRobotId()));
 
         // 统一记录日志 + 设置上下文状态 + 数据库状态
         taskInstHolder.syncStatus(instId, TaskStatusEnum.STOPPED);
@@ -80,7 +80,7 @@ public class FlowControlService {
             throw new GlobalException("任务已处于暂停状态");
         }
         // 异步停止终端
-        executor.execute(() -> edgeSystemService.stopAll(ctx.getTerminalId()));
+        executor.execute(() -> edgeSystemService.stopAll(ctx.getRobotId()));
         ctx.setPaused(true);
         ctx.setTerminalStatus(TerminalStatusEnum.RUNNING);
         ctx.setStatus(TaskStatusEnum.PAUSED);

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

@@ -28,17 +28,17 @@ public class FlowTaskAsyncDispatcher {
      *
      * @param instId     任务实例 ID
      * @param taskId     任务定义 ID
-     * @param terminalId 终端 ID
+     * @param robotId 终端 ID
      * @param runMode    运行模式（NORMAL / TRIAL）
      * @param items      所有检测项详情
      */
-    public void submit(String instId, String taskId, String terminalId,
+    public void submit(String instId, String taskId, String robotId,
                        RunModeEnum runMode, List<TeQueryTaskDetailDTO> items) {
         executor.submit(() -> {
             Thread.currentThread().setName("task-thread-" + Thread.currentThread().getId());
             try {
                 log.info("异步任务开始执行：threadName={}, instId={}, taskId={}", Thread.currentThread().getName(), instId, taskId);
-                taskEngine.run(instId, taskId, terminalId, runMode, items);
+                taskEngine.run(instId, taskId, robotId, runMode, items);
                 log.info("异步任务执行结束：threadName={}, instId={}, taskId={}", Thread.currentThread().getName(), instId, taskId);
             } catch (Exception e) {
                 log.error("任务执行异常：threadName={}, instId={}, taskId={}, 错误={}", Thread.currentThread().getName(), instId, taskId, e.getMessage(), e);

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

@@ -22,7 +22,7 @@ public class FlowTaskEngine {
 
     private final FlowItemExecutor flowTaskExecutor;
 
-    public void run(String instId, String taskId, String terminalId,
+    public void run(String instId, String taskId, String robotId,
                     RunModeEnum runMode, List<TeQueryTaskDetailDTO> items) {
         TaskContext context = taskInstHolder.getContext(instId);
         context.setRunMode(runMode);
@@ -40,7 +40,7 @@ public class FlowTaskEngine {
             TaskNodeExecuteMessage message = new TaskNodeExecuteMessage();
             message.setInstId(instId);
             message.setTaskId(taskId);
-            message.setTerminalId(terminalId);
+            message.setRobotId(robotId);
             message.setItemId(itemId);
             if (runMode.equals(RunModeEnum.VI_PROJECT)) {
                 message.setLoopDetail(item.getSchemeInfo());

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

@@ -24,6 +24,7 @@ import com.cmvr.test.service.ITeTaskOrchestrationService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
+import org.springframework.beans.factory.ObjectProvider;
 import org.springframework.transaction.annotation.Transactional;
 
 import java.util.List;
@@ -41,13 +42,15 @@ public class FlowTaskRuntimeEntry implements FlowTaskRuntimeService {
     private final ITeDetectionItemService detectionItemService;
     private final TaskInstHolder taskInstHolder;
     private final FlowTaskAsyncDispatcher flowTaskAsyncDispatcher;
+    private final ObjectProvider<RobotExecutionTargetResolver> targetResolverProvider;
 
 
 
     @Transactional(rollbackFor = Exception.class)
     public String executeTask(TeTaskExecuteNormalVO taskExecuteNormalVO) {
+        RobotExecutionTarget target = resolveTarget(taskExecuteNormalVO.getRobotId());
         return executeTaskInternal(
-                taskExecuteNormalVO.getTerminalId(),
+                target,
                 taskExecuteNormalVO.getTaskId(),
                 taskExecuteNormalVO.getModuleCode(),
                 RunModeEnum.NORMAL,
@@ -59,12 +62,14 @@ public class FlowTaskRuntimeEntry implements FlowTaskRuntimeService {
     @Transactional(rollbackFor = Exception.class)
     public String executeTrialTask(TeTaskExecuteTrailVO taskExecuteTrailVO) {
         JSONObject runParams = taskExecuteTrailVO.getRunParams();
-        String terminalId = taskExecuteTrailVO.getTerminalId();
+        RobotExecutionTarget target = resolveTarget(taskExecuteTrailVO.getRobotId());
-        if (StrUtil.isEmpty(terminalId)) {
+        String robotId = target.getRobotId();
-            throw new GlobalException("终端ID不能为空");
+        String lockKey = target.lockKey();
+        if (lockKey == null) {
+            throw new GlobalException("机器人ID不能为空");
         }
-        if (taskInstHolder.isTerminalLocked(terminalId)) {
+        if (taskInstHolder.isRobotLocked(lockKey)) {
-            throw new GlobalException("当前终端正在执行其他任务，请稍后再试");
+            throw new GlobalException("当前机器人正在执行其他任务，请稍后再试");
         }
 
         // 构建试运行任务定义（临时任务）
@@ -78,7 +83,7 @@ public class FlowTaskRuntimeEntry implements FlowTaskRuntimeService {
         String taskId = taskOrchestrationService.buildTrialTask(itemId);
 
         // 创建并保存任务实例
-        TeTaskInst instance = createAndSaveTaskInstance(taskId, terminalId, RunModeEnum.TRIAL);
+        TeTaskInst instance = createAndSaveTaskInstance(taskId, target, RunModeEnum.TRIAL);
         String instId = instance.getId();
 
         try {
@@ -91,10 +96,10 @@ public class FlowTaskRuntimeEntry implements FlowTaskRuntimeService {
             List<TeQueryTaskDetailDTO> details = CollUtil.newArrayList(teQueryTaskDetailDTO);
 
             // 注册上下文
-            registerTaskContext(instId, taskId, null, terminalId, itemId, RunModeEnum.TRIAL, runParams);
+            registerTaskContext(instId, taskId, null, target, itemId, RunModeEnum.TRIAL, runParams);
 
             // 异步调度执行（与正式任务一致，只是模式为 TRIAL）
-            flowTaskAsyncDispatcher.submit(instId, taskId, terminalId, RunModeEnum.TRIAL, details);
+            flowTaskAsyncDispatcher.submit(instId, taskId, robotId, RunModeEnum.TRIAL, details);
 
             return instId;
         } catch (Exception e) {
@@ -111,8 +116,9 @@ public class FlowTaskRuntimeEntry implements FlowTaskRuntimeService {
 
     @Transactional(rollbackFor = Exception.class)
     public String executeProjectTask(TeTaskExecuteProjectVO taskExecuteProjectVO) {
+        RobotExecutionTarget target = resolveTarget(taskExecuteProjectVO.getRobotId());
         return executeTaskInternal(
-                taskExecuteProjectVO.getTerminalId(),
+                target,
                 taskExecuteProjectVO.getProjectId(),
                 null,
                 RunModeEnum.VI_PROJECT,
@@ -122,15 +128,18 @@ public class FlowTaskRuntimeEntry implements FlowTaskRuntimeService {
     }
 
     @Transactional(rollbackFor = Exception.class)
-    public String executeTaskInternal(String terminalId, String taskId, String moduleCode,
+    public String executeTaskInternal(String robotId, String taskId, String moduleCode,
                                       RunModeEnum runMode, JSONObject runParams, Object originalVO) {
-        // 终端id可能为空
+        return executeTaskInternal(new RobotExecutionTarget(robotId), taskId,
-        if (StrUtil.isEmpty(terminalId)) {
+                moduleCode, runMode, runParams, originalVO);
-//            throw new GlobalException("终端ID不能为空");
     }
-        // 检查终端状态
+
-        if (!StrUtil.isEmpty(terminalId) && taskInstHolder.isTerminalLocked(terminalId)) {
+    private String executeTaskInternal(RobotExecutionTarget target, String taskId, String moduleCode,
-            throw new GlobalException("当前终端正在执行其他任务，请稍后再试");
+                                      RunModeEnum runMode, JSONObject runParams, Object originalVO) {
+        String robotId = target.getRobotId();
+        String lockKey = target.lockKey();
+        if (lockKey != null && taskInstHolder.isRobotLocked(lockKey)) {
+            throw new GlobalException("当前机器人正在执行其他任务，请稍后再试");
         }
         // 查询任务详情（检测项信息）
         List<TeQueryTaskDetailDTO> details = taskOrchestrationService.queryTaskDetail(taskId);
@@ -139,15 +148,15 @@ public class FlowTaskRuntimeEntry implements FlowTaskRuntimeService {
             throw new GlobalException("当前任务存在未发布的检测项!");
         }
         // 创建任务实例
-        TeTaskInst instance = createAndSaveTaskInstance(taskId, terminalId, runMode);
+        TeTaskInst instance = createAndSaveTaskInstance(taskId, target, runMode);
         String instId = instance.getId();
 
         try {
             // 注册上下文
-            registerTaskContext(instId, taskId, moduleCode, terminalId, null, runMode, runParams);
+            registerTaskContext(instId, taskId, moduleCode, target, null, runMode, runParams);
 
             // 异步提交执行
-            flowTaskAsyncDispatcher.submit(instId, taskId, terminalId, runMode, details);
+            flowTaskAsyncDispatcher.submit(instId, taskId, robotId, runMode, details);
             return instId;
         } catch (Exception e) {
             taskInstHolder.markFailed(
@@ -163,10 +172,10 @@ public class FlowTaskRuntimeEntry implements FlowTaskRuntimeService {
     /**
      * 创建并保存任务实例
      */
-    private TeTaskInst createAndSaveTaskInstance(String taskId, String terminalId, RunModeEnum runMode) {
+    private TeTaskInst createAndSaveTaskInstance(String taskId, RobotExecutionTarget target, RunModeEnum runMode) {
         TeTaskInst instance = new TeTaskInst();
         instance.setTaskId(taskId);
-        instance.setTerminalId(terminalId);
+        instance.setRobotId(target.getRobotId());
         instance.setRunMode(runMode.name());
         instance.setStatus(String.valueOf(TaskStatusEnum.RUNNING.getCode()));
         boolean save = taskInstService.save(instance);
@@ -179,14 +188,15 @@ public class FlowTaskRuntimeEntry implements FlowTaskRuntimeService {
     /**
      * 注册上下文
      */
-    private void registerTaskContext(String instId, String taskId, String moduleCode, String terminalId,
+    private void registerTaskContext(String instId, String taskId, String moduleCode, RobotExecutionTarget target,
                                      String itemId, RunModeEnum mode, JSONObject runParams) {
         TaskContext ctx = new TaskContext();
         ctx.setInstId(instId);
         ctx.setTaskId(taskId);
         ctx.setModuleCode(moduleCode);
         ctx.setRunMode(mode);
-        ctx.setTerminalId(terminalId);
+        ctx.setRobotId(target.getRobotId());
+        ctx.setLockKey(target.lockKey());
         ctx.setItemId(itemId);
         ctx.setStatus(TaskStatusEnum.RUNNING);
         ctx.setTerminalLocked(true);
@@ -194,4 +204,16 @@ public class FlowTaskRuntimeEntry implements FlowTaskRuntimeService {
 
         taskInstHolder.register(ctx);
     }
+
+    private RobotExecutionTarget resolveTarget(String robotId) {
+        if (StrUtil.isNotBlank(robotId)) {
+            RobotExecutionTargetResolver resolver = targetResolverProvider.getIfAvailable();
+            if (resolver == null) {
+                throw new GlobalException("机器人执行解析服务不可用");
+            }
+            return resolver.resolve(robotId);
+        }
+        // 纯逻辑工作流不调用边缘设备，可不绑定机器人。
+        return new RobotExecutionTarget(null);
+    }
 }

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

@@ -13,7 +13,7 @@ public interface FlowTaskRuntimeService {
     /**
      * 执行正式任务（NORMAL 模式）
      *
-     * @param taskExecuteNormalVO 任务执行请求对象（包含终端ID、任务ID等）
+     * @param taskExecuteNormalVO 任务执行请求对象（包含机器人ID、任务ID等）
      * @return 返回任务实例ID（instId）
      */
     String executeTask(TeTaskExecuteNormalVO taskExecuteNormalVO);

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

@@ -0,0 +1,17 @@
+package com.cmvr.test.flow.runtime.engine;
+
+import lombok.AllArgsConstructor;
+import lombok.Data;
+
+@Data
+@AllArgsConstructor
+public class RobotExecutionTarget {
+    private String robotId;
+
+    public String lockKey() {
+        if (robotId != null && !robotId.isBlank()) {
+            return "robot:" + robotId;
+        }
+        return null;
+    }
+}

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

@@ -0,0 +1,5 @@
+package com.cmvr.test.flow.runtime.engine;
+
+public interface RobotExecutionTargetResolver {
+    RobotExecutionTarget resolve(String robotId);
+}

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

@@ -77,9 +77,9 @@ public class FlowExecutionEvent {
     private JSONObject outputParams;
 
     /**
-     * 当前工作流绑定的终端ID。
+     * 当前工作流绑定的机器人永久唯一 ID。
      */
-    private String terminalId;
+    private String robotId;
 
     /**
      * 循环节点迭代路径，用于区分同一节点的多次执行结果。

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

@@ -58,7 +58,7 @@ public class FlowAfterInterceptor extends AbstractFlowMsgPreInterceptor{
                 .nodeType(message.getNodeType())
                 .action(message.getAction())
                 .outputParams(result != null ? result.getOutputParams() : null)
-                .terminalId(message.getTerminalId())
+                .robotId(message.getRobotId())
                 .iterations(message.getIterations() == null
                         ? new ArrayList<>() : new ArrayList<>(message.getIterations()))
                 .errorMessage(errorMessage)

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

@@ -78,9 +78,9 @@ public class TaskNodeExecuteMessage {
     private boolean trial;
 
     /**
-     * 所属终端ID
+     * 所属机器人永久唯一 ID
      */
-    private String terminalId;
+    private String robotId;
 
     /**
      * 节点入参

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

@@ -35,7 +35,7 @@ public class EdgeAgvOperateService implements EdgeOperateService {
     public TaskNodeExecuteResult execute(TaskNodeExecuteMessage message) {
         ActionEnum action = message.getAction();
         JSONObject inputParams = message.getInputParams();
-        String terminalId = message.getTerminalId();
+        String robotId = message.getRobotId();
         
         // 从输入参数中获取机器人ID
         String deviceId = inputParams.getString("deviceId");
@@ -67,7 +67,7 @@ public class EdgeAgvOperateService implements EdgeOperateService {
                 
                 // 构建边缘端通用参数
                 EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
-                edgeCommonVO.setTerminalId(terminalId);
+                edgeCommonVO.setRobotId(robotId);
                 edgeCommonVO.setDeviceId(deviceId);
                 
                 // 直接调用边缘端AGV服务执行导航
@@ -85,7 +85,7 @@ public class EdgeAgvOperateService implements EdgeOperateService {
                 }
 
                 EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
-                edgeCommonVO.setTerminalId(terminalId);
+                edgeCommonVO.setRobotId(robotId);
                 edgeCommonVO.setDeviceId(deviceId);
                 edgeAgvService.navigateToStation(edgeCommonVO, stationId.trim());
                 log.info("AGV移动到指定站点任务下发成功，设备ID: {}，站点ID: {}", deviceId, stationId);

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

@@ -38,7 +38,7 @@ public class EdgeArmOperateService implements EdgeOperateService {
     public TaskNodeExecuteResult execute(TaskNodeExecuteMessage message) {
         ActionEnum action = message.getAction();
         JSONObject inputParams = message.getInputParams();
-        String terminalId = message.getTerminalId();
+        String robotId = message.getRobotId();
         
         // 从输入参数中获取设备ID
         String deviceId = inputParams.getString("deviceId");
@@ -48,7 +48,7 @@ public class EdgeArmOperateService implements EdgeOperateService {
         }
         // 构建边缘端通用参数
         EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
-        edgeCommonVO.setTerminalId(terminalId);
+        edgeCommonVO.setRobotId(robotId);
         edgeCommonVO.setDeviceId(deviceId);
 
         // 先调用开启力矩

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

@@ -53,18 +53,18 @@ public class EdgeCameraOperateService implements EdgeOperateService {
         ActionEnum action = message.getAction();
         JSONObject inputParams = message.getInputParams();
         String deviceId = inputParams.getString("deviceId");
-        String terminalId = message.getTerminalId();
+        String robotId = message.getRobotId();
         JSONObject upstreamOutput = message.getUpStreamOutput();
 
         JSONObject output = new JSONObject();
 
         EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
         edgeCommonVO.setDeviceId(deviceId);
-        edgeCommonVO.setTerminalId(terminalId);
+        edgeCommonVO.setRobotId(robotId);
 
         switch (action) {
             case CAMERA_START: {
-//                String result = edgeCameraService.start(terminalId, deviceId);
+//                String result = edgeCameraService.start(robotId, deviceId);
                 String result = StrUtil.format("id为 [{}] 的相机开启了", deviceId);
                 output.put("result", result);
                 break;
@@ -72,7 +72,7 @@ public class EdgeCameraOperateService implements EdgeOperateService {
 
             case CAMERA_STOP: {
                 String result = StrUtil.format("id为 [{}] 的相机关闭了", deviceId);
-//                String result = edgeCameraService.stop(terminalId, deviceId);
+//                String result = edgeCameraService.stop(robotId, deviceId);
                 output.put("result", result);
                 break;
             }

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

@@ -28,10 +28,10 @@ public class EdgeDeviceCommandOperateService implements EdgeOperateService {
     @Override
     public TaskNodeExecuteResult execute(TaskNodeExecuteMessage message) {
         JSONObject input = message.getInputParams() == null ? new JSONObject() : message.getInputParams();
-        String terminalId = StringUtils.defaultIfBlank(message.getTerminalId(), input.getString("terminalId"));
+        String robotId = StringUtils.defaultIfBlank(message.getRobotId(), input.getString("robotId"));
         String deviceId = StringUtils.trimToNull(input.getString("deviceId"));
-        if (StringUtils.isBlank(terminalId)) {
+        if (StringUtils.isBlank(robotId)) {
-            throw new GlobalException("终端ID(terminalId)不能为空");
+            throw new GlobalException("机器人ID(robotId)不能为空");
         }
         if (deviceId == null) {
             throw new GlobalException("设备ID(deviceId)不能为空");
@@ -40,7 +40,7 @@ public class EdgeDeviceCommandOperateService implements EdgeOperateService {
         Object rawRequest = input.get("requestJson");
         String requestJson = normalizeRequestJson(rawRequest);
         EdgeSystemJsonCommandVO request = new EdgeSystemJsonCommandVO();
-        request.setTerminalId(terminalId);
+        request.setRobotId(robotId);
         request.setDeviceId(deviceId);
         request.setRequestJson(requestJson);
 

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

@@ -27,27 +27,27 @@ public class EdgeHeadOperateService implements EdgeOperateService {
     public TaskNodeExecuteResult execute(TaskNodeExecuteMessage message) {
         ActionEnum action = message.getAction();
         JSONObject inputParams = message.getInputParams();
-        String terminalId = message.getTerminalId();
+        String robotId = message.getRobotId();
         String deviceId = inputParams.getString("deviceId");
 
         switch (action) {
             case BIO_HEAD_SPEAK_START: {
                 EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
                 edgeCommonVO.setDeviceId(deviceId);
-                edgeCommonVO.setTerminalId(terminalId);
+                edgeCommonVO.setRobotId(robotId);
                 edgeBioHeadService.speakStart(edgeCommonVO);
                 break;
             }
             case BIO_HEAD_SPEAK_STOP: {
                 EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
                 edgeCommonVO.setDeviceId(deviceId);
-                edgeCommonVO.setTerminalId(terminalId);
+                edgeCommonVO.setRobotId(robotId);
                 edgeBioHeadService.speakStop(edgeCommonVO);
                 break;
             }
             case BIO_HEAD_SPECIAL_EXPRESSION: {
                 Integer expressKey = inputParams.getInteger("expressKey");
-                edgeBioHeadService.specialExpression(terminalId,deviceId,expressKey);
+                edgeBioHeadService.specialExpression(robotId,deviceId,expressKey);
                 break;
             }
 

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

@@ -35,7 +35,7 @@ public class EdgeInspectionAlertOperateService implements EdgeOperateService
     public TaskNodeExecuteResult execute(TaskNodeExecuteMessage message)
     {
         JSONObject inputParams = message.getInputParams() == null ? new JSONObject() : message.getInputParams();
-        String terminalId = StringUtils.defaultIfBlank(inputParams.getString("terminalId"), message.getTerminalId());
+        String robotId = StringUtils.defaultIfBlank(inputParams.getString("robotId"), message.getRobotId());
         Collection<String> eventTypes = resolveEventTypes(inputParams);
         String listenerKey = inputParams.getString("listenerKey");
 
@@ -43,12 +43,12 @@ public class EdgeInspectionAlertOperateService implements EdgeOperateService
         switch (message.getAction())
         {
             case INSPECTION_ALERT_LISTEN_START:
-                state = inspectionAlertListenService.startListen(terminalId, eventTypes,
+                state = inspectionAlertListenService.startListen(robotId, eventTypes,
                         message.getInstId(), message.getTaskId(), message.getItemId(),
                         message.getNodeId(), listenerKey);
                 break;
             case INSPECTION_ALERT_LISTEN_STOP:
-                state = inspectionAlertListenService.stopListen(terminalId, eventTypes,
+                state = inspectionAlertListenService.stopListen(robotId, eventTypes,
                         message.getInstId(), message.getItemId(), listenerKey);
                 break;
             default:
@@ -56,7 +56,7 @@ public class EdgeInspectionAlertOperateService implements EdgeOperateService
         }
 
         JSONObject output = new JSONObject();
-        output.put("terminalId", state.getTerminalId());
+        output.put("robotId", state.getRobotId());
         output.put("grpcIp", state.getGrpcIp());
         output.put("eventTypes", state.getEventTypes());
         return TaskNodeExecuteResult.success(output);

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

@@ -45,12 +45,12 @@ public class EdgeMicrophoneOperateService implements EdgeOperateService {
         ActionEnum action = message.getAction();
         JSONObject inputParams = message.getInputParams();
         String deviceId = inputParams.getString("deviceId");
-        String terminalId = message.getTerminalId();
+        String robotId = message.getRobotId();
 
         JSONObject output = new JSONObject();
         EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
         edgeCommonVO.setDeviceId(deviceId);
-        edgeCommonVO.setTerminalId(terminalId);
+        edgeCommonVO.setRobotId(robotId);
         switch (action) {
             case MICROPHONE_START: {
 //                String audioPath = edgeMicrophoneService.startRecord(edgeCommonVO);

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

@@ -27,7 +27,7 @@ public class EdgeSpeakerOperateService implements EdgeOperateService {
 //        ActionEnum action = message.getAction();
 //        JSONObject inputParams = message.getInputParams();
 //        String deviceId = inputParams.getString("deviceId");
-//        String terminalId = message.getTerminalId();
+//        String robotId = message.getRobotId();
 //        switch (action) {
 //            case SPEAKER_PLAYAUDIO: {
 //                log.info("speaker play audio");
@@ -37,7 +37,7 @@ public class EdgeSpeakerOperateService implements EdgeOperateService {
 //                for (int i = 0; i < 3; i++) {
 //                    int index = new Random().nextInt(all.size());
 //                    String audioUrl = "/home/share/assets/upload/" + all.get(index);
-//                    edgeSpeakerService.playAudio(terminalId, deviceId, audioUrl);
+//                    edgeSpeakerService.playAudio(robotId, deviceId, audioUrl);
 //                    // 等待播放完成
 //                    while (true) {
 //                        try {
@@ -45,7 +45,7 @@ public class EdgeSpeakerOperateService implements EdgeOperateService {
 //                        } catch (InterruptedException e) {
 //                            throw new RuntimeException(e);
 //                        }
-//                        SpeakerCommand.GetSpeakerStateCommand.Feedback status = edgeSpeakerService.getStatus(terminalId, deviceId);
+//                        SpeakerCommand.GetSpeakerStateCommand.Feedback status = edgeSpeakerService.getStatus(robotId, deviceId);
 //                        boolean isRunning = status.getState().getIsRunning();
 //                        if (!isRunning) {
 //                            break;

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

@@ -31,13 +31,13 @@ public class EdgeTouchOperateService implements EdgeOperateService {
     public TaskNodeExecuteResult execute(TaskNodeExecuteMessage message) {
         ActionEnum action = message.getAction();
         JSONObject inputParams = message.getInputParams();
-        String terminalId = message.getTerminalId();
+        String robotId = message.getRobotId();
         String deviceId = inputParams.getString("deviceId");
         String touchParams = inputParams.getString("touchParams");
 
         if (Objects.requireNonNull(action) == ActionEnum.TOUCH) {
             EdgeArmMoveJVO edgeArmMoveJVO = JSON.parseObject(touchParams, EdgeArmMoveJVO.class);
-            edgeArmMoveJVO.setTerminalId(terminalId);
+            edgeArmMoveJVO.setRobotId(robotId);
             edgeArmMoveJVO.setDeviceId(deviceId);
 
             edgeArmService.moveJ(

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

@@ -46,7 +46,7 @@ public class ViPlayOperateService implements EdgeOperateService {
         String deviceId = inputParams.getString("deviceId");
         String bioId = inputParams.getString("bioId");
         String audioPath = inputParams.getString("audioPath");
-        String terminalId = message.getTerminalId();
+        String robotId = message.getRobotId();
 
         // 仅当 bioId 不为空时才构造 VO
         EdgeCommonVO edgeCommonVO = null;
@@ -54,14 +54,14 @@ public class ViPlayOperateService implements EdgeOperateService {
         if (needBioSpeak) {
             edgeCommonVO = new EdgeCommonVO();
             edgeCommonVO.setDeviceId(bioId);
-            edgeCommonVO.setTerminalId(terminalId);
+            edgeCommonVO.setRobotId(robotId);
         }
 
         log.info("语料播放成功，audioPath={}", audioPath);
 
         /*try {
             // 播放音频
-            edgeSpeakerService.playAudio(terminalId, deviceId, audioPath);
+            edgeSpeakerService.playAudio(robotId, deviceId, audioPath);
 
             // 播放开始时，若 bioId 存在才张嘴
             if (needBioSpeak) {
@@ -82,7 +82,7 @@ public class ViPlayOperateService implements EdgeOperateService {
                 }
 
                 SpeakerCommand.GetSpeakerStateCommand.Feedback status =
-                        edgeSpeakerService.getStatus(terminalId, deviceId);
+                        edgeSpeakerService.getStatus(robotId, deviceId);
 
                 if (!status.getState().getIsRunning()) {
                     break;

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

@@ -39,7 +39,7 @@ public class LLMTouchOperateService implements LLMOperateService {
         ActionEnum action = message.getAction();
         JSONObject inputParams = message.getInputParams();
         String deviceId = inputParams.getString("deviceId");
-        String terminalId = message.getTerminalId();
+        String robotId = message.getRobotId();
 
         JSONObject output = new JSONObject();
         switch (action) {
@@ -84,7 +84,7 @@ public class LLMTouchOperateService implements LLMOperateService {
                     output.put("coordinates", cal);
 
                     // todo 获取坐标后调用边缘系统
-                    edgeHlcService.touch(image, terminalId, "hlc01", x, y, 100d);
+                    edgeHlcService.touch(image, robotId, "hlc01", x, y, 100d);
                 } catch (Exception e) {
                     throw new RuntimeException(e);
                 }

cmvr-iot-test/src/main/java/com/cmvr/test/model/domain/TeTaskInst.java

@@ -19,8 +19,8 @@ public class TeTaskInst extends BaseEntity {
     @ApiModelProperty("任务id")
     private String taskId;
 
-    @ApiModelProperty("终端id")
+    @ApiModelProperty("机器人永久唯一ID")
-    private String terminalId;
+    private String robotId;
 
     @ApiModelProperty("任务配置信息(对应检测项参数)")
     private String config;

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

@@ -22,7 +22,7 @@ public class FlowActionRequestVO {
     /**
      * 执行参数
      */
-    @ApiModelProperty(value = "节点参数。设备通用指令需要 terminalId、deviceId、requestJson",
+    @ApiModelProperty(value = "节点参数。设备通用指令需要 robotId、deviceId、requestJson",
             required = true)
     private JSONObject payload;
 }

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

@@ -23,9 +23,8 @@ public class TeTaskExecuteNormalVO {
     @ApiModelProperty("模块编码")
     private String moduleCode;
 
-    @ApiModelProperty("终端ID")
+    @ApiModelProperty("机器人永久唯一ID")
-    @NotEmpty(message = "终端ID不能为空")
+    private String robotId;
-    private String terminalId;
 
     @ApiModelProperty(value = "运行时参数")
     private JSONObject runParams = new JSONObject();

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

@@ -15,9 +15,8 @@ public class TeTaskExecuteProjectVO {
     @NotEmpty(message = "项目ID不能为空")
     private String projectId;
 
-    @ApiModelProperty("终端ID")
+    @ApiModelProperty("机器人永久唯一ID")
-    @NotEmpty(message = "终端ID不能为空")
+    private String robotId;
-    private String terminalId;
 
     @ApiModelProperty(value = "运行时参数")
     private JSONObject runParams = new JSONObject();

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

@@ -19,9 +19,9 @@ public class TeTaskExecuteTrailVO {
     @NotEmpty(message = "流程JSON数据不可为空")
     private String flowData;
 
-    @ApiModelProperty("终端ID")
+    @ApiModelProperty("机器人永久唯一ID")
-//    @NotEmpty(message = "终端ID不能为空")
+    @NotEmpty(message = "机器人ID不能为空")
-    private String terminalId;
+    private String robotId;
 
     @ApiModelProperty(value = "运行时参数")
     private JSONObject runParams = new JSONObject();

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

@@ -66,10 +66,10 @@ public class FlowActionExecutorService {
 
     private String executeEdgeAction(ActionEnum action, FlowActionRequestVO req) {
         JSONObject payload = req.getPayload() == null ? new JSONObject() : req.getPayload();
-        String terminalId = payload.getString("terminalId");
+        String robotId = payload.getString("robotId");
         String deviceId = payload.getString("deviceId");
 
-        // 巡检报警监听组件只需要终端ID和事件类型，不需要设备ID。
+        // 巡检报警监听组件只需要机器人 ID 和事件类型，不需要设备 ID。
         if (ActionEnum.INSPECTION_ALERT_LISTEN_START.equals(action)
                 || ActionEnum.INSPECTION_ALERT_LISTEN_STOP.equals(action)) {
             return executeInspectionAlertAction(action, payload);
@@ -80,16 +80,16 @@ public class FlowActionExecutorService {
         }
         if (ActionEnum.DEVICE_EXECUTE_JSON_COMMAND.equals(action)) {
             TaskNodeExecuteMessage message = buildSingleNodeMessage(action, payload);
-            message.setTerminalId(terminalId);
+            message.setRobotId(robotId);
             return edgeDeviceCommandOperateService.execute(message).getOutputParams().toJSONString();
         }
 
-        if (StrUtil.isEmpty(terminalId) || StrUtil.isEmpty(deviceId)) {
+        if (StrUtil.isEmpty(robotId) || StrUtil.isEmpty(deviceId)) {
-            throw new GlobalException("EDGE 类型动作必须提供 terminalId 和 deviceId");
+            throw new GlobalException("EDGE 类型动作必须提供 robotId 和 deviceId");
         }
 
         EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
-        edgeCommonVO.setTerminalId(terminalId);
+        edgeCommonVO.setRobotId(robotId);
         edgeCommonVO.setDeviceId(deviceId);
         switch (action) {
             // ==== 相机 ====
@@ -119,7 +119,7 @@ public class FlowActionExecutorService {
             case ARM_MOVE_TO_POINT:
             case ARM_MOVE_TO_J: {
                 TaskNodeExecuteMessage message = buildSingleNodeMessage(action, payload);
-                message.setTerminalId(terminalId);
+                message.setRobotId(robotId);
                 edgeArmOperateService.execute(message);
                 return action == ActionEnum.ARM_MOVE_TO_J
                         ? "机械臂关节空间运动任务下发成功"
@@ -129,7 +129,7 @@ public class FlowActionExecutorService {
             // ==== 语料 ====
             case VI_PLAY_CORPUS:
                 String audioPath = payload.getString("audioPath");
-                return edgeSpeakerService.playAudio(terminalId, deviceId, audioPath);
+                return edgeSpeakerService.playAudio(robotId, deviceId, audioPath);
 
             // ==== 头部 ====
             case BIO_HEAD_SPEAK_START:
@@ -138,7 +138,7 @@ public class FlowActionExecutorService {
                 return edgeBioHeadService.speakStop(edgeCommonVO);
             case BIO_HEAD_SPECIAL_EXPRESSION:
                 EdgeFacialExpressionVO edgeFacialExpressionVO = payload.to(EdgeFacialExpressionVO.class);
-                edgeFacialExpressionVO.setTerminalId(terminalId);
+                edgeFacialExpressionVO.setRobotId(robotId);
                 edgeFacialExpressionVO.setDeviceId(deviceId);
                 return edgeBioHeadService.setExpression(edgeFacialExpressionVO);
 
@@ -193,14 +193,14 @@ public class FlowActionExecutorService {
     }
 
     private String executeInspectionAlertAction(ActionEnum action, JSONObject payload) {
-        String terminalId = payload.getString("terminalId");
+        String robotId = payload.getString("robotId");
         java.util.List<String> types = resolveInspectionAlertEventTypes(payload);
 
         InspectionAlertListenService.ListenState state;
         if (ActionEnum.INSPECTION_ALERT_LISTEN_START.equals(action)) {
-            state = inspectionAlertListenService.startListen(terminalId, types);
+            state = inspectionAlertListenService.startListen(robotId, types);
         } else {
-            state = inspectionAlertListenService.stopListen(terminalId, types);
+            state = inspectionAlertListenService.stopListen(robotId, types);
         }
         return JSONObject.toJSONString(state);
     }

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

@@ -124,22 +124,22 @@ public class FlowiseActionService {
         log.info("command start: {}", System.currentTimeMillis());
         String action = request.getAction();
         FlowiseActionEnum actionEnum = FlowiseActionEnum.fromAction(action);
-        String terminalId = "4ed1246c465b97975f96c9ef8371a3bd";
+        String robotId = "4ed1246c465b97975f96c9ef8371a3bd";
         String bioId = "bio_head";
         switch (actionEnum) {
             // ==== 表情 ====
             case SMILE:
                 log.info("高兴");
-                return edgeBioHeadService.specialExpression(terminalId, bioId, 1);
+                return edgeBioHeadService.specialExpression(robotId, bioId, 1);
             case SAD:
                 log.info("悲伤");
-                return edgeBioHeadService.specialExpression(terminalId, bioId, 4);
+                return edgeBioHeadService.specialExpression(robotId, bioId, 4);
             case SURPRISED:
                 log.info("惊讶");
-                return edgeBioHeadService.specialExpression(terminalId, bioId, 2);
+                return edgeBioHeadService.specialExpression(robotId, bioId, 2);
             case TIRED:
                 log.info("累了");
-                return edgeBioHeadService.specialExpression(terminalId, bioId, 5);
+                return edgeBioHeadService.specialExpression(robotId, bioId, 5);
 
             // ==== 动作 ====
             case AC_ON:
@@ -252,11 +252,11 @@ public class FlowiseActionService {
 
     @NotNull
     private static EdgeCommonVO getEdgeCommonVO() {
-        String terminalId = "4ed1246c465b97975f96c9ef8371a3bd";
+        String robotId = "4ed1246c465b97975f96c9ef8371a3bd";
         String bioId = "bio_head";
 
         EdgeCommonVO speakVO = new EdgeCommonVO();
-        speakVO.setTerminalId(terminalId);
+        speakVO.setRobotId(robotId);
         speakVO.setDeviceId(bioId);
         return speakVO;
     }

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

@@ -136,11 +136,11 @@ public class TeDetectionItemServiceImpl extends ServiceImpl<TeDetectionItemMappe
                 continue;
             }
 
-            // 移除"terminalId" 的参数
+            // 移除"robotId" 的参数
             Iterator<Object> iterator = inputParams.iterator();
             while (iterator.hasNext()) {
                 JSONObject param = (JSONObject) iterator.next();
-                if ("terminalId".equals(param.getString("name"))) {
+                if ("robotId".equals(param.getString("name"))) {
                     iterator.remove();
                 }
             }

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

@@ -0,0 +1,23 @@
+package com.cmvr.test.flow.runtime.engine;
+
+import org.junit.Test;
+
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertNull;
+
+public class RobotExecutionTargetTest {
+
+    @Test
+    public void robotIdentityIsUsedForLocking() {
+        RobotExecutionTarget target = new RobotExecutionTarget("robot-001");
+
+        assertEquals("robot:robot-001", target.lockKey());
+    }
+
+    @Test
+    public void pureLogicWorkflowDoesNotCreateARobotLock() {
+        RobotExecutionTarget target = new RobotExecutionTarget(null);
+
+        assertNull(target.lockKey());
+    }
+}

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

@@ -27,7 +27,7 @@ public class EdgeDeviceCommandOperateServiceTest {
 
         TaskNodeExecuteMessage message = new TaskNodeExecuteMessage();
         message.setAction(ActionEnum.DEVICE_EXECUTE_JSON_COMMAND);
-        message.setTerminalId("terminal-1");
+        message.setRobotId("terminal-1");
         message.setInputParams(new JSONObject()
                 .fluentPut("deviceId", "device-1")
                 .fluentPut("requestJson", new JSONObject().fluentPut("command", "reset")));
@@ -35,7 +35,7 @@ public class EdgeDeviceCommandOperateServiceTest {
         TaskNodeExecuteResult result = service.execute(message);
 
         assertTrue(result.isSuccess());
-        assertEquals("terminal-1", captured.get().getTerminalId());
+        assertEquals("terminal-1", captured.get().getRobotId());
         assertEquals("device-1", captured.get().getDeviceId());
         assertEquals("reset", JSONObject.parseObject(captured.get().getRequestJson()).getString("command"));
         assertEquals("ready", result.getOutputParams().getJSONObject("responseJson").getString("state"));
@@ -43,20 +43,20 @@ public class EdgeDeviceCommandOperateServiceTest {
     }
 
     @Test
-    public void usesTerminalIdFromTrialPayload() {
+    public void usesRobotIdFromTrialPayload() {
         AtomicReference<EdgeSystemJsonCommandVO> captured = new AtomicReference<>();
         EdgeDeviceCommandOperateService service = new EdgeDeviceCommandOperateService(
                 edgeSystemService(captured, feedback(true, "", "ok")));
         TaskNodeExecuteMessage message = new TaskNodeExecuteMessage();
         message.setAction(ActionEnum.DEVICE_EXECUTE_JSON_COMMAND);
         message.setInputParams(new JSONObject()
-                .fluentPut("terminalId", "trial-terminal")
+                .fluentPut("robotId", "trial-terminal")
                 .fluentPut("deviceId", "device-2")
                 .fluentPut("requestJson", "{\"value\":1}"));
 
         TaskNodeExecuteResult result = service.execute(message);
 
-        assertEquals("trial-terminal", captured.get().getTerminalId());
+        assertEquals("trial-terminal", captured.get().getRobotId());
         assertEquals("ok", result.getOutputParams().getString("responseJson"));
     }
 
@@ -65,7 +65,7 @@ public class EdgeDeviceCommandOperateServiceTest {
         EdgeDeviceCommandOperateService service = new EdgeDeviceCommandOperateService(
                 edgeSystemService(new AtomicReference<>(), feedback(true, "", "{}")));
         TaskNodeExecuteMessage message = new TaskNodeExecuteMessage();
-        message.setTerminalId("terminal-1");
+        message.setRobotId("terminal-1");
         message.setInputParams(new JSONObject()
                 .fluentPut("deviceId", "device-1")
                 .fluentPut("requestJson", "{invalid}"));
@@ -78,7 +78,7 @@ public class EdgeDeviceCommandOperateServiceTest {
         EdgeDeviceCommandOperateService service = new EdgeDeviceCommandOperateService(
                 edgeSystemService(new AtomicReference<>(), feedback(false, "command rejected", "")));
         TaskNodeExecuteMessage message = new TaskNodeExecuteMessage();
-        message.setTerminalId("terminal-1");
+        message.setRobotId("terminal-1");
         message.setInputParams(new JSONObject()
                 .fluentPut("deviceId", "device-1")
                 .fluentPut("requestJson", "{}"));

cmvr-iot-ti/src/main/java/com/cmvr/ti/service/impl/TiProjectServiceImpl.java

@@ -138,7 +138,8 @@ public class TiProjectServiceImpl extends ServiceImpl<TiProjectMapper, TiProject
         TeTaskExecuteProjectVO normalVO = new TeTaskExecuteProjectVO();
         normalVO.setProjectId(taskExecuteProjectVO.getProjectId());
         normalVO.setRunParams(taskExecuteProjectVO.getRunParams());
-        normalVO.setTerminalId(taskExecuteProjectVO.getTerminalId());
+        normalVO.setRobotId(taskExecuteProjectVO.getRobotId());
+        normalVO.setRobotId(taskExecuteProjectVO.getRobotId());
         String instId = flowTaskRuntimeService.executeProjectTask(normalVO);
 //        this.update(
 //                new LambdaUpdateWrapper<TiProject>()

cmvr-iot-vi/src/main/java/com/cmvr/vi/service/impl/ViProjectServiceImpl.java

@@ -135,7 +135,8 @@ public class ViProjectServiceImpl extends ServiceImpl<ViProjectMapper, ViProject
         TeTaskExecuteProjectVO normalVO = new TeTaskExecuteProjectVO();
         normalVO.setProjectId(taskExecuteProjectVO.getProjectId());
         normalVO.setRunParams(taskExecuteProjectVO.getRunParams());
-        normalVO.setTerminalId(taskExecuteProjectVO.getTerminalId());
+        normalVO.setRobotId(taskExecuteProjectVO.getRobotId());
+        normalVO.setRobotId(taskExecuteProjectVO.getRobotId());
         String instId = flowTaskRuntimeService.executeProjectTask(normalVO);
         this.update(
                 new ViProject(),

sql/inspection_module.sql

@@ -6,6 +6,7 @@
 DROP TABLE IF EXISTS `inspection_robot`;
 CREATE TABLE `inspection_robot` (
   `id` varchar(64) NOT NULL COMMENT '主键ID',
+  `robot_id` varchar(128) DEFAULT NULL COMMENT 'QUIC上报的永久机器人ID',
   `create_by` varchar(64) DEFAULT '' COMMENT '创建者',
   `create_time` datetime DEFAULT NULL COMMENT '创建时间',
   `update_by` varchar(64) DEFAULT '' COMMENT '更新者',
@@ -21,11 +22,49 @@ CREATE TABLE `inspection_robot` (
   `status` char(1) DEFAULT '0' COMMENT '状态(0在线 1离线 2充电中 3巡检中)',
   `battery_level` int(3) DEFAULT NULL COMMENT '电量百分比',
   `current_position` varchar(200) DEFAULT NULL COMMENT '当前位置',
-  `terminal_id` varchar(64) DEFAULT NULL COMMENT '终端ID',
+  `connect_status` char(1) NOT NULL DEFAULT '0' COMMENT '连接状态(0离线 1在线)',
+  `quic_node_id` varchar(128) DEFAULT NULL COMMENT '当前QUIC节点实例',
+  `quic_session_id` varchar(128) DEFAULT NULL COMMENT '当前QUIC会话',
+  `quic_boot_id` varchar(128) DEFAULT NULL COMMENT '边缘端启动ID',
+  `observed_ip` varchar(64) DEFAULT NULL COMMENT 'QUIC连接来源IP',
+  `software_version` varchar(64) DEFAULT NULL COMMENT '边缘端软件版本',
+  `last_heartbeat_time` datetime(3) DEFAULT NULL COMMENT '最后心跳时间',
+  `archived_status` char(1) NOT NULL DEFAULT '0' COMMENT '归档状态(0正常 1归档)',
   PRIMARY KEY (`id`),
-  UNIQUE KEY `uk_robot_code` (`robot_code`)
+  UNIQUE KEY `uk_robot_code` (`robot_code`),
+  KEY `idx_inspection_robot_robot_id` (`robot_id`),
+  KEY `idx_inspection_robot_connect_status` (`connect_status`)
 ) ENGINE=InnoDB DEFAULT CHARSET=utf8mb4 COLLATE=utf8mb4_unicode_ci COMMENT='巡检机器人表';
 
+-- 1.1 QUIC自动发现的机器人设备表（逻辑唯一性由后端校验）
+DROP TABLE IF EXISTS `inspection_robot_device`;
+CREATE TABLE `inspection_robot_device` (
+  `id` varchar(64) NOT NULL COMMENT '主键ID',
+  `robot_id` varchar(128) NOT NULL COMMENT '永久机器人ID',
+  `device_id` varchar(128) NOT NULL COMMENT '边缘端设备ID',
+  `device_name` varchar(128) DEFAULT NULL COMMENT '设备显示名称',
+  `device_kind` int DEFAULT NULL COMMENT '设备类型',
+  `type_name` varchar(128) DEFAULT NULL COMMENT '设备实现类型',
+  `enabled` char(1) NOT NULL DEFAULT '1' COMMENT '是否启用',
+  `manager_state` int DEFAULT NULL COMMENT '设备管理状态',
+  `health_status` int DEFAULT NULL COMMENT '健康状态',
+  `online_status` char(1) NOT NULL DEFAULT '0' COMMENT '在线状态',
+  `has_error` char(1) NOT NULL DEFAULT '0' COMMENT '是否有错误',
+  `error_message` varchar(1000) DEFAULT NULL COMMENT '错误信息',
+  `status_updated_time` datetime(3) DEFAULT NULL COMMENT '边缘端状态更新时间',
+  `last_seen_time` datetime(3) DEFAULT NULL COMMENT '最后发现时间',
+  `offline_time` datetime(3) DEFAULT NULL COMMENT '离线时间',
+  `create_by` varchar(64) DEFAULT NULL,
+  `create_time` datetime DEFAULT NULL,
+  `update_by` varchar(64) DEFAULT NULL,
+  `update_time` datetime DEFAULT NULL,
+  `remark` varchar(500) DEFAULT NULL,
+  PRIMARY KEY (`id`),
+  KEY `idx_robot_device_robot_id` (`robot_id`),
+  KEY `idx_robot_device_identity` (`robot_id`, `device_id`),
+  KEY `idx_robot_device_online` (`robot_id`, `online_status`)
+) ENGINE=InnoDB DEFAULT CHARSET=utf8mb4 COLLATE=utf8mb4_unicode_ci COMMENT='机器人自动发现设备';
+
 -- 2. 巡检地图表
 DROP TABLE IF EXISTS `inspection_map`;
 CREATE TABLE `inspection_map` (

sql/robot_id_only_migration.sql

@@ -0,0 +1,4 @@
+-- The permanent robot_id is the only edge routing identity.
+-- Historical data is intentionally not migrated.
+alter table inspection_robot drop column terminal_id;
+alter table te_task_inst drop column terminal_id;

sql/robot_quic_identity_migration.sql

@@ -0,0 +1,45 @@
+-- Existing robot rows are intentionally left with robot_id = NULL.
+alter table inspection_robot
+    add column robot_id varchar(128) null comment 'Permanent robot identity reported by QUIC' after id,
+    add column connect_status char(1) not null default '0' comment '0 offline, 1 online' after robot_id,
+    add column quic_node_id varchar(128) null comment 'Current QUIC node instance' after connect_status,
+    add column quic_session_id varchar(128) null comment 'Current QUIC session' after quic_node_id,
+    add column quic_boot_id varchar(128) null comment 'Current edge boot id' after quic_session_id,
+    add column observed_ip varchar(64) null comment 'Observed QUIC source IP' after quic_boot_id,
+    add column software_version varchar(64) null comment 'Edge software version' after observed_ip,
+    add column last_heartbeat_time datetime(3) null comment 'Last accepted heartbeat time' after software_version,
+    add column archived_status char(1) not null default '0' comment '0 active, 1 archived' after last_heartbeat_time,
+    add index idx_inspection_robot_robot_id (robot_id),
+    add index idx_inspection_robot_connect_status (connect_status);
+
+create table inspection_robot_device (
+    id varchar(64) not null,
+    robot_id varchar(128) not null,
+    device_id varchar(128) not null,
+    device_name varchar(128) null,
+    device_kind int null,
+    type_name varchar(128) null,
+    enabled char(1) not null default '1',
+    manager_state int null,
+    health_status int null,
+    online_status char(1) not null default '0',
+    has_error char(1) not null default '0',
+    error_message varchar(1000) null,
+    status_updated_time datetime(3) null,
+    last_seen_time datetime(3) null,
+    offline_time datetime(3) null,
+    create_by varchar(64) null,
+    create_time datetime null,
+    update_by varchar(64) null,
+    update_time datetime null,
+    remark varchar(500) null,
+    primary key (id),
+    index idx_robot_device_robot_id (robot_id),
+    index idx_robot_device_identity (robot_id, device_id),
+    index idx_robot_device_online (robot_id, online_status)
+) comment='Devices discovered from robot QUIC heartbeat';
+
+-- New task instances record the permanent identity. Legacy instances remain NULL.
+alter table te_task_inst
+    add column robot_id varchar(128) null comment 'Permanent robot identity' after task_id,
+    add index idx_te_task_inst_robot_id (robot_id);