diff --git a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/inspection/InspectionRobotController.java b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/inspection/InspectionRobotController.java
index 9f9717b..a54d17d 100644
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/inspection/InspectionRobotController.java
+++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/inspection/InspectionRobotController.java
@@ -3,19 +3,13 @@ package com.cmvr.web.controller.inspection;
 import java.util.List;
 import javax.servlet.http.HttpServletResponse;
 
+import cmvr.api.AgvCommand;
 import com.cmvr.inspection.domain.vo.InspectionRobotVo;
-import io.swagger.annotations.Api;
-import io.swagger.annotations.ApiOperation;
+import io.swagger.annotations.*;
+import org.springframework.http.MediaType;
 import org.springframework.security.access.prepost.PreAuthorize;
 import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.web.bind.annotation.GetMapping;
-import org.springframework.web.bind.annotation.PostMapping;
-import org.springframework.web.bind.annotation.PutMapping;
-import org.springframework.web.bind.annotation.DeleteMapping;
-import org.springframework.web.bind.annotation.PathVariable;
-import org.springframework.web.bind.annotation.RequestBody;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.RestController;
+import org.springframework.web.bind.annotation.*;
 import com.cmvr.common.annotation.Log;
 import com.cmvr.common.core.controller.BaseController;
 import com.cmvr.common.core.domain.AjaxResult;
@@ -27,7 +21,7 @@ import com.cmvr.common.core.page.TableDataInfo;
 
 /**
  * 巡检机器人Controller
- * 
+ *
  * @author cmvr-iot
  * @since 2026-05-29
  */
@@ -107,9 +101,78 @@ public class InspectionRobotController extends BaseController
     @ApiOperation("删除巡检机器人")
     @PreAuthorize("@ss.hasPermi('inspection:robot:remove')")
     @Log(title = "巡检机器人", businessType = BusinessType.DELETE)
-	@DeleteMapping("/{ids}")
+    @DeleteMapping("/{ids}")
     public AjaxResult remove(@PathVariable String[] ids)
     {
         return toAjax(inspectionRobotService.deleteInspectionRobotByIds(ids));
     }
+
+    /**
+     * 获取机器人地图列表（从AGV获取）
+     */
+    @ApiOperation("获取机器人地图列表")
+    @PreAuthorize("@ss.hasPermi('inspection:robot:query')")
+    @GetMapping("/{robotId}/maps")
+    public AjaxResult getRobotMapList(@PathVariable("robotId") String robotId)
+    {
+        AgvCommand.AgvMapStatus robotMapList = inspectionRobotService.getRobotMapList(robotId);
+        return success(robotMapList.getMapsList());
+    }
+
+    /**
+     * 绑定机器人地图
+     */
+    @ApiOperation("绑定机器人地图")
+    @PreAuthorize("@ss.hasPermi('inspection:robot:edit')")
+    @Log(title = "绑定机器人地图", businessType = BusinessType.UPDATE)
+    @PostMapping("/{robotId}/bind-map/{mapId}")
+    public AjaxResult bindRobotMap(@PathVariable("robotId") String robotId,
+                                   @PathVariable("mapId") String mapId)
+    {
+        return toAjax(inspectionRobotService.bindRobotMap(robotId, mapId));
+    }
+
+    /**
+     * 上传地图到机器人
+     */
+    @ApiOperation("上传地图到机器人")
+    @PreAuthorize("@ss.hasPermi('inspection:robot:edit')")
+    @Log(title = "上传地图到机器人", businessType = BusinessType.OTHER)
+    @PostMapping("/{robotId}/upload-map/{mapId}")
+    public AjaxResult uploadMapToRobot(@PathVariable("robotId") String robotId,
+                                       @PathVariable("mapId") String mapId)
+    {
+        String result = inspectionRobotService.uploadMapToRobot(robotId, mapId);
+        return success(result);
+    }
+
+    /**
+     * 从机器人下载地图
+     */
+    @ApiOperation("从机器人下载地图")
+    @PreAuthorize("@ss.hasPermi('inspection:robot:add')")
+    @Log(title = "从机器人下载地图", businessType = BusinessType.INSERT)
+    @GetMapping("/{robotId}/download-map")
+    public AjaxResult downloadMapFromRobot(
+            @PathVariable(value = "robotId", required = true) @ApiParam("机器人ID") String robotId,
+            @RequestParam(value = "mapName", required = true) @ApiParam("地图名称") String mapName
+    )
+    {
+        Object mapId = inspectionRobotService.downloadMapFromRobot(robotId, mapName);
+        return success(mapId);
+    }
+
+    /**
+     * 同步机器人状态
+     */
+    @ApiOperation("同步机器人状态")
+    @PreAuthorize("@ss.hasPermi('inspection:robot:edit')")
+    @Log(title = "同步机器人状态", businessType = BusinessType.UPDATE)
+    @PostMapping("/{robotId}/sync-status")
+    public AjaxResult syncRobotStatus(@PathVariable("robotId") String robotId)
+    {
+        return success(inspectionRobotService.syncRobotStatus(robotId));
+    }
+
 }
+
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/manage/GrpcServiceManager.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/manage/GrpcServiceManager.java
index 4176c5d..6e28e0b 100644
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/manage/GrpcServiceManager.java
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/manage/GrpcServiceManager.java
@@ -57,6 +57,8 @@ public class GrpcServiceManager {
         // 注册机械臂服务的stub
         clientFactories.put(HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub.class, new GrpcClientFactory<>(HumanoidRobotServiceGrpc::newBlockingStub));
         clientFactories.put(HlcServiceGrpc.HlcServiceBlockingStub.class, new GrpcClientFactory<>(HlcServiceGrpc::newBlockingStub));
+        // 注册agv服务的stub
+        clientFactories.put(AgvServiceGrpc.AgvServiceBlockingStub.class, new GrpcClientFactory<>(AgvServiceGrpc::newBlockingStub));
     }
 
 
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeAgvService.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeAgvService.java
new file mode 100644
index 0000000..665b5b4
--- /dev/null
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeAgvService.java
@@ -0,0 +1,56 @@
+package com.cmvr.edge.client.service;
+
+import cmvr.api.AgvCommand;
+import com.cmvr.edge.client.model.EdgeCommonVO;
+
+/**
+ * 边缘系统AGV服务
+ *
+ * @author cmvr-iot
+ * @since 2026-06-11
+ */
+public interface EdgeAgvService {
+
+    /**
+     * 获取AGV状态信息
+     *
+     * @param edgeCommonVO 边缘通用参数
+     * @return AGV状态信息
+     */
+    AgvCommand.AgvStatusInfo getStatusInfo(EdgeCommonVO edgeCommonVO);
+
+
+    /**
+     * 获取机器人位置
+     *
+     * @param edgeCommonVO 边缘通用参数
+     * @return 机器人位置
+     */
+    AgvCommand.AgvRobotLocation getRobotLocation(EdgeCommonVO edgeCommonVO);
+
+    /**
+     * 获取地图状态（地图列表）
+     *
+     * @param edgeCommonVO 边缘通用参数
+     * @return 地图状态
+     */
+    AgvCommand.AgvMapStatus getMapStatus(EdgeCommonVO edgeCommonVO);
+
+    /**
+     * 下载地图（从机器人下载地图到服务器）
+     *
+     * @param edgeCommonVO 边缘通用参数
+     * @param mapName 地图名称
+     * @return 下载结果（包含地图内容）
+     */
+    AgvCommand.AgvDownloadMapResult robotConfigDownloadMap(EdgeCommonVO edgeCommonVO, String mapName);
+
+
+    /**
+     * 获取电池状态
+     *
+     * @param edgeCommonVO 边缘通用参数
+     * @return 电池状态
+     */
+    AgvCommand.AgvBatteryStatus getBatteryStatus(EdgeCommonVO edgeCommonVO);
+}
\ No newline at end of file
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeAgvServiceImpl.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeAgvServiceImpl.java
new file mode 100644
index 0000000..92a5457
--- /dev/null
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeAgvServiceImpl.java
@@ -0,0 +1,110 @@
+package com.cmvr.edge.client.service.impl;
+
+import cmvr.api.AgvCommand;
+import cmvr.api.AgvServiceGrpc;
+import cn.hutool.core.util.StrUtil;
+import com.cmvr.common.exception.GlobalException;
+import com.cmvr.edge.client.manage.GrpcServiceManager;
+import com.cmvr.edge.client.model.EdgeCommonVO;
+import com.cmvr.edge.client.service.EdgeAgvService;
+import com.cmvr.edge.client.utils.EdgeCommonUtil;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+/**
+ * AGV服务实现类
+ * 
+ * @author cmvr-iot
+ * @since 2026-06-11
+ */
+@Slf4j
+@Service
+@RequiredArgsConstructor
+public class EdgeAgvServiceImpl implements EdgeAgvService {
+
+    private final GrpcServiceManager grpcServiceManager;
+
+    @Override
+    public AgvCommand.AgvStatusInfo getStatusInfo(EdgeCommonVO edgeCommonVO) {
+        AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+        AgvCommand.GetAgvStatusInfoCommand.Request request = AgvCommand.GetAgvStatusInfoCommand.Request.newBuilder()
+            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
+            .build();
+        return executeGrpcCall(() -> stub.getStatusInfo(request)).getStatus();
+    }
+
+
+    @Override
+    public AgvCommand.AgvRobotLocation getRobotLocation(EdgeCommonVO edgeCommonVO) {
+        AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+        AgvCommand.RobotStatusLocCommand.Request request = AgvCommand.RobotStatusLocCommand.Request.newBuilder()
+            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
+            .build();
+        return executeGrpcCall(() -> stub.getRobotLocation(request)).getStatus();
+    }
+
+    @Override
+    public AgvCommand.AgvMapStatus getMapStatus(EdgeCommonVO edgeCommonVO) {
+        AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+        AgvCommand.RobotStatusMapCommand.Request request = AgvCommand.RobotStatusMapCommand.Request.newBuilder()
+            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
+            .build();
+        return executeGrpcCall(() -> stub.getMapStatus(request)).getStatus();
+    }
+
+    @Override
+    public AgvCommand.AgvDownloadMapResult robotConfigDownloadMap(EdgeCommonVO edgeCommonVO, String mapName) {
+        if (StrUtil.isBlank(mapName)) {
+            throw new GlobalException("地图名称不能为空");
+        }
+        AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+        AgvCommand.RobotConfigDownloadMapRequestData requestData = AgvCommand.RobotConfigDownloadMapRequestData.newBuilder()
+            .setMapName(mapName)
+            .build();
+        AgvCommand.RobotConfigDownloadMapCommand.Request request = AgvCommand.RobotConfigDownloadMapCommand.Request.newBuilder()
+            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
+            .setData(requestData)
+            .build();
+        AgvCommand.AgvDownloadMapResult result = executeGrpcCall(() -> stub.robotConfigDownloadMap(request)).getStatus();
+        
+        if (result.getRetCode() != 0) {
+            throw new GlobalException("下载地图失败: " + result.getErrMsg());
+        }
+        return result;
+    }
+
+    @Override
+    public AgvCommand.AgvBatteryStatus getBatteryStatus(EdgeCommonVO edgeCommonVO) {
+        AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+        AgvCommand.RobotStatusBatteryRequestData requestData = AgvCommand.RobotStatusBatteryRequestData.newBuilder()
+                .setSimple(true)
+                .build();
+        AgvCommand.RobotStatusBatteryCommand.Request request = AgvCommand.RobotStatusBatteryCommand.Request.newBuilder()
+            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
+                .setData(requestData)
+            .build();
+        return executeGrpcCall(() -> stub.getBatteryStatus(request)).getStatus();
+    }
+
+    /**
+     * 执行gRPC调用并处理异常
+     *
+     * @param call gRPC调用
+     * @param <T> 返回类型
+     * @return 调用结果
+     */
+    private <T> T executeGrpcCall(java.util.function.Supplier<T> call) {
+        try {
+            return call.get();
+        } catch (Exception e) {
+            log.error("AGV gRPC调用失败", e);
+            throw new GlobalException("AGV通信失败: " + e.getMessage());
+        }
+    }
+}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/AgvCommand.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/AgvCommand.java
new file mode 100644
index 0000000..a06f350
--- /dev/null
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/AgvCommand.java
@@ -0,0 +1,22041 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: cmvr/api/agv_command.proto
+
+package cmvr.api;
+
+public final class AgvCommand {
+  private AgvCommand() {}
+  public static void registerAllExtensions(
+      com.google.protobuf.ExtensionRegistryLite registry) {
+  }
+
+  public static void registerAllExtensions(
+      com.google.protobuf.ExtensionRegistry registry) {
+    registerAllExtensions(
+        (com.google.protobuf.ExtensionRegistryLite) registry);
+  }
+  public interface AgvStatusInfoOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.AgvStatusInfo)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * <pre>
+     * AGV ID
+     * </pre>
+     *
+     * <code>optional string id = 1;</code>
+     * @return Whether the id field is set.
+     */
+    boolean hasId();
+    /**
+     * <pre>
+     * AGV ID
+     * </pre>
+     *
+     * <code>optional string id = 1;</code>
+     * @return The id.
+     */
+    java.lang.String getId();
+    /**
+     * <pre>
+     * AGV ID
+     * </pre>
+     *
+     * <code>optional string id = 1;</code>
+     * @return The bytes for id.
+     */
+    com.google.protobuf.ByteString
+        getIdBytes();
+
+    /**
+     * <pre>
+     * 车辆ID
+     * </pre>
+     *
+     * <code>optional string vehicle_id = 2;</code>
+     * @return Whether the vehicleId field is set.
+     */
+    boolean hasVehicleId();
+    /**
+     * <pre>
+     * 车辆ID
+     * </pre>
+     *
+     * <code>optional string vehicle_id = 2;</code>
+     * @return The vehicleId.
+     */
+    java.lang.String getVehicleId();
+    /**
+     * <pre>
+     * 车辆ID
+     * </pre>
+     *
+     * <code>optional string vehicle_id = 2;</code>
+     * @return The bytes for vehicleId.
+     */
+    com.google.protobuf.ByteString
+        getVehicleIdBytes();
+
+    /**
+     * <pre>
+     * 软件版本
+     * </pre>
+     *
+     * <code>optional string version = 3;</code>
+     * @return Whether the version field is set.
+     */
+    boolean hasVersion();
+    /**
+     * <pre>
+     * 软件版本
+     * </pre>
+     *
+     * <code>optional string version = 3;</code>
+     * @return The version.
+     */
+    java.lang.String getVersion();
+    /**
+     * <pre>
+     * 软件版本
+     * </pre>
+     *
+     * <code>optional string version = 3;</code>
+     * @return The bytes for version.
+     */
+    com.google.protobuf.ByteString
+        getVersionBytes();
+
+    /**
+     * <pre>
+     * 型号
+     * </pre>
+     *
+     * <code>optional string model = 4;</code>
+     * @return Whether the model field is set.
+     */
+    boolean hasModel();
+    /**
+     * <pre>
+     * 型号
+     * </pre>
+     *
+     * <code>optional string model = 4;</code>
+     * @return The model.
+     */
+    java.lang.String getModel();
+    /**
+     * <pre>
+     * 型号
+     * </pre>
+     *
+     * <code>optional string model = 4;</code>
+     * @return The bytes for model.
+     */
+    com.google.protobuf.ByteString
+        getModelBytes();
+
+    /**
+     * <pre>
+     * DSP版本
+     * </pre>
+     *
+     * <code>optional string dsp_version = 5;</code>
+     * @return Whether the dspVersion field is set.
+     */
+    boolean hasDspVersion();
+    /**
+     * <pre>
+     * DSP版本
+     * </pre>
+     *
+     * <code>optional string dsp_version = 5;</code>
+     * @return The dspVersion.
+     */
+    java.lang.String getDspVersion();
+    /**
+     * <pre>
+     * DSP版本
+     * </pre>
+     *
+     * <code>optional string dsp_version = 5;</code>
+     * @return The bytes for dspVersion.
+     */
+    com.google.protobuf.ByteString
+        getDspVersionBytes();
+
+    /**
+     * <pre>
+     * 当前IP地址
+     * </pre>
+     *
+     * <code>optional string current_ip = 6;</code>
+     * @return Whether the currentIp field is set.
+     */
+    boolean hasCurrentIp();
+    /**
+     * <pre>
+     * 当前IP地址
+     * </pre>
+     *
+     * <code>optional string current_ip = 6;</code>
+     * @return The currentIp.
+     */
+    java.lang.String getCurrentIp();
+    /**
+     * <pre>
+     * 当前IP地址
+     * </pre>
+     *
+     * <code>optional string current_ip = 6;</code>
+     * @return The bytes for currentIp.
+     */
+    com.google.protobuf.ByteString
+        getCurrentIpBytes();
+
+    /**
+     * <pre>
+     * MAC地址
+     * </pre>
+     *
+     * <code>optional string mac = 7;</code>
+     * @return Whether the mac field is set.
+     */
+    boolean hasMac();
+    /**
+     * <pre>
+     * MAC地址
+     * </pre>
+     *
+     * <code>optional string mac = 7;</code>
+     * @return The mac.
+     */
+    java.lang.String getMac();
+    /**
+     * <pre>
+     * MAC地址
+     * </pre>
+     *
+     * <code>optional string mac = 7;</code>
+     * @return The bytes for mac.
+     */
+    com.google.protobuf.ByteString
+        getMacBytes();
+
+    /**
+     * <pre>
+     * 信号强度
+     * </pre>
+     *
+     * <code>optional int32 rssi = 8;</code>
+     * @return Whether the rssi field is set.
+     */
+    boolean hasRssi();
+    /**
+     * <pre>
+     * 信号强度
+     * </pre>
+     *
+     * <code>optional int32 rssi = 8;</code>
+     * @return The rssi.
+     */
+    int getRssi();
+
+    /**
+     * <pre>
+     * 返回码
+     * </pre>
+     *
+     * <code>optional int32 ret_code = 9;</code>
+     * @return Whether the retCode field is set.
+     */
+    boolean hasRetCode();
+    /**
+     * <pre>
+     * 返回码
+     * </pre>
+     *
+     * <code>optional int32 ret_code = 9;</code>
+     * @return The retCode.
+     */
+    int getRetCode();
+
+    /**
+     * <pre>
+     * 错误信息
+     * </pre>
+     *
+     * <code>optional string err_msg = 10;</code>
+     * @return Whether the errMsg field is set.
+     */
+    boolean hasErrMsg();
+    /**
+     * <pre>
+     * 错误信息
+     * </pre>
+     *
+     * <code>optional string err_msg = 10;</code>
+     * @return The errMsg.
+     */
+    java.lang.String getErrMsg();
+    /**
+     * <pre>
+     * 错误信息
+     * </pre>
+     *
+     * <code>optional string err_msg = 10;</code>
+     * @return The bytes for errMsg.
+     */
+    com.google.protobuf.ByteString
+        getErrMsgBytes();
+  }
+  /**
+   * <pre>
+   * AGV状态信息
+   * </pre>
+   *
+   * Protobuf type {@code cmvr.api.AgvStatusInfo}
+   */
+  public static final class AgvStatusInfo extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.AgvStatusInfo)
+      AgvStatusInfoOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use AgvStatusInfo.newBuilder() to construct.
+    private AgvStatusInfo(com.google.protobuf.GeneratedMessageV3.Builder<?> builder) {
+      super(builder);
+    }
+    private AgvStatusInfo() {
+      id_ = "";
+      vehicleId_ = "";
+      version_ = "";
+      model_ = "";
+      dspVersion_ = "";
+      currentIp_ = "";
+      mac_ = "";
+      errMsg_ = "";
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new AgvStatusInfo();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.api.AgvCommand.internal_static_cmvr_api_AgvStatusInfo_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.api.AgvCommand.internal_static_cmvr_api_AgvStatusInfo_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              cmvr.api.AgvCommand.AgvStatusInfo.class, cmvr.api.AgvCommand.AgvStatusInfo.Builder.class);
+    }
+
+    private int bitField0_;
+    public static final int ID_FIELD_NUMBER = 1;
+    private volatile java.lang.Object id_;
+    /**
+     * <pre>
+     * AGV ID
+     * </pre>
+     *
+     * <code>optional string id = 1;</code>
+     * @return Whether the id field is set.
+     */
+    @java.lang.Override
+    public boolean hasId() {
+      return ((bitField0_ & 0x00000001) != 0);
+    }
+    /**
+     * <pre>
+     * AGV ID
+     * </pre>
+     *
+     * <code>optional string id = 1;</code>
+     * @return The id.
+     */
+    @java.lang.Override
+    public java.lang.String getId() {
+      java.lang.Object ref = id_;
+      if (ref instanceof java.lang.String) {
+        return (java.lang.String) ref;
+      } else {
+        com.google.protobuf.ByteString bs = 
+            (com.google.protobuf.ByteString) ref;
+        java.lang.String s = bs.toStringUtf8();
+        id_ = s;
+        return s;
+      }
+    }
+    /**
+     * <pre>
+     * AGV ID
+     * </pre>
+     *
+     * <code>optional string id = 1;</code>
+     * @return The bytes for id.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getIdBytes() {
+      java.lang.Object ref = id_;
+      if (ref instanceof java.lang.String) {
+        com.google.protobuf.ByteString b = 
+            com.google.protobuf.ByteString.copyFromUtf8(
+                (java.lang.String) ref);
+        id_ = b;
+        return b;
+      } else {
+        return (com.google.protobuf.ByteString) ref;
+      }
+    }
+
+    public static final int VEHICLE_ID_FIELD_NUMBER = 2;
+    private volatile java.lang.Object vehicleId_;
+    /**
+     * <pre>
+     * 车辆ID
+     * </pre>
+     *
+     * <code>optional string vehicle_id = 2;</code>
+     * @return Whether the vehicleId field is set.
+     */
+    @java.lang.Override
+    public boolean hasVehicleId() {
+      return ((bitField0_ & 0x00000002) != 0);
+    }
+    /**
+     * <pre>
+     * 车辆ID
+     * </pre>
+     *
+     * <code>optional string vehicle_id = 2;</code>
+     * @return The vehicleId.
+     */
+    @java.lang.Override
+    public java.lang.String getVehicleId() {
+      java.lang.Object ref = vehicleId_;
+      if (ref instanceof java.lang.String) {
+        return (java.lang.String) ref;
+      } else {
+        com.google.protobuf.ByteString bs = 
+            (com.google.protobuf.ByteString) ref;
+        java.lang.String s = bs.toStringUtf8();
+        vehicleId_ = s;
+        return s;
+      }
+    }
+    /**
+     * <pre>
+     * 车辆ID
+     * </pre>
+     *
+     * <code>optional string vehicle_id = 2;</code>
+     * @return The bytes for vehicleId.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getVehicleIdBytes() {
+      java.lang.Object ref = vehicleId_;
+      if (ref instanceof java.lang.String) {
+        com.google.protobuf.ByteString b = 
+            com.google.protobuf.ByteString.copyFromUtf8(
+                (java.lang.String) ref);
+        vehicleId_ = b;
+        return b;
+      } else {
+        return (com.google.protobuf.ByteString) ref;
+      }
+    }
+
+    public static final int VERSION_FIELD_NUMBER = 3;
+    private volatile java.lang.Object version_;
+    /**
+     * <pre>
+     * 软件版本
+     * </pre>
+     *
+     * <code>optional string version = 3;</code>
+     * @return Whether the version field is set.
+     */
+    @java.lang.Override
+    public boolean hasVersion() {
+      return ((bitField0_ & 0x00000004) != 0);
+    }
+    /**
+     * <pre>
+     * 软件版本
+     * </pre>
+     *
+     * <code>optional string version = 3;</code>
+     * @return The version.
+     */
+    @java.lang.Override
+    public java.lang.String getVersion() {
+      java.lang.Object ref = version_;
+      if (ref instanceof java.lang.String) {
+        return (java.lang.String) ref;
+      } else {
+        com.google.protobuf.ByteString bs = 
+            (com.google.protobuf.ByteString) ref;
+        java.lang.String s = bs.toStringUtf8();
+        version_ = s;
+        return s;
+      }
+    }
+    /**
+     * <pre>
+     * 软件版本
+     * </pre>
+     *
+     * <code>optional string version = 3;</code>
+     * @return The bytes for version.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getVersionBytes() {
+      java.lang.Object ref = version_;
+      if (ref instanceof java.lang.String) {
+        com.google.protobuf.ByteString b = 
+            com.google.protobuf.ByteString.copyFromUtf8(
+                (java.lang.String) ref);
+        version_ = b;
+        return b;
+      } else {
+        return (com.google.protobuf.ByteString) ref;
+      }
+    }
+
+    public static final int MODEL_FIELD_NUMBER = 4;
+    private volatile java.lang.Object model_;
+    /**
+     * <pre>
+     * 型号
+     * </pre>
+     *
+     * <code>optional string model = 4;</code>
+     * @return Whether the model field is set.
+     */
+    @java.lang.Override
+    public boolean hasModel() {
+      return ((bitField0_ & 0x00000008) != 0);
+    }
+    /**
+     * <pre>
+     * 型号
+     * </pre>
+     *
+     * <code>optional string model = 4;</code>
+     * @return The model.
+     */
+    @java.lang.Override
+    public java.lang.String getModel() {
+      java.lang.Object ref = model_;
+      if (ref instanceof java.lang.String) {
+        return (java.lang.String) ref;
+      } else {
+        com.google.protobuf.ByteString bs = 
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+        java.lang.String s = bs.toStringUtf8();
+        model_ = s;
+        return s;
+      }
+    }
+    /**
+     * <pre>
+     * 型号
+     * </pre>
+     *
+     * <code>optional string model = 4;</code>
+     * @return The bytes for model.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getModelBytes() {
+      java.lang.Object ref = model_;
+      if (ref instanceof java.lang.String) {
+        com.google.protobuf.ByteString b = 
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+                (java.lang.String) ref);
+        model_ = b;
+        return b;
+      } else {
+        return (com.google.protobuf.ByteString) ref;
+      }
+    }
+
+    public static final int DSP_VERSION_FIELD_NUMBER = 5;
+    private volatile java.lang.Object dspVersion_;
+    /**
+     * <pre>
+     * DSP版本
+     * </pre>
+     *
+     * <code>optional string dsp_version = 5;</code>
+     * @return Whether the dspVersion field is set.
+     */
+    @java.lang.Override
+    public boolean hasDspVersion() {
+      return ((bitField0_ & 0x00000010) != 0);
+    }
+    /**
+     * <pre>
+     * DSP版本
+     * </pre>
+     *
+     * <code>optional string dsp_version = 5;</code>
+     * @return The dspVersion.
+     */
+    @java.lang.Override
+    public java.lang.String getDspVersion() {
+      java.lang.Object ref = dspVersion_;
+      if (ref instanceof java.lang.String) {
+        return (java.lang.String) ref;
+      } else {
+        com.google.protobuf.ByteString bs = 
+            (com.google.protobuf.ByteString) ref;
+        java.lang.String s = bs.toStringUtf8();
+        dspVersion_ = s;
+        return s;
+      }
+    }
+    /**
+     * <pre>
+     * DSP版本
+     * </pre>
+     *
+     * <code>optional string dsp_version = 5;</code>
+     * @return The bytes for dspVersion.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getDspVersionBytes() {
+      java.lang.Object ref = dspVersion_;
+      if (ref instanceof java.lang.String) {
+        com.google.protobuf.ByteString b = 
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+                (java.lang.String) ref);
+        dspVersion_ = b;
+        return b;
+      } else {
+        return (com.google.protobuf.ByteString) ref;
+      }
+    }
+
+    public static final int CURRENT_IP_FIELD_NUMBER = 6;
+    private volatile java.lang.Object currentIp_;
+    /**
+     * <pre>
+     * 当前IP地址
+     * </pre>
+     *
+     * <code>optional string current_ip = 6;</code>
+     * @return Whether the currentIp field is set.
+     */
+    @java.lang.Override
+    public boolean hasCurrentIp() {
+      return ((bitField0_ & 0x00000020) != 0);
+    }
+    /**
+     * <pre>
+     * 当前IP地址
+     * </pre>
+     *
+     * <code>optional string current_ip = 6;</code>
+     * @return The currentIp.
+     */
+    @java.lang.Override
+    public java.lang.String getCurrentIp() {
+      java.lang.Object ref = currentIp_;
+      if (ref instanceof java.lang.String) {
+        return (java.lang.String) ref;
+      } else {
+        com.google.protobuf.ByteString bs = 
+            (com.google.protobuf.ByteString) ref;
+        java.lang.String s = bs.toStringUtf8();
+        currentIp_ = s;
+        return s;
+      }
+    }
+    /**
+     * <pre>
+     * 当前IP地址
+     * </pre>
+     *
+     * <code>optional string current_ip = 6;</code>
+     * @return The bytes for currentIp.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getCurrentIpBytes() {
+      java.lang.Object ref = currentIp_;
+      if (ref instanceof java.lang.String) {
+        com.google.protobuf.ByteString b = 
+            com.google.protobuf.ByteString.copyFromUtf8(
+                (java.lang.String) ref);
+        currentIp_ = b;
+        return b;
+      } else {
+        return (com.google.protobuf.ByteString) ref;
+      }
+    }
+
+    public static final int MAC_FIELD_NUMBER = 7;
+    private volatile java.lang.Object mac_;
+    /**
+     * <pre>
+     * MAC地址
+     * </pre>
+     *
+     * <code>optional string mac = 7;</code>
+     * @return Whether the mac field is set.
+     */
+    @java.lang.Override
+    public boolean hasMac() {
+      return ((bitField0_ & 0x00000040) != 0);
+    }
+    /**
+     * <pre>
+     * MAC地址
+     * </pre>
+     *
+     * <code>optional string mac = 7;</code>
+     * @return The mac.
+     */
+    @java.lang.Override
+    public java.lang.String getMac() {
+      java.lang.Object ref = mac_;
+      if (ref instanceof java.lang.String) {
+        return (java.lang.String) ref;
+      } else {
+        com.google.protobuf.ByteString bs = 
+            (com.google.protobuf.ByteString) ref;
+        java.lang.String s = bs.toStringUtf8();
+        mac_ = s;
+        return s;
+      }
+    }
+    /**
+     * <pre>
+     * MAC地址
+     * </pre>
+     *
+     * <code>optional string mac = 7;</code>
+     * @return The bytes for mac.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getMacBytes() {
+      java.lang.Object ref = mac_;
+      if (ref instanceof java.lang.String) {
+        com.google.protobuf.ByteString b = 
+            com.google.protobuf.ByteString.copyFromUtf8(
+                (java.lang.String) ref);
+        mac_ = b;
+        return b;
+      } else {
+        return (com.google.protobuf.ByteString) ref;
+      }
+    }
+
+    public static final int RSSI_FIELD_NUMBER = 8;
+    private int rssi_;
+    /**
+     * <pre>
+     * 信号强度
+     * </pre>
+     *
+     * <code>optional int32 rssi = 8;</code>
+     * @return Whether the rssi field is set.
+     */
+    @java.lang.Override
+    public boolean hasRssi() {
+      return ((bitField0_ & 0x00000080) != 0);
+    }
+    /**
+     * <pre>
+     * 信号强度
+     * </pre>
+     *
+     * <code>optional int32 rssi = 8;</code>
+     * @return The rssi.
+     */
+    @java.lang.Override
+    public int getRssi() {
+      return rssi_;
+    }
+
+    public static final int RET_CODE_FIELD_NUMBER = 9;
+    private int retCode_;
+    /**
+     * <pre>
+     * 返回码
+     * </pre>
+     *
+     * <code>optional int32 ret_code = 9;</code>
+     * @return Whether the retCode field is set.
+     */
+    @java.lang.Override
+    public boolean hasRetCode() {
+      return ((bitField0_ & 0x00000100) != 0);
+    }
+    /**
+     * <pre>
+     * 返回码
+     * </pre>
+     *
+     * <code>optional int32 ret_code = 9;</code>
+     * @return The retCode.
+     */
+    @java.lang.Override
+    public int getRetCode() {
+      return retCode_;
+    }
+
+    public static final int ERR_MSG_FIELD_NUMBER = 10;
+    private volatile java.lang.Object errMsg_;
+    /**
+     * <pre>
+     * 错误信息
+     * </pre>
+     *
+     * <code>optional string err_msg = 10;</code>
+     * @return Whether the errMsg field is set.
+     */
+    @java.lang.Override
+    public boolean hasErrMsg() {
+      return ((bitField0_ & 0x00000200) != 0);
+    }
+    /**
+     * <pre>
+     * 错误信息
+     * </pre>
+     *
+     * <code>optional string err_msg = 10;</code>
+     * @return The errMsg.
+     */
+    @java.lang.Override
+    public java.lang.String getErrMsg() {
+      java.lang.Object ref = errMsg_;
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+        java.lang.String s = bs.toStringUtf8();
+        errMsg_ = s;
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+    /**
+     * <pre>
+     * 错误信息
+     * </pre>
+     *
+     * <code>optional string err_msg = 10;</code>
+     * @return The bytes for errMsg.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
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+    public boolean equals(final java.lang.Object obj) {
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+            .equals(other.getMac())) return false;
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+
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+
+    public static cmvr.api.AgvCommand.AgvStatusInfo parseFrom(
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+    public static cmvr.api.AgvCommand.AgvStatusInfo parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
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+    public static cmvr.api.AgvCommand.AgvStatusInfo parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
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+    public static cmvr.api.AgvCommand.AgvStatusInfo parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
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+    public static cmvr.api.AgvCommand.AgvStatusInfo parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.AgvCommand.AgvStatusInfo parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.AgvCommand.AgvStatusInfo parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.AgvCommand.AgvStatusInfo parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.AgvCommand.AgvStatusInfo parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static cmvr.api.AgvCommand.AgvStatusInfo parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.AgvCommand.AgvStatusInfo parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.AgvCommand.AgvStatusInfo parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.api.AgvCommand.AgvStatusInfo prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * <pre>
+     * AGV状态信息
+     * </pre>
+     *
+     * Protobuf type {@code cmvr.api.AgvStatusInfo}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder<Builder> implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.AgvStatusInfo)
+        cmvr.api.AgvCommand.AgvStatusInfoOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.AgvCommand.internal_static_cmvr_api_AgvStatusInfo_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.api.AgvCommand.internal_static_cmvr_api_AgvStatusInfo_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.api.AgvCommand.AgvStatusInfo.class, cmvr.api.AgvCommand.AgvStatusInfo.Builder.class);
+      }
+
+      // Construct using cmvr.api.AgvCommand.AgvStatusInfo.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        id_ = "";
+        bitField0_ = (bitField0_ & ~0x00000001);
+        vehicleId_ = "";
+        bitField0_ = (bitField0_ & ~0x00000002);
+        version_ = "";
+        bitField0_ = (bitField0_ & ~0x00000004);
+        model_ = "";
+        bitField0_ = (bitField0_ & ~0x00000008);
+        dspVersion_ = "";
+        bitField0_ = (bitField0_ & ~0x00000010);
+        currentIp_ = "";
+        bitField0_ = (bitField0_ & ~0x00000020);
+        mac_ = "";
+        bitField0_ = (bitField0_ & ~0x00000040);
+        rssi_ = 0;
+        bitField0_ = (bitField0_ & ~0x00000080);
+        retCode_ = 0;
+        bitField0_ = (bitField0_ & ~0x00000100);
+        errMsg_ = "";
+        bitField0_ = (bitField0_ & ~0x00000200);
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.AgvCommand.internal_static_cmvr_api_AgvStatusInfo_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.AgvCommand.AgvStatusInfo getDefaultInstanceForType() {
+        return cmvr.api.AgvCommand.AgvStatusInfo.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.api.AgvCommand.AgvStatusInfo build() {
+        cmvr.api.AgvCommand.AgvStatusInfo result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.api.AgvCommand.AgvStatusInfo buildPartial() {
+        cmvr.api.AgvCommand.AgvStatusInfo result = new cmvr.api.AgvCommand.AgvStatusInfo(this);
+        int from_bitField0_ = bitField0_;
+        int to_bitField0_ = 0;
+        if (((from_bitField0_ & 0x00000001) != 0)) {
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+        result.id_ = id_;
+        if (((from_bitField0_ & 0x00000002) != 0)) {
+          to_bitField0_ |= 0x00000002;
+        }
+        result.vehicleId_ = vehicleId_;
+        if (((from_bitField0_ & 0x00000004) != 0)) {
+          to_bitField0_ |= 0x00000004;
+        }
+        result.version_ = version_;
+        if (((from_bitField0_ & 0x00000008) != 0)) {
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+        }
+        result.model_ = model_;
+        if (((from_bitField0_ & 0x00000010) != 0)) {
+          to_bitField0_ |= 0x00000010;
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+        result.dspVersion_ = dspVersion_;
+        if (((from_bitField0_ & 0x00000020) != 0)) {
+          to_bitField0_ |= 0x00000020;
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+        result.currentIp_ = currentIp_;
+        if (((from_bitField0_ & 0x00000040) != 0)) {
+          to_bitField0_ |= 0x00000040;
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+        result.mac_ = mac_;
+        if (((from_bitField0_ & 0x00000080) != 0)) {
+          result.rssi_ = rssi_;
+          to_bitField0_ |= 0x00000080;
+        }
+        if (((from_bitField0_ & 0x00000100) != 0)) {
+          result.retCode_ = retCode_;
+          to_bitField0_ |= 0x00000100;
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+        if (((from_bitField0_ & 0x00000200) != 0)) {
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+        }
+        result.errMsg_ = errMsg_;
+        result.bitField0_ = to_bitField0_;
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
+      }
+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
+      }
+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
+      }
+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.AgvCommand.AgvStatusInfo) {
+          return mergeFrom((cmvr.api.AgvCommand.AgvStatusInfo)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.AgvCommand.AgvStatusInfo other) {
+        if (other == cmvr.api.AgvCommand.AgvStatusInfo.getDefaultInstance()) return this;
+        if (other.hasId()) {
+          bitField0_ |= 0x00000001;
+          id_ = other.id_;
+          onChanged();
+        }
+        if (other.hasVehicleId()) {
+          bitField0_ |= 0x00000002;
+          vehicleId_ = other.vehicleId_;
+          onChanged();
+        }
+        if (other.hasVersion()) {
+          bitField0_ |= 0x00000004;
+          version_ = other.version_;
+          onChanged();
+        }
+        if (other.hasModel()) {
+          bitField0_ |= 0x00000008;
+          model_ = other.model_;
+          onChanged();
+        }
+        if (other.hasDspVersion()) {
+          bitField0_ |= 0x00000010;
+          dspVersion_ = other.dspVersion_;
+          onChanged();
+        }
+        if (other.hasCurrentIp()) {
+          bitField0_ |= 0x00000020;
+          currentIp_ = other.currentIp_;
+          onChanged();
+        }
+        if (other.hasMac()) {
+          bitField0_ |= 0x00000040;
+          mac_ = other.mac_;
+          onChanged();
+        }
+        if (other.hasRssi()) {
+          setRssi(other.getRssi());
+        }
+        if (other.hasRetCode()) {
+          setRetCode(other.getRetCode());
+        }
+        if (other.hasErrMsg()) {
+          bitField0_ |= 0x00000200;
+          errMsg_ = other.errMsg_;
+          onChanged();
+        }
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
+          throw new java.lang.NullPointerException();
+        }
+        try {
+          boolean done = false;
+          while (!done) {
+            int tag = input.readTag();
+            switch (tag) {
+              case 0:
+                done = true;
+                break;
+              case 10: {
+                id_ = input.readStringRequireUtf8();
+                bitField0_ |= 0x00000001;
+                break;
+              } // case 10
+              case 18: {
+                vehicleId_ = input.readStringRequireUtf8();
+                bitField0_ |= 0x00000002;
+                break;
+              } // case 18
+              case 26: {
+                version_ = input.readStringRequireUtf8();
+                bitField0_ |= 0x00000004;
+                break;
+              } // case 26
+              case 34: {
+                model_ = input.readStringRequireUtf8();
+                bitField0_ |= 0x00000008;
+                break;
+              } // case 34
+              case 42: {
+                dspVersion_ = input.readStringRequireUtf8();
+                bitField0_ |= 0x00000010;
+                break;
+              } // case 42
+              case 50: {
+                currentIp_ = input.readStringRequireUtf8();
+                bitField0_ |= 0x00000020;
+                break;
+              } // case 50
+              case 58: {
+                mac_ = input.readStringRequireUtf8();
+                bitField0_ |= 0x00000040;
+                break;
+              } // case 58
+              case 64: {
+                rssi_ = input.readInt32();
+                bitField0_ |= 0x00000080;
+                break;
+              } // case 64
+              case 72: {
+                retCode_ = input.readInt32();
+                bitField0_ |= 0x00000100;
+                break;
+              } // case 72
+              case 82: {
+                errMsg_ = input.readStringRequireUtf8();
+                bitField0_ |= 0x00000200;
+                break;
+              } // case 82
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                  done = true; // was an endgroup tag
+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+      private int bitField0_;
+
+      private java.lang.Object id_ = "";
+      /**
+       * <pre>
+       * AGV ID
+       * </pre>
+       *
+       * <code>optional string id = 1;</code>
+       * @return Whether the id field is set.
+       */
+      public boolean hasId() {
+        return ((bitField0_ & 0x00000001) != 0);
+      }
+      /**
+       * <pre>
+       * AGV ID
+       * </pre>
+       *
+       * <code>optional string id = 1;</code>
+       * @return The id.
+       */
+      public java.lang.String getId() {
+        java.lang.Object ref = id_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          id_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * <pre>
+       * AGV ID
+       * </pre>
+       *
+       * <code>optional string id = 1;</code>
+       * @return The bytes for id.
+       */
+      public com.google.protobuf.ByteString
+          getIdBytes() {
+        java.lang.Object ref = id_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          id_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * <pre>
+       * AGV ID
+       * </pre>
+       *
+       * <code>optional string id = 1;</code>
+       * @param value The id to set.
+       * @return This builder for chaining.
+       */
+      public Builder setId(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  bitField0_ |= 0x00000001;
+        id_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * AGV ID
+       * </pre>
+       *
+       * <code>optional string id = 1;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearId() {
+        bitField0_ = (bitField0_ & ~0x00000001);
+        id_ = getDefaultInstance().getId();
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * AGV ID
+       * </pre>
+       *
+       * <code>optional string id = 1;</code>
+       * @param value The bytes for id to set.
+       * @return This builder for chaining.
+       */
+      public Builder setIdBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        bitField0_ |= 0x00000001;
+        id_ = value;
+        onChanged();
+        return this;
+      }
+
+      private java.lang.Object vehicleId_ = "";
+      /**
+       * <pre>
+       * 车辆ID
+       * </pre>
+       *
+       * <code>optional string vehicle_id = 2;</code>
+       * @return Whether the vehicleId field is set.
+       */
+      public boolean hasVehicleId() {
+        return ((bitField0_ & 0x00000002) != 0);
+      }
+      /**
+       * <pre>
+       * 车辆ID
+       * </pre>
+       *
+       * <code>optional string vehicle_id = 2;</code>
+       * @return The vehicleId.
+       */
+      public java.lang.String getVehicleId() {
+        java.lang.Object ref = vehicleId_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          vehicleId_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * <pre>
+       * 车辆ID
+       * </pre>
+       *
+       * <code>optional string vehicle_id = 2;</code>
+       * @return The bytes for vehicleId.
+       */
+      public com.google.protobuf.ByteString
+          getVehicleIdBytes() {
+        java.lang.Object ref = vehicleId_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          vehicleId_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * <pre>
+       * 车辆ID
+       * </pre>
+       *
+       * <code>optional string vehicle_id = 2;</code>
+       * @param value The vehicleId to set.
+       * @return This builder for chaining.
+       */
+      public Builder setVehicleId(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  bitField0_ |= 0x00000002;
+        vehicleId_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 车辆ID
+       * </pre>
+       *
+       * <code>optional string vehicle_id = 2;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearVehicleId() {
+        bitField0_ = (bitField0_ & ~0x00000002);
+        vehicleId_ = getDefaultInstance().getVehicleId();
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 车辆ID
+       * </pre>
+       *
+       * <code>optional string vehicle_id = 2;</code>
+       * @param value The bytes for vehicleId to set.
+       * @return This builder for chaining.
+       */
+      public Builder setVehicleIdBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        bitField0_ |= 0x00000002;
+        vehicleId_ = value;
+        onChanged();
+        return this;
+      }
+
+      private java.lang.Object version_ = "";
+      /**
+       * <pre>
+       * 软件版本
+       * </pre>
+       *
+       * <code>optional string version = 3;</code>
+       * @return Whether the version field is set.
+       */
+      public boolean hasVersion() {
+        return ((bitField0_ & 0x00000004) != 0);
+      }
+      /**
+       * <pre>
+       * 软件版本
+       * </pre>
+       *
+       * <code>optional string version = 3;</code>
+       * @return The version.
+       */
+      public java.lang.String getVersion() {
+        java.lang.Object ref = version_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          version_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * <pre>
+       * 软件版本
+       * </pre>
+       *
+       * <code>optional string version = 3;</code>
+       * @return The bytes for version.
+       */
+      public com.google.protobuf.ByteString
+          getVersionBytes() {
+        java.lang.Object ref = version_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          version_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * <pre>
+       * 软件版本
+       * </pre>
+       *
+       * <code>optional string version = 3;</code>
+       * @param value The version to set.
+       * @return This builder for chaining.
+       */
+      public Builder setVersion(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  bitField0_ |= 0x00000004;
+        version_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 软件版本
+       * </pre>
+       *
+       * <code>optional string version = 3;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearVersion() {
+        bitField0_ = (bitField0_ & ~0x00000004);
+        version_ = getDefaultInstance().getVersion();
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 软件版本
+       * </pre>
+       *
+       * <code>optional string version = 3;</code>
+       * @param value The bytes for version to set.
+       * @return This builder for chaining.
+       */
+      public Builder setVersionBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        bitField0_ |= 0x00000004;
+        version_ = value;
+        onChanged();
+        return this;
+      }
+
+      private java.lang.Object model_ = "";
+      /**
+       * <pre>
+       * 型号
+       * </pre>
+       *
+       * <code>optional string model = 4;</code>
+       * @return Whether the model field is set.
+       */
+      public boolean hasModel() {
+        return ((bitField0_ & 0x00000008) != 0);
+      }
+      /**
+       * <pre>
+       * 型号
+       * </pre>
+       *
+       * <code>optional string model = 4;</code>
+       * @return The model.
+       */
+      public java.lang.String getModel() {
+        java.lang.Object ref = model_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          model_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * <pre>
+       * 型号
+       * </pre>
+       *
+       * <code>optional string model = 4;</code>
+       * @return The bytes for model.
+       */
+      public com.google.protobuf.ByteString
+          getModelBytes() {
+        java.lang.Object ref = model_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          model_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * <pre>
+       * 型号
+       * </pre>
+       *
+       * <code>optional string model = 4;</code>
+       * @param value The model to set.
+       * @return This builder for chaining.
+       */
+      public Builder setModel(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  bitField0_ |= 0x00000008;
+        model_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 型号
+       * </pre>
+       *
+       * <code>optional string model = 4;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearModel() {
+        bitField0_ = (bitField0_ & ~0x00000008);
+        model_ = getDefaultInstance().getModel();
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 型号
+       * </pre>
+       *
+       * <code>optional string model = 4;</code>
+       * @param value The bytes for model to set.
+       * @return This builder for chaining.
+       */
+      public Builder setModelBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        bitField0_ |= 0x00000008;
+        model_ = value;
+        onChanged();
+        return this;
+      }
+
+      private java.lang.Object dspVersion_ = "";
+      /**
+       * <pre>
+       * DSP版本
+       * </pre>
+       *
+       * <code>optional string dsp_version = 5;</code>
+       * @return Whether the dspVersion field is set.
+       */
+      public boolean hasDspVersion() {
+        return ((bitField0_ & 0x00000010) != 0);
+      }
+      /**
+       * <pre>
+       * DSP版本
+       * </pre>
+       *
+       * <code>optional string dsp_version = 5;</code>
+       * @return The dspVersion.
+       */
+      public java.lang.String getDspVersion() {
+        java.lang.Object ref = dspVersion_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          dspVersion_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * <pre>
+       * DSP版本
+       * </pre>
+       *
+       * <code>optional string dsp_version = 5;</code>
+       * @return The bytes for dspVersion.
+       */
+      public com.google.protobuf.ByteString
+          getDspVersionBytes() {
+        java.lang.Object ref = dspVersion_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          dspVersion_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * <pre>
+       * DSP版本
+       * </pre>
+       *
+       * <code>optional string dsp_version = 5;</code>
+       * @param value The dspVersion to set.
+       * @return This builder for chaining.
+       */
+      public Builder setDspVersion(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  bitField0_ |= 0x00000010;
+        dspVersion_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * DSP版本
+       * </pre>
+       *
+       * <code>optional string dsp_version = 5;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearDspVersion() {
+        bitField0_ = (bitField0_ & ~0x00000010);
+        dspVersion_ = getDefaultInstance().getDspVersion();
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * DSP版本
+       * </pre>
+       *
+       * <code>optional string dsp_version = 5;</code>
+       * @param value The bytes for dspVersion to set.
+       * @return This builder for chaining.
+       */
+      public Builder setDspVersionBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        bitField0_ |= 0x00000010;
+        dspVersion_ = value;
+        onChanged();
+        return this;
+      }
+
+      private java.lang.Object currentIp_ = "";
+      /**
+       * <pre>
+       * 当前IP地址
+       * </pre>
+       *
+       * <code>optional string current_ip = 6;</code>
+       * @return Whether the currentIp field is set.
+       */
+      public boolean hasCurrentIp() {
+        return ((bitField0_ & 0x00000020) != 0);
+      }
+      /**
+       * <pre>
+       * 当前IP地址
+       * </pre>
+       *
+       * <code>optional string current_ip = 6;</code>
+       * @return The currentIp.
+       */
+      public java.lang.String getCurrentIp() {
+        java.lang.Object ref = currentIp_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          currentIp_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * <pre>
+       * 当前IP地址
+       * </pre>
+       *
+       * <code>optional string current_ip = 6;</code>
+       * @return The bytes for currentIp.
+       */
+      public com.google.protobuf.ByteString
+          getCurrentIpBytes() {
+        java.lang.Object ref = currentIp_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          currentIp_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * <pre>
+       * 当前IP地址
+       * </pre>
+       *
+       * <code>optional string current_ip = 6;</code>
+       * @param value The currentIp to set.
+       * @return This builder for chaining.
+       */
+      public Builder setCurrentIp(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  bitField0_ |= 0x00000020;
+        currentIp_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 当前IP地址
+       * </pre>
+       *
+       * <code>optional string current_ip = 6;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearCurrentIp() {
+        bitField0_ = (bitField0_ & ~0x00000020);
+        currentIp_ = getDefaultInstance().getCurrentIp();
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 当前IP地址
+       * </pre>
+       *
+       * <code>optional string current_ip = 6;</code>
+       * @param value The bytes for currentIp to set.
+       * @return This builder for chaining.
+       */
+      public Builder setCurrentIpBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        bitField0_ |= 0x00000020;
+        currentIp_ = value;
+        onChanged();
+        return this;
+      }
+
+      private java.lang.Object mac_ = "";
+      /**
+       * <pre>
+       * MAC地址
+       * </pre>
+       *
+       * <code>optional string mac = 7;</code>
+       * @return Whether the mac field is set.
+       */
+      public boolean hasMac() {
+        return ((bitField0_ & 0x00000040) != 0);
+      }
+      /**
+       * <pre>
+       * MAC地址
+       * </pre>
+       *
+       * <code>optional string mac = 7;</code>
+       * @return The mac.
+       */
+      public java.lang.String getMac() {
+        java.lang.Object ref = mac_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          mac_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * <pre>
+       * MAC地址
+       * </pre>
+       *
+       * <code>optional string mac = 7;</code>
+       * @return The bytes for mac.
+       */
+      public com.google.protobuf.ByteString
+          getMacBytes() {
+        java.lang.Object ref = mac_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          mac_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * <pre>
+       * MAC地址
+       * </pre>
+       *
+       * <code>optional string mac = 7;</code>
+       * @param value The mac to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMac(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  bitField0_ |= 0x00000040;
+        mac_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * MAC地址
+       * </pre>
+       *
+       * <code>optional string mac = 7;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearMac() {
+        bitField0_ = (bitField0_ & ~0x00000040);
+        mac_ = getDefaultInstance().getMac();
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * MAC地址
+       * </pre>
+       *
+       * <code>optional string mac = 7;</code>
+       * @param value The bytes for mac to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMacBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        bitField0_ |= 0x00000040;
+        mac_ = value;
+        onChanged();
+        return this;
+      }
+
+      private int rssi_ ;
+      /**
+       * <pre>
+       * 信号强度
+       * </pre>
+       *
+       * <code>optional int32 rssi = 8;</code>
+       * @return Whether the rssi field is set.
+       */
+      @java.lang.Override
+      public boolean hasRssi() {
+        return ((bitField0_ & 0x00000080) != 0);
+      }
+      /**
+       * <pre>
+       * 信号强度
+       * </pre>
+       *
+       * <code>optional int32 rssi = 8;</code>
+       * @return The rssi.
+       */
+      @java.lang.Override
+      public int getRssi() {
+        return rssi_;
+      }
+      /**
+       * <pre>
+       * 信号强度
+       * </pre>
+       *
+       * <code>optional int32 rssi = 8;</code>
+       * @param value The rssi to set.
+       * @return This builder for chaining.
+       */
+      public Builder setRssi(int value) {
+        bitField0_ |= 0x00000080;
+        rssi_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 信号强度
+       * </pre>
+       *
+       * <code>optional int32 rssi = 8;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearRssi() {
+        bitField0_ = (bitField0_ & ~0x00000080);
+        rssi_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int retCode_ ;
+      /**
+       * <pre>
+       * 返回码
+       * </pre>
+       *
+       * <code>optional int32 ret_code = 9;</code>
+       * @return Whether the retCode field is set.
+       */
+      @java.lang.Override
+      public boolean hasRetCode() {
+        return ((bitField0_ & 0x00000100) != 0);
+      }
+      /**
+       * <pre>
+       * 返回码
+       * </pre>
+       *
+       * <code>optional int32 ret_code = 9;</code>
+       * @return The retCode.
+       */
+      @java.lang.Override
+      public int getRetCode() {
+        return retCode_;
+      }
+      /**
+       * <pre>
+       * 返回码
+       * </pre>
+       *
+       * <code>optional int32 ret_code = 9;</code>
+       * @param value The retCode to set.
+       * @return This builder for chaining.
+       */
+      public Builder setRetCode(int value) {
+        bitField0_ |= 0x00000100;
+        retCode_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 返回码
+       * </pre>
+       *
+       * <code>optional int32 ret_code = 9;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearRetCode() {
+        bitField0_ = (bitField0_ & ~0x00000100);
+        retCode_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private java.lang.Object errMsg_ = "";
+      /**
+       * <pre>
+       * 错误信息
+       * </pre>
+       *
+       * <code>optional string err_msg = 10;</code>
+       * @return Whether the errMsg field is set.
+       */
+      public boolean hasErrMsg() {
+        return ((bitField0_ & 0x00000200) != 0);
+      }
+      /**
+       * <pre>
+       * 错误信息
+       * </pre>
+       *
+       * <code>optional string err_msg = 10;</code>
+       * @return The errMsg.
+       */
+      public java.lang.String getErrMsg() {
+        java.lang.Object ref = errMsg_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          errMsg_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * <pre>
+       * 错误信息
+       * </pre>
+       *
+       * <code>optional string err_msg = 10;</code>
+       * @return The bytes for errMsg.
+       */
+      public com.google.protobuf.ByteString
+          getErrMsgBytes() {
+        java.lang.Object ref = errMsg_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          errMsg_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * <pre>
+       * 错误信息
+       * </pre>
+       *
+       * <code>optional string err_msg = 10;</code>
+       * @param value The errMsg to set.
+       * @return This builder for chaining.
+       */
+      public Builder setErrMsg(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  bitField0_ |= 0x00000200;
+        errMsg_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 错误信息
+       * </pre>
+       *
+       * <code>optional string err_msg = 10;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearErrMsg() {
+        bitField0_ = (bitField0_ & ~0x00000200);
+        errMsg_ = getDefaultInstance().getErrMsg();
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 错误信息
+       * </pre>
+       *
+       * <code>optional string err_msg = 10;</code>
+       * @param value The bytes for errMsg to set.
+       * @return This builder for chaining.
+       */
+      public Builder setErrMsgBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        bitField0_ |= 0x00000200;
+        errMsg_ = value;
+        onChanged();
+        return this;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.api.AgvStatusInfo)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.AgvStatusInfo)
+    private static final cmvr.api.AgvCommand.AgvStatusInfo DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.AgvCommand.AgvStatusInfo();
+    }
+
+    public static cmvr.api.AgvCommand.AgvStatusInfo getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser<AgvStatusInfo>
+        PARSER = new com.google.protobuf.AbstractParser<AgvStatusInfo>() {
+      @java.lang.Override
+      public AgvStatusInfo parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser<AgvStatusInfo> parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser<AgvStatusInfo> getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.AgvCommand.AgvStatusInfo getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  public interface GetAgvStatusInfoCommandOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.GetAgvStatusInfoCommand)
+      com.google.protobuf.MessageOrBuilder {
+  }
+  /**
+   * <pre>
+   * 获取AGV状态命令
+   * </pre>
+   *
+   * Protobuf type {@code cmvr.api.GetAgvStatusInfoCommand}
+   */
+  public static final class GetAgvStatusInfoCommand extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.GetAgvStatusInfoCommand)
+      GetAgvStatusInfoCommandOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use GetAgvStatusInfoCommand.newBuilder() to construct.
+    private GetAgvStatusInfoCommand(com.google.protobuf.GeneratedMessageV3.Builder<?> builder) {
+      super(builder);
+    }
+    private GetAgvStatusInfoCommand() {
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new GetAgvStatusInfoCommand();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.api.AgvCommand.internal_static_cmvr_api_GetAgvStatusInfoCommand_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.api.AgvCommand.internal_static_cmvr_api_GetAgvStatusInfoCommand_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              cmvr.api.AgvCommand.GetAgvStatusInfoCommand.class, cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Builder.class);
+    }
+
+    public interface RequestOrBuilder extends
+        // @@protoc_insertion_point(interface_extends:cmvr.api.GetAgvStatusInfoCommand.Request)
+        com.google.protobuf.MessageOrBuilder {
+
+      /**
+       * <code>.cmvr.api.CommandHeader.Request header = 1;</code>
+       * @return Whether the header field is set.
+       */
+      boolean hasHeader();
+      /**
+       * <code>.cmvr.api.CommandHeader.Request header = 1;</code>
+       * @return The header.
+       */
+      cmvr.api.Common.CommandHeader.Request getHeader();
+      /**
+       * <code>.cmvr.api.CommandHeader.Request header = 1;</code>
+       */
+      cmvr.api.Common.CommandHeader.RequestOrBuilder getHeaderOrBuilder();
+    }
+    /**
+     * Protobuf type {@code cmvr.api.GetAgvStatusInfoCommand.Request}
+     */
+    public static final class Request extends
+        com.google.protobuf.GeneratedMessageV3 implements
+        // @@protoc_insertion_point(message_implements:cmvr.api.GetAgvStatusInfoCommand.Request)
+        RequestOrBuilder {
+    private static final long serialVersionUID = 0L;
+      // Use Request.newBuilder() to construct.
+      private Request(com.google.protobuf.GeneratedMessageV3.Builder<?> builder) {
+        super(builder);
+      }
+      private Request() {
+      }
+
+      @java.lang.Override
+      @SuppressWarnings({"unused"})
+      protected java.lang.Object newInstance(
+          UnusedPrivateParameter unused) {
+        return new Request();
+      }
+
+      @java.lang.Override
+      public final com.google.protobuf.UnknownFieldSet
+      getUnknownFields() {
+        return this.unknownFields;
+      }
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.AgvCommand.internal_static_cmvr_api_GetAgvStatusInfoCommand_Request_descriptor;
+      }
+
+      @java.lang.Override
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+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
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+        return com.google.protobuf.GeneratedMessageV3
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+          throws java.io.IOException {
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+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageV3
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+      public static cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Feedback parseFrom(
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+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
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+      public Builder newBuilderForType() { return newBuilder(); }
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+      public Builder toBuilder() {
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+      protected Builder newBuilderForType(
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+      public static final class Builder extends
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+          // @@protoc_insertion_point(builder_implements:cmvr.api.GetAgvStatusInfoCommand.Feedback)
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+        public static final com.google.protobuf.Descriptors.Descriptor
+            getDescriptor() {
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+        private Builder() {
+
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+        public Builder mergeFrom(cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Feedback other) {
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+        @java.lang.Override
+        public Builder mergeFrom(
+            com.google.protobuf.CodedInputStream input,
+            com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+            throws java.io.IOException {
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+        /**
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+        public Builder setHeader(cmvr.api.Common.CommandHeader.Feedback value) {
+          if (headerBuilder_ == null) {
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+              throw new NullPointerException();
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+            header_ = value;
+            onChanged();
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+
+          return this;
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+          return this;
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+        /**
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+        public Builder mergeHeader(cmvr.api.Common.CommandHeader.Feedback value) {
+          if (headerBuilder_ == null) {
+            if (header_ != null) {
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+                cmvr.api.Common.CommandHeader.Feedback.newBuilder(header_).mergeFrom(value).buildPartial();
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+            onChanged();
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+            headerBuilder_.mergeFrom(value);
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+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         */
+        public Builder clearHeader() {
+          if (headerBuilder_ == null) {
+            header_ = null;
+            onChanged();
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+            header_ = null;
+            headerBuilder_ = null;
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         */
+        public cmvr.api.Common.CommandHeader.Feedback.Builder getHeaderBuilder() {
+          
+          onChanged();
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+        private com.google.protobuf.SingleFieldBuilderV3<
+            cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder> 
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+          if (headerBuilder_ == null) {
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+                cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder>(
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+          return headerBuilder_;
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+        private com.google.protobuf.SingleFieldBuilderV3<
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+        /**
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+         * @return Whether the status field is set.
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+          return statusBuilder_ != null || status_ != null;
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+        /**
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+        public Builder setStatus(cmvr.api.AgvCommand.AgvStatusInfo value) {
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+          return this;
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+        /**
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+          if (statusBuilder_ == null) {
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+          return this;
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+        /**
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+          return this;
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+        public Feedback parsePartialFrom(
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+            com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+            throws com.google.protobuf.InvalidProtocolBufferException {
+          Builder builder = newBuilder();
+          try {
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+        return PARSER;
+      }
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+      @java.lang.Override
+      public cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Feedback getDefaultInstanceForType() {
+        return DEFAULT_INSTANCE;
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+    }
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+      if (isInitialized == 1) return true;
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+      memoizedIsInitialized = 1;
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+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
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+    public static Builder newBuilder(cmvr.api.AgvCommand.GetAgvStatusInfoCommand prototype) {
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+    @java.lang.Override
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+    /**
+     * <pre>
+     * 获取AGV状态命令
+     * </pre>
+     *
+     * Protobuf type {@code cmvr.api.GetAgvStatusInfoCommand}
+     */
+    public static final class Builder extends
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+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
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+    public static com.google.protobuf.Parser<GetAgvStatusInfoCommand> parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser<GetAgvStatusInfoCommand> getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.AgvCommand.GetAgvStatusInfoCommand getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  public interface AgvBatteryStatusOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.AgvBatteryStatus)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * <pre>
+     * 电池电量 [0,1]
+     * </pre>
+     *
+     * <code>optional double battery_level = 1;</code>
+     * @return Whether the batteryLevel field is set.
+     */
+    boolean hasBatteryLevel();
+    /**
+     * <pre>
+     * 电池电量 [0,1]
+     * </pre>
+     *
+     * <code>optional double battery_level = 1;</code>
+     * @return The batteryLevel.
+     */
+    double getBatteryLevel();
+
+    /**
+     * <pre>
+     * 电池温度 ℃
+     * </pre>
+     *
+     * <code>optional double battery_temp = 2;</code>
+     * @return Whether the batteryTemp field is set.
+     */
+    boolean hasBatteryTemp();
+    /**
+     * <pre>
+     * 电池温度 ℃
+     * </pre>
+     *
+     * <code>optional double battery_temp = 2;</code>
+     * @return The batteryTemp.
+     */
+    double getBatteryTemp();
+
+    /**
+     * <pre>
+     * 是否正在充电
+     * </pre>
+     *
+     * <code>optional bool charging = 3;</code>
+     * @return Whether the charging field is set.
+     */
+    boolean hasCharging();
+    /**
+     * <pre>
+     * 是否正在充电
+     * </pre>
+     *
+     * <code>optional bool charging = 3;</code>
+     * @return The charging.
+     */
+    boolean getCharging();
+
+    /**
+     * <pre>
+     * 电压 V
+     * </pre>
+     *
+     * <code>optional double voltage = 4;</code>
+     * @return Whether the voltage field is set.
+     */
+    boolean hasVoltage();
+    /**
+     * <pre>
+     * 电压 V
+     * </pre>
+     *
+     * <code>optional double voltage = 4;</code>
+     * @return The voltage.
+     */
+    double getVoltage();
+
+    /**
+     * <pre>
+     * 电流 A
+     * </pre>
+     *
+     * <code>optional double current = 5;</code>
+     * @return Whether the current field is set.
+     */
+    boolean hasCurrent();
+    /**
+     * <pre>
+     * 电流 A
+     * </pre>
+     *
+     * <code>optional double current = 5;</code>
+     * @return The current.
+     */
+    double getCurrent();
+
+    /**
+     * <pre>
+     * 最大充电电压，-1=不支持
+     * </pre>
+     *
+     * <code>optional double max_charge_voltage = 6;</code>
+     * @return Whether the maxChargeVoltage field is set.
+     */
+    boolean hasMaxChargeVoltage();
+    /**
+     * <pre>
+     * 最大充电电压，-1=不支持
+     * </pre>
+     *
+     * <code>optional double max_charge_voltage = 6;</code>
+     * @return The maxChargeVoltage.
+     */
+    double getMaxChargeVoltage();
+
+    /**
+     * <pre>
+     * 最大充电电流，-1=不支持
+     * </pre>
+     *
+     * <code>optional double max_charge_current = 7;</code>
+     * @return Whether the maxChargeCurrent field is set.
+     */
+    boolean hasMaxChargeCurrent();
+    /**
+     * <pre>
+     * 最大充电电流，-1=不支持
+     * </pre>
+     *
+     * <code>optional double max_charge_current = 7;</code>
+     * @return The maxChargeCurrent.
+     */
+    double getMaxChargeCurrent();
+
+    /**
+     * <pre>
+     * 手动充电状态
+     * </pre>
+     *
+     * <code>optional bool manual_charge = 8;</code>
+     * @return Whether the manualCharge field is set.
+     */
+    boolean hasManualCharge();
+    /**
+     * <pre>
+     * 手动充电状态
+     * </pre>
+     *
+     * <code>optional bool manual_charge = 8;</code>
+     * @return The manualCharge.
+     */
+    boolean getManualCharge();
+
+    /**
+     * <pre>
+     * 自动充电状态
+     * </pre>
+     *
+     * <code>optional bool auto_charge = 9;</code>
+     * @return Whether the autoCharge field is set.
+     */
+    boolean hasAutoCharge();
+    /**
+     * <pre>
+     * 自动充电状态
+     * </pre>
+     *
+     * <code>optional bool auto_charge = 9;</code>
+     * @return The autoCharge.
+     */
+    boolean getAutoCharge();
+
+    /**
+     * <pre>
+     * 电池循环次数
+     * </pre>
+     *
+     * <code>optional int32 battery_cycle = 10;</code>
+     * @return Whether the batteryCycle field is set.
+     */
+    boolean hasBatteryCycle();
+    /**
+     * <pre>
+     * 电池循环次数
+     * </pre>
+     *
+     * <code>optional int32 battery_cycle = 10;</code>
+     * @return The batteryCycle.
+     */
+    int getBatteryCycle();
+
+    /**
+     * <pre>
+     * 电池自定义数据
+     * </pre>
+     *
+     * <code>optional string battery_user_data = 11;</code>
+     * @return Whether the batteryUserData field is set.
+     */
+    boolean hasBatteryUserData();
+    /**
+     * <pre>
+     * 电池自定义数据
+     * </pre>
+     *
+     * <code>optional string battery_user_data = 11;</code>
+     * @return The batteryUserData.
+     */
+    java.lang.String getBatteryUserData();
+    /**
+     * <pre>
+     * 电池自定义数据
+     * </pre>
+     *
+     * <code>optional string battery_user_data = 11;</code>
+     * @return The bytes for batteryUserData.
+     */
+    com.google.protobuf.ByteString
+        getBatteryUserDataBytes();
+
+    /**
+     * <pre>
+     * 客户自定义数据
+     * </pre>
+     *
+     * <code>optional string extra = 12;</code>
+     * @return Whether the extra field is set.
+     */
+    boolean hasExtra();
+    /**
+     * <pre>
+     * 客户自定义数据
+     * </pre>
+     *
+     * <code>optional string extra = 12;</code>
+     * @return The extra.
+     */
+    java.lang.String getExtra();
+    /**
+     * <pre>
+     * 客户自定义数据
+     * </pre>
+     *
+     * <code>optional string extra = 12;</code>
+     * @return The bytes for extra.
+     */
+    com.google.protobuf.ByteString
+        getExtraBytes();
+
+    /**
+     * <pre>
+     * 错误码
+     * </pre>
+     *
+     * <code>optional int32 ret_code = 13;</code>
+     * @return Whether the retCode field is set.
+     */
+    boolean hasRetCode();
+    /**
+     * <pre>
+     * 错误码
+     * </pre>
+     *
+     * <code>optional int32 ret_code = 13;</code>
+     * @return The retCode.
+     */
+    int getRetCode();
+
+    /**
+     * <pre>
+     * 时间戳
+     * </pre>
+     *
+     * <code>optional string create_on = 14;</code>
+     * @return Whether the createOn field is set.
+     */
+    boolean hasCreateOn();
+    /**
+     * <pre>
+     * 时间戳
+     * </pre>
+     *
+     * <code>optional string create_on = 14;</code>
+     * @return The createOn.
+     */
+    java.lang.String getCreateOn();
+    /**
+     * <pre>
+     * 时间戳
+     * </pre>
+     *
+     * <code>optional string create_on = 14;</code>
+     * @return The bytes for createOn.
+     */
+    com.google.protobuf.ByteString
+        getCreateOnBytes();
+
+    /**
+     * <pre>
+     * 错误信息
+     * </pre>
+     *
+     * <code>optional string err_msg = 15;</code>
+     * @return Whether the errMsg field is set.
+     */
+    boolean hasErrMsg();
+    /**
+     * <pre>
+     * 错误信息
+     * </pre>
+     *
+     * <code>optional string err_msg = 15;</code>
+     * @return The errMsg.
+     */
+    java.lang.String getErrMsg();
+    /**
+     * <pre>
+     * 错误信息
+     * </pre>
+     *
+     * <code>optional string err_msg = 15;</code>
+     * @return The bytes for errMsg.
+     */
+    com.google.protobuf.ByteString
+        getErrMsgBytes();
+  }
+  /**
+   * <pre>
+   * ===================== 电池状态查询 =====================
+   * </pre>
+   *
+   * Protobuf type {@code cmvr.api.AgvBatteryStatus}
+   */
+  public static final class AgvBatteryStatus extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.AgvBatteryStatus)
+      AgvBatteryStatusOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use AgvBatteryStatus.newBuilder() to construct.
+    private AgvBatteryStatus(com.google.protobuf.GeneratedMessageV3.Builder<?> builder) {
+      super(builder);
+    }
+    private AgvBatteryStatus() {
+      batteryUserData_ = "";
+      extra_ = "";
+      createOn_ = "";
+      errMsg_ = "";
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new AgvBatteryStatus();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.api.AgvCommand.internal_static_cmvr_api_AgvBatteryStatus_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.api.AgvCommand.internal_static_cmvr_api_AgvBatteryStatus_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              cmvr.api.AgvCommand.AgvBatteryStatus.class, cmvr.api.AgvCommand.AgvBatteryStatus.Builder.class);
+    }
+
+    private int bitField0_;
+    public static final int BATTERY_LEVEL_FIELD_NUMBER = 1;
+    private double batteryLevel_;
+    /**
+     * <pre>
+     * 电池电量 [0,1]
+     * </pre>
+     *
+     * <code>optional double battery_level = 1;</code>
+     * @return Whether the batteryLevel field is set.
+     */
+    @java.lang.Override
+    public boolean hasBatteryLevel() {
+      return ((bitField0_ & 0x00000001) != 0);
+    }
+    /**
+     * <pre>
+     * 电池电量 [0,1]
+     * </pre>
+     *
+     * <code>optional double battery_level = 1;</code>
+     * @return The batteryLevel.
+     */
+    @java.lang.Override
+    public double getBatteryLevel() {
+      return batteryLevel_;
+    }
+
+    public static final int BATTERY_TEMP_FIELD_NUMBER = 2;
+    private double batteryTemp_;
+    /**
+     * <pre>
+     * 电池温度 ℃
+     * </pre>
+     *
+     * <code>optional double battery_temp = 2;</code>
+     * @return Whether the batteryTemp field is set.
+     */
+    @java.lang.Override
+    public boolean hasBatteryTemp() {
+      return ((bitField0_ & 0x00000002) != 0);
+    }
+    /**
+     * <pre>
+     * 电池温度 ℃
+     * </pre>
+     *
+     * <code>optional double battery_temp = 2;</code>
+     * @return The batteryTemp.
+     */
+    @java.lang.Override
+    public double getBatteryTemp() {
+      return batteryTemp_;
+    }
+
+    public static final int CHARGING_FIELD_NUMBER = 3;
+    private boolean charging_;
+    /**
+     * <pre>
+     * 是否正在充电
+     * </pre>
+     *
+     * <code>optional bool charging = 3;</code>
+     * @return Whether the charging field is set.
+     */
+    @java.lang.Override
+    public boolean hasCharging() {
+      return ((bitField0_ & 0x00000004) != 0);
+    }
+    /**
+     * <pre>
+     * 是否正在充电
+     * </pre>
+     *
+     * <code>optional bool charging = 3;</code>
+     * @return The charging.
+     */
+    @java.lang.Override
+    public boolean getCharging() {
+      return charging_;
+    }
+
+    public static final int VOLTAGE_FIELD_NUMBER = 4;
+    private double voltage_;
+    /**
+     * <pre>
+     * 电压 V
+     * </pre>
+     *
+     * <code>optional double voltage = 4;</code>
+     * @return Whether the voltage field is set.
+     */
+    @java.lang.Override
+    public boolean hasVoltage() {
+      return ((bitField0_ & 0x00000008) != 0);
+    }
+    /**
+     * <pre>
+     * 电压 V
+     * </pre>
+     *
+     * <code>optional double voltage = 4;</code>
+     * @return The voltage.
+     */
+    @java.lang.Override
+    public double getVoltage() {
+      return voltage_;
+    }
+
+    public static final int CURRENT_FIELD_NUMBER = 5;
+    private double current_;
+    /**
+     * <pre>
+     * 电流 A
+     * </pre>
+     *
+     * <code>optional double current = 5;</code>
+     * @return Whether the current field is set.
+     */
+    @java.lang.Override
+    public boolean hasCurrent() {
+      return ((bitField0_ & 0x00000010) != 0);
+    }
+    /**
+     * <pre>
+     * 电流 A
+     * </pre>
+     *
+     * <code>optional double current = 5;</code>
+     * @return The current.
+     */
+    @java.lang.Override
+    public double getCurrent() {
+      return current_;
+    }
+
+    public static final int MAX_CHARGE_VOLTAGE_FIELD_NUMBER = 6;
+    private double maxChargeVoltage_;
+    /**
+     * <pre>
+     * 最大充电电压，-1=不支持
+     * </pre>
+     *
+     * <code>optional double max_charge_voltage = 6;</code>
+     * @return Whether the maxChargeVoltage field is set.
+     */
+    @java.lang.Override
+    public boolean hasMaxChargeVoltage() {
+      return ((bitField0_ & 0x00000020) != 0);
+    }
+    /**
+     * <pre>
+     * 最大充电电压，-1=不支持
+     * </pre>
+     *
+     * <code>optional double max_charge_voltage = 6;</code>
+     * @return The maxChargeVoltage.
+     */
+    @java.lang.Override
+    public double getMaxChargeVoltage() {
+      return maxChargeVoltage_;
+    }
+
+    public static final int MAX_CHARGE_CURRENT_FIELD_NUMBER = 7;
+    private double maxChargeCurrent_;
+    /**
+     * <pre>
+     * 最大充电电流，-1=不支持
+     * </pre>
+     *
+     * <code>optional double max_charge_current = 7;</code>
+     * @return Whether the maxChargeCurrent field is set.
+     */
+    @java.lang.Override
+    public boolean hasMaxChargeCurrent() {
+      return ((bitField0_ & 0x00000040) != 0);
+    }
+    /**
+     * <pre>
+     * 最大充电电流，-1=不支持
+     * </pre>
+     *
+     * <code>optional double max_charge_current = 7;</code>
+     * @return The maxChargeCurrent.
+     */
+    @java.lang.Override
+    public double getMaxChargeCurrent() {
+      return maxChargeCurrent_;
+    }
+
+    public static final int MANUAL_CHARGE_FIELD_NUMBER = 8;
+    private boolean manualCharge_;
+    /**
+     * <pre>
+     * 手动充电状态
+     * </pre>
+     *
+     * <code>optional bool manual_charge = 8;</code>
+     * @return Whether the manualCharge field is set.
+     */
+    @java.lang.Override
+    public boolean hasManualCharge() {
+      return ((bitField0_ & 0x00000080) != 0);
+    }
+    /**
+     * <pre>
+     * 手动充电状态
+     * </pre>
+     *
+     * <code>optional bool manual_charge = 8;</code>
+     * @return The manualCharge.
+     */
+    @java.lang.Override
+    public boolean getManualCharge() {
+      return manualCharge_;
+    }
+
+    public static final int AUTO_CHARGE_FIELD_NUMBER = 9;
+    private boolean autoCharge_;
+    /**
+     * <pre>
+     * 自动充电状态
+     * </pre>
+     *
+     * <code>optional bool auto_charge = 9;</code>
+     * @return Whether the autoCharge field is set.
+     */
+    @java.lang.Override
+    public boolean hasAutoCharge() {
+      return ((bitField0_ & 0x00000100) != 0);
+    }
+    /**
+     * <pre>
+     * 自动充电状态
+     * </pre>
+     *
+     * <code>optional bool auto_charge = 9;</code>
+     * @return The autoCharge.
+     */
+    @java.lang.Override
+    public boolean getAutoCharge() {
+      return autoCharge_;
+    }
+
+    public static final int BATTERY_CYCLE_FIELD_NUMBER = 10;
+    private int batteryCycle_;
+    /**
+     * <pre>
+     * 电池循环次数
+     * </pre>
+     *
+     * <code>optional int32 battery_cycle = 10;</code>
+     * @return Whether the batteryCycle field is set.
+     */
+    @java.lang.Override
+    public boolean hasBatteryCycle() {
+      return ((bitField0_ & 0x00000200) != 0);
+    }
+    /**
+     * <pre>
+     * 电池循环次数
+     * </pre>
+     *
+     * <code>optional int32 battery_cycle = 10;</code>
+     * @return The batteryCycle.
+     */
+    @java.lang.Override
+    public int getBatteryCycle() {
+      return batteryCycle_;
+    }
+
+    public static final int BATTERY_USER_DATA_FIELD_NUMBER = 11;
+    private volatile java.lang.Object batteryUserData_;
+    /**
+     * <pre>
+     * 电池自定义数据
+     * </pre>
+     *
+     * <code>optional string battery_user_data = 11;</code>
+     * @return Whether the batteryUserData field is set.
+     */
+    @java.lang.Override
+    public boolean hasBatteryUserData() {
+      return ((bitField0_ & 0x00000400) != 0);
+    }
+    /**
+     * <pre>
+     * 电池自定义数据
+     * </pre>
+     *
+     * <code>optional string battery_user_data = 11;</code>
+     * @return The batteryUserData.
+     */
+    @java.lang.Override
+    public java.lang.String getBatteryUserData() {
+      java.lang.Object ref = batteryUserData_;
+      if (ref instanceof java.lang.String) {
+        return (java.lang.String) ref;
+      } else {
+        com.google.protobuf.ByteString bs = 
+            (com.google.protobuf.ByteString) ref;
+        java.lang.String s = bs.toStringUtf8();
+        batteryUserData_ = s;
+        return s;
+      }
+    }
+    /**
+     * <pre>
+     * 电池自定义数据
+     * </pre>
+     *
+     * <code>optional string battery_user_data = 11;</code>
+     * @return The bytes for batteryUserData.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getBatteryUserDataBytes() {
+      java.lang.Object ref = batteryUserData_;
+      if (ref instanceof java.lang.String) {
+        com.google.protobuf.ByteString b = 
+            com.google.protobuf.ByteString.copyFromUtf8(
+                (java.lang.String) ref);
+        batteryUserData_ = b;
+        return b;
+      } else {
+        return (com.google.protobuf.ByteString) ref;
+      }
+    }
+
+    public static final int EXTRA_FIELD_NUMBER = 12;
+    private volatile java.lang.Object extra_;
+    /**
+     * <pre>
+     * 客户自定义数据
+     * </pre>
+     *
+     * <code>optional string extra = 12;</code>
+     * @return Whether the extra field is set.
+     */
+    @java.lang.Override
+    public boolean hasExtra() {
+      return ((bitField0_ & 0x00000800) != 0);
+    }
+    /**
+     * <pre>
+     * 客户自定义数据
+     * </pre>
+     *
+     * <code>optional string extra = 12;</code>
+     * @return The extra.
+     */
+    @java.lang.Override
+    public java.lang.String getExtra() {
+      java.lang.Object ref = extra_;
+      if (ref instanceof java.lang.String) {
+        return (java.lang.String) ref;
+      } else {
+        com.google.protobuf.ByteString bs = 
+            (com.google.protobuf.ByteString) ref;
+        java.lang.String s = bs.toStringUtf8();
+        extra_ = s;
+        return s;
+      }
+    }
+    /**
+     * <pre>
+     * 客户自定义数据
+     * </pre>
+     *
+     * <code>optional string extra = 12;</code>
+     * @return The bytes for extra.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getExtraBytes() {
+      java.lang.Object ref = extra_;
+      if (ref instanceof java.lang.String) {
+        com.google.protobuf.ByteString b = 
+            com.google.protobuf.ByteString.copyFromUtf8(
+                (java.lang.String) ref);
+        extra_ = b;
+        return b;
+      } else {
+        return (com.google.protobuf.ByteString) ref;
+      }
+    }
+
+    public static final int RET_CODE_FIELD_NUMBER = 13;
+    private int retCode_;
+    /**
+     * <pre>
+     * 错误码
+     * </pre>
+     *
+     * <code>optional int32 ret_code = 13;</code>
+     * @return Whether the retCode field is set.
+     */
+    @java.lang.Override
+    public boolean hasRetCode() {
+      return ((bitField0_ & 0x00001000) != 0);
+    }
+    /**
+     * <pre>
+     * 错误码
+     * </pre>
+     *
+     * <code>optional int32 ret_code = 13;</code>
+     * @return The retCode.
+     */
+    @java.lang.Override
+    public int getRetCode() {
+      return retCode_;
+    }
+
+    public static final int CREATE_ON_FIELD_NUMBER = 14;
+    private volatile java.lang.Object createOn_;
+    /**
+     * <pre>
+     * 时间戳
+     * </pre>
+     *
+     * <code>optional string create_on = 14;</code>
+     * @return Whether the createOn field is set.
+     */
+    @java.lang.Override
+    public boolean hasCreateOn() {
+      return ((bitField0_ & 0x00002000) != 0);
+    }
+    /**
+     * <pre>
+     * 时间戳
+     * </pre>
+     *
+     * <code>optional string create_on = 14;</code>
+     * @return The createOn.
+     */
+    @java.lang.Override
+    public java.lang.String getCreateOn() {
+      java.lang.Object ref = createOn_;
+      if (ref instanceof java.lang.String) {
+        return (java.lang.String) ref;
+      } else {
+        com.google.protobuf.ByteString bs = 
+            (com.google.protobuf.ByteString) ref;
+        java.lang.String s = bs.toStringUtf8();
+        createOn_ = s;
+        return s;
+      }
+    }
+    /**
+     * <pre>
+     * 时间戳
+     * </pre>
+     *
+     * <code>optional string create_on = 14;</code>
+     * @return The bytes for createOn.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getCreateOnBytes() {
+      java.lang.Object ref = createOn_;
+      if (ref instanceof java.lang.String) {
+        com.google.protobuf.ByteString b = 
+            com.google.protobuf.ByteString.copyFromUtf8(
+                (java.lang.String) ref);
+        createOn_ = b;
+        return b;
+      } else {
+        return (com.google.protobuf.ByteString) ref;
+      }
+    }
+
+    public static final int ERR_MSG_FIELD_NUMBER = 15;
+    private volatile java.lang.Object errMsg_;
+    /**
+     * <pre>
+     * 错误信息
+     * </pre>
+     *
+     * <code>optional string err_msg = 15;</code>
+     * @return Whether the errMsg field is set.
+     */
+    @java.lang.Override
+    public boolean hasErrMsg() {
+      return ((bitField0_ & 0x00004000) != 0);
+    }
+    /**
+     * <pre>
+     * 错误信息
+     * </pre>
+     *
+     * <code>optional string err_msg = 15;</code>
+     * @return The errMsg.
+     */
+    @java.lang.Override
+    public java.lang.String getErrMsg() {
+      java.lang.Object ref = errMsg_;
+      if (ref instanceof java.lang.String) {
+        return (java.lang.String) ref;
+      } else {
+        com.google.protobuf.ByteString bs = 
+            (com.google.protobuf.ByteString) ref;
+        java.lang.String s = bs.toStringUtf8();
+        errMsg_ = s;
+        return s;
+      }
+    }
+    /**
+     * <pre>
+     * 错误信息
+     * </pre>
+     *
+     * <code>optional string err_msg = 15;</code>
+     * @return The bytes for errMsg.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getErrMsgBytes() {
+      java.lang.Object ref = errMsg_;
+      if (ref instanceof java.lang.String) {
+        com.google.protobuf.ByteString b = 
+            com.google.protobuf.ByteString.copyFromUtf8(
+                (java.lang.String) ref);
+        errMsg_ = b;
+        return b;
+      } else {
+        return (com.google.protobuf.ByteString) ref;
+      }
+    }
+
+    private byte memoizedIsInitialized = -1;
+    @java.lang.Override
+    public final boolean isInitialized() {
+      byte isInitialized = memoizedIsInitialized;
+      if (isInitialized == 1) return true;
+      if (isInitialized == 0) return false;
+
+      memoizedIsInitialized = 1;
+      return true;
+    }
+
+    @java.lang.Override
+    public void writeTo(com.google.protobuf.CodedOutputStream output)
+                        throws java.io.IOException {
+      if (((bitField0_ & 0x00000001) != 0)) {
+        output.writeDouble(1, batteryLevel_);
+      }
+      if (((bitField0_ & 0x00000002) != 0)) {
+        output.writeDouble(2, batteryTemp_);
+      }
+      if (((bitField0_ & 0x00000004) != 0)) {
+        output.writeBool(3, charging_);
+      }
+      if (((bitField0_ & 0x00000008) != 0)) {
+        output.writeDouble(4, voltage_);
+      }
+      if (((bitField0_ & 0x00000010) != 0)) {
+        output.writeDouble(5, current_);
+      }
+      if (((bitField0_ & 0x00000020) != 0)) {
+        output.writeDouble(6, maxChargeVoltage_);
+      }
+      if (((bitField0_ & 0x00000040) != 0)) {
+        output.writeDouble(7, maxChargeCurrent_);
+      }
+      if (((bitField0_ & 0x00000080) != 0)) {
+        output.writeBool(8, manualCharge_);
+      }
+      if (((bitField0_ & 0x00000100) != 0)) {
+        output.writeBool(9, autoCharge_);
+      }
+      if (((bitField0_ & 0x00000200) != 0)) {
+        output.writeInt32(10, batteryCycle_);
+      }
+      if (((bitField0_ & 0x00000400) != 0)) {
+        com.google.protobuf.GeneratedMessageV3.writeString(output, 11, batteryUserData_);
+      }
+      if (((bitField0_ & 0x00000800) != 0)) {
+        com.google.protobuf.GeneratedMessageV3.writeString(output, 12, extra_);
+      }
+      if (((bitField0_ & 0x00001000) != 0)) {
+        output.writeInt32(13, retCode_);
+      }
+      if (((bitField0_ & 0x00002000) != 0)) {
+        com.google.protobuf.GeneratedMessageV3.writeString(output, 14, createOn_);
+      }
+      if (((bitField0_ & 0x00004000) != 0)) {
+        com.google.protobuf.GeneratedMessageV3.writeString(output, 15, errMsg_);
+      }
+      getUnknownFields().writeTo(output);
+    }
+
+    @java.lang.Override
+    public int getSerializedSize() {
+      int size = memoizedSize;
+      if (size != -1) return size;
+
+      size = 0;
+      if (((bitField0_ & 0x00000001) != 0)) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeDoubleSize(1, batteryLevel_);
+      }
+      if (((bitField0_ & 0x00000002) != 0)) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeDoubleSize(2, batteryTemp_);
+      }
+      if (((bitField0_ & 0x00000004) != 0)) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeBoolSize(3, charging_);
+      }
+      if (((bitField0_ & 0x00000008) != 0)) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeDoubleSize(4, voltage_);
+      }
+      if (((bitField0_ & 0x00000010) != 0)) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeDoubleSize(5, current_);
+      }
+      if (((bitField0_ & 0x00000020) != 0)) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeDoubleSize(6, maxChargeVoltage_);
+      }
+      if (((bitField0_ & 0x00000040) != 0)) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeDoubleSize(7, maxChargeCurrent_);
+      }
+      if (((bitField0_ & 0x00000080) != 0)) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeBoolSize(8, manualCharge_);
+      }
+      if (((bitField0_ & 0x00000100) != 0)) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeBoolSize(9, autoCharge_);
+      }
+      if (((bitField0_ & 0x00000200) != 0)) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(10, batteryCycle_);
+      }
+      if (((bitField0_ & 0x00000400) != 0)) {
+        size += com.google.protobuf.GeneratedMessageV3.computeStringSize(11, batteryUserData_);
+      }
+      if (((bitField0_ & 0x00000800) != 0)) {
+        size += com.google.protobuf.GeneratedMessageV3.computeStringSize(12, extra_);
+      }
+      if (((bitField0_ & 0x00001000) != 0)) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(13, retCode_);
+      }
+      if (((bitField0_ & 0x00002000) != 0)) {
+        size += com.google.protobuf.GeneratedMessageV3.computeStringSize(14, createOn_);
+      }
+      if (((bitField0_ & 0x00004000) != 0)) {
+        size += com.google.protobuf.GeneratedMessageV3.computeStringSize(15, errMsg_);
+      }
+      size += getUnknownFields().getSerializedSize();
+      memoizedSize = size;
+      return size;
+    }
+
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
+      if (!(obj instanceof cmvr.api.AgvCommand.AgvBatteryStatus)) {
+        return super.equals(obj);
+      }
+      cmvr.api.AgvCommand.AgvBatteryStatus other = (cmvr.api.AgvCommand.AgvBatteryStatus) obj;
+
+      if (hasBatteryLevel() != other.hasBatteryLevel()) return false;
+      if (hasBatteryLevel()) {
+        if (java.lang.Double.doubleToLongBits(getBatteryLevel())
+            != java.lang.Double.doubleToLongBits(
+                other.getBatteryLevel())) return false;
+      }
+      if (hasBatteryTemp() != other.hasBatteryTemp()) return false;
+      if (hasBatteryTemp()) {
+        if (java.lang.Double.doubleToLongBits(getBatteryTemp())
+            != java.lang.Double.doubleToLongBits(
+                other.getBatteryTemp())) return false;
+      }
+      if (hasCharging() != other.hasCharging()) return false;
+      if (hasCharging()) {
+        if (getCharging()
+            != other.getCharging()) return false;
+      }
+      if (hasVoltage() != other.hasVoltage()) return false;
+      if (hasVoltage()) {
+        if (java.lang.Double.doubleToLongBits(getVoltage())
+            != java.lang.Double.doubleToLongBits(
+                other.getVoltage())) return false;
+      }
+      if (hasCurrent() != other.hasCurrent()) return false;
+      if (hasCurrent()) {
+        if (java.lang.Double.doubleToLongBits(getCurrent())
+            != java.lang.Double.doubleToLongBits(
+                other.getCurrent())) return false;
+      }
+      if (hasMaxChargeVoltage() != other.hasMaxChargeVoltage()) return false;
+      if (hasMaxChargeVoltage()) {
+        if (java.lang.Double.doubleToLongBits(getMaxChargeVoltage())
+            != java.lang.Double.doubleToLongBits(
+                other.getMaxChargeVoltage())) return false;
+      }
+      if (hasMaxChargeCurrent() != other.hasMaxChargeCurrent()) return false;
+      if (hasMaxChargeCurrent()) {
+        if (java.lang.Double.doubleToLongBits(getMaxChargeCurrent())
+            != java.lang.Double.doubleToLongBits(
+                other.getMaxChargeCurrent())) return false;
+      }
+      if (hasManualCharge() != other.hasManualCharge()) return false;
+      if (hasManualCharge()) {
+        if (getManualCharge()
+            != other.getManualCharge()) return false;
+      }
+      if (hasAutoCharge() != other.hasAutoCharge()) return false;
+      if (hasAutoCharge()) {
+        if (getAutoCharge()
+            != other.getAutoCharge()) return false;
+      }
+      if (hasBatteryCycle() != other.hasBatteryCycle()) return false;
+      if (hasBatteryCycle()) {
+        if (getBatteryCycle()
+            != other.getBatteryCycle()) return false;
+      }
+      if (hasBatteryUserData() != other.hasBatteryUserData()) return false;
+      if (hasBatteryUserData()) {
+        if (!getBatteryUserData()
+            .equals(other.getBatteryUserData())) return false;
+      }
+      if (hasExtra() != other.hasExtra()) return false;
+      if (hasExtra()) {
+        if (!getExtra()
+            .equals(other.getExtra())) return false;
+      }
+      if (hasRetCode() != other.hasRetCode()) return false;
+      if (hasRetCode()) {
+        if (getRetCode()
+            != other.getRetCode()) return false;
+      }
+      if (hasCreateOn() != other.hasCreateOn()) return false;
+      if (hasCreateOn()) {
+        if (!getCreateOn()
+            .equals(other.getCreateOn())) return false;
+      }
+      if (hasErrMsg() != other.hasErrMsg()) return false;
+      if (hasErrMsg()) {
+        if (!getErrMsg()
+            .equals(other.getErrMsg())) return false;
+      }
+      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+      return true;
+    }
+
+    @java.lang.Override
+    public int hashCode() {
+      if (memoizedHashCode != 0) {
+        return memoizedHashCode;
+      }
+      int hash = 41;
+      hash = (19 * hash) + getDescriptor().hashCode();
+      if (hasBatteryLevel()) {
+        hash = (37 * hash) + BATTERY_LEVEL_FIELD_NUMBER;
+        hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+            java.lang.Double.doubleToLongBits(getBatteryLevel()));
+      }
+      if (hasBatteryTemp()) {
+        hash = (37 * hash) + BATTERY_TEMP_FIELD_NUMBER;
+        hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+            java.lang.Double.doubleToLongBits(getBatteryTemp()));
+      }
+      if (hasCharging()) {
+        hash = (37 * hash) + CHARGING_FIELD_NUMBER;
+        hash = (53 * hash) + com.google.protobuf.Internal.hashBoolean(
+            getCharging());
+      }
+      if (hasVoltage()) {
+        hash = (37 * hash) + VOLTAGE_FIELD_NUMBER;
+        hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+            java.lang.Double.doubleToLongBits(getVoltage()));
+      }
+      if (hasCurrent()) {
+        hash = (37 * hash) + CURRENT_FIELD_NUMBER;
+        hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+            java.lang.Double.doubleToLongBits(getCurrent()));
+      }
+      if (hasMaxChargeVoltage()) {
+        hash = (37 * hash) + MAX_CHARGE_VOLTAGE_FIELD_NUMBER;
+        hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+            java.lang.Double.doubleToLongBits(getMaxChargeVoltage()));
+      }
+      if (hasMaxChargeCurrent()) {
+        hash = (37 * hash) + MAX_CHARGE_CURRENT_FIELD_NUMBER;
+        hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+            java.lang.Double.doubleToLongBits(getMaxChargeCurrent()));
+      }
+      if (hasManualCharge()) {
+        hash = (37 * hash) + MANUAL_CHARGE_FIELD_NUMBER;
+        hash = (53 * hash) + com.google.protobuf.Internal.hashBoolean(
+            getManualCharge());
+      }
+      if (hasAutoCharge()) {
+        hash = (37 * hash) + AUTO_CHARGE_FIELD_NUMBER;
+        hash = (53 * hash) + com.google.protobuf.Internal.hashBoolean(
+            getAutoCharge());
+      }
+      if (hasBatteryCycle()) {
+        hash = (37 * hash) + BATTERY_CYCLE_FIELD_NUMBER;
+        hash = (53 * hash) + getBatteryCycle();
+      }
+      if (hasBatteryUserData()) {
+        hash = (37 * hash) + BATTERY_USER_DATA_FIELD_NUMBER;
+        hash = (53 * hash) + getBatteryUserData().hashCode();
+      }
+      if (hasExtra()) {
+        hash = (37 * hash) + EXTRA_FIELD_NUMBER;
+        hash = (53 * hash) + getExtra().hashCode();
+      }
+      if (hasRetCode()) {
+        hash = (37 * hash) + RET_CODE_FIELD_NUMBER;
+        hash = (53 * hash) + getRetCode();
+      }
+      if (hasCreateOn()) {
+        hash = (37 * hash) + CREATE_ON_FIELD_NUMBER;
+        hash = (53 * hash) + getCreateOn().hashCode();
+      }
+      if (hasErrMsg()) {
+        hash = (37 * hash) + ERR_MSG_FIELD_NUMBER;
+        hash = (53 * hash) + getErrMsg().hashCode();
+      }
+      hash = (29 * hash) + getUnknownFields().hashCode();
+      memoizedHashCode = hash;
+      return hash;
+    }
+
+    public static cmvr.api.AgvCommand.AgvBatteryStatus parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.AgvCommand.AgvBatteryStatus parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.AgvCommand.AgvBatteryStatus parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.AgvCommand.AgvBatteryStatus parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.AgvCommand.AgvBatteryStatus parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.AgvCommand.AgvBatteryStatus parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.AgvCommand.AgvBatteryStatus parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.AgvCommand.AgvBatteryStatus parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.AgvCommand.AgvBatteryStatus parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static cmvr.api.AgvCommand.AgvBatteryStatus parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.AgvCommand.AgvBatteryStatus parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.AgvCommand.AgvBatteryStatus parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.api.AgvCommand.AgvBatteryStatus prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * <pre>
+     * ===================== 电池状态查询 =====================
+     * </pre>
+     *
+     * Protobuf type {@code cmvr.api.AgvBatteryStatus}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder<Builder> implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.AgvBatteryStatus)
+        cmvr.api.AgvCommand.AgvBatteryStatusOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.AgvCommand.internal_static_cmvr_api_AgvBatteryStatus_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.api.AgvCommand.internal_static_cmvr_api_AgvBatteryStatus_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.api.AgvCommand.AgvBatteryStatus.class, cmvr.api.AgvCommand.AgvBatteryStatus.Builder.class);
+      }
+
+      // Construct using cmvr.api.AgvCommand.AgvBatteryStatus.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        batteryLevel_ = 0D;
+        bitField0_ = (bitField0_ & ~0x00000001);
+        batteryTemp_ = 0D;
+        bitField0_ = (bitField0_ & ~0x00000002);
+        charging_ = false;
+        bitField0_ = (bitField0_ & ~0x00000004);
+        voltage_ = 0D;
+        bitField0_ = (bitField0_ & ~0x00000008);
+        current_ = 0D;
+        bitField0_ = (bitField0_ & ~0x00000010);
+        maxChargeVoltage_ = 0D;
+        bitField0_ = (bitField0_ & ~0x00000020);
+        maxChargeCurrent_ = 0D;
+        bitField0_ = (bitField0_ & ~0x00000040);
+        manualCharge_ = false;
+        bitField0_ = (bitField0_ & ~0x00000080);
+        autoCharge_ = false;
+        bitField0_ = (bitField0_ & ~0x00000100);
+        batteryCycle_ = 0;
+        bitField0_ = (bitField0_ & ~0x00000200);
+        batteryUserData_ = "";
+        bitField0_ = (bitField0_ & ~0x00000400);
+        extra_ = "";
+        bitField0_ = (bitField0_ & ~0x00000800);
+        retCode_ = 0;
+        bitField0_ = (bitField0_ & ~0x00001000);
+        createOn_ = "";
+        bitField0_ = (bitField0_ & ~0x00002000);
+        errMsg_ = "";
+        bitField0_ = (bitField0_ & ~0x00004000);
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.AgvCommand.internal_static_cmvr_api_AgvBatteryStatus_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.AgvCommand.AgvBatteryStatus getDefaultInstanceForType() {
+        return cmvr.api.AgvCommand.AgvBatteryStatus.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.api.AgvCommand.AgvBatteryStatus build() {
+        cmvr.api.AgvCommand.AgvBatteryStatus result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.api.AgvCommand.AgvBatteryStatus buildPartial() {
+        cmvr.api.AgvCommand.AgvBatteryStatus result = new cmvr.api.AgvCommand.AgvBatteryStatus(this);
+        int from_bitField0_ = bitField0_;
+        int to_bitField0_ = 0;
+        if (((from_bitField0_ & 0x00000001) != 0)) {
+          result.batteryLevel_ = batteryLevel_;
+          to_bitField0_ |= 0x00000001;
+        }
+        if (((from_bitField0_ & 0x00000002) != 0)) {
+          result.batteryTemp_ = batteryTemp_;
+          to_bitField0_ |= 0x00000002;
+        }
+        if (((from_bitField0_ & 0x00000004) != 0)) {
+          result.charging_ = charging_;
+          to_bitField0_ |= 0x00000004;
+        }
+        if (((from_bitField0_ & 0x00000008) != 0)) {
+          result.voltage_ = voltage_;
+          to_bitField0_ |= 0x00000008;
+        }
+        if (((from_bitField0_ & 0x00000010) != 0)) {
+          result.current_ = current_;
+          to_bitField0_ |= 0x00000010;
+        }
+        if (((from_bitField0_ & 0x00000020) != 0)) {
+          result.maxChargeVoltage_ = maxChargeVoltage_;
+          to_bitField0_ |= 0x00000020;
+        }
+        if (((from_bitField0_ & 0x00000040) != 0)) {
+          result.maxChargeCurrent_ = maxChargeCurrent_;
+          to_bitField0_ |= 0x00000040;
+        }
+        if (((from_bitField0_ & 0x00000080) != 0)) {
+          result.manualCharge_ = manualCharge_;
+          to_bitField0_ |= 0x00000080;
+        }
+        if (((from_bitField0_ & 0x00000100) != 0)) {
+          result.autoCharge_ = autoCharge_;
+          to_bitField0_ |= 0x00000100;
+        }
+        if (((from_bitField0_ & 0x00000200) != 0)) {
+          result.batteryCycle_ = batteryCycle_;
+          to_bitField0_ |= 0x00000200;
+        }
+        if (((from_bitField0_ & 0x00000400) != 0)) {
+          to_bitField0_ |= 0x00000400;
+        }
+        result.batteryUserData_ = batteryUserData_;
+        if (((from_bitField0_ & 0x00000800) != 0)) {
+          to_bitField0_ |= 0x00000800;
+        }
+        result.extra_ = extra_;
+        if (((from_bitField0_ & 0x00001000) != 0)) {
+          result.retCode_ = retCode_;
+          to_bitField0_ |= 0x00001000;
+        }
+        if (((from_bitField0_ & 0x00002000) != 0)) {
+          to_bitField0_ |= 0x00002000;
+        }
+        result.createOn_ = createOn_;
+        if (((from_bitField0_ & 0x00004000) != 0)) {
+          to_bitField0_ |= 0x00004000;
+        }
+        result.errMsg_ = errMsg_;
+        result.bitField0_ = to_bitField0_;
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
+      }
+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
+      }
+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
+      }
+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.AgvCommand.AgvBatteryStatus) {
+          return mergeFrom((cmvr.api.AgvCommand.AgvBatteryStatus)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.AgvCommand.AgvBatteryStatus other) {
+        if (other == cmvr.api.AgvCommand.AgvBatteryStatus.getDefaultInstance()) return this;
+        if (other.hasBatteryLevel()) {
+          setBatteryLevel(other.getBatteryLevel());
+        }
+        if (other.hasBatteryTemp()) {
+          setBatteryTemp(other.getBatteryTemp());
+        }
+        if (other.hasCharging()) {
+          setCharging(other.getCharging());
+        }
+        if (other.hasVoltage()) {
+          setVoltage(other.getVoltage());
+        }
+        if (other.hasCurrent()) {
+          setCurrent(other.getCurrent());
+        }
+        if (other.hasMaxChargeVoltage()) {
+          setMaxChargeVoltage(other.getMaxChargeVoltage());
+        }
+        if (other.hasMaxChargeCurrent()) {
+          setMaxChargeCurrent(other.getMaxChargeCurrent());
+        }
+        if (other.hasManualCharge()) {
+          setManualCharge(other.getManualCharge());
+        }
+        if (other.hasAutoCharge()) {
+          setAutoCharge(other.getAutoCharge());
+        }
+        if (other.hasBatteryCycle()) {
+          setBatteryCycle(other.getBatteryCycle());
+        }
+        if (other.hasBatteryUserData()) {
+          bitField0_ |= 0x00000400;
+          batteryUserData_ = other.batteryUserData_;
+          onChanged();
+        }
+        if (other.hasExtra()) {
+          bitField0_ |= 0x00000800;
+          extra_ = other.extra_;
+          onChanged();
+        }
+        if (other.hasRetCode()) {
+          setRetCode(other.getRetCode());
+        }
+        if (other.hasCreateOn()) {
+          bitField0_ |= 0x00002000;
+          createOn_ = other.createOn_;
+          onChanged();
+        }
+        if (other.hasErrMsg()) {
+          bitField0_ |= 0x00004000;
+          errMsg_ = other.errMsg_;
+          onChanged();
+        }
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
+          throw new java.lang.NullPointerException();
+        }
+        try {
+          boolean done = false;
+          while (!done) {
+            int tag = input.readTag();
+            switch (tag) {
+              case 0:
+                done = true;
+                break;
+              case 9: {
+                batteryLevel_ = input.readDouble();
+                bitField0_ |= 0x00000001;
+                break;
+              } // case 9
+              case 17: {
+                batteryTemp_ = input.readDouble();
+                bitField0_ |= 0x00000002;
+                break;
+              } // case 17
+              case 24: {
+                charging_ = input.readBool();
+                bitField0_ |= 0x00000004;
+                break;
+              } // case 24
+              case 33: {
+                voltage_ = input.readDouble();
+                bitField0_ |= 0x00000008;
+                break;
+              } // case 33
+              case 41: {
+                current_ = input.readDouble();
+                bitField0_ |= 0x00000010;
+                break;
+              } // case 41
+              case 49: {
+                maxChargeVoltage_ = input.readDouble();
+                bitField0_ |= 0x00000020;
+                break;
+              } // case 49
+              case 57: {
+                maxChargeCurrent_ = input.readDouble();
+                bitField0_ |= 0x00000040;
+                break;
+              } // case 57
+              case 64: {
+                manualCharge_ = input.readBool();
+                bitField0_ |= 0x00000080;
+                break;
+              } // case 64
+              case 72: {
+                autoCharge_ = input.readBool();
+                bitField0_ |= 0x00000100;
+                break;
+              } // case 72
+              case 80: {
+                batteryCycle_ = input.readInt32();
+                bitField0_ |= 0x00000200;
+                break;
+              } // case 80
+              case 90: {
+                batteryUserData_ = input.readStringRequireUtf8();
+                bitField0_ |= 0x00000400;
+                break;
+              } // case 90
+              case 98: {
+                extra_ = input.readStringRequireUtf8();
+                bitField0_ |= 0x00000800;
+                break;
+              } // case 98
+              case 104: {
+                retCode_ = input.readInt32();
+                bitField0_ |= 0x00001000;
+                break;
+              } // case 104
+              case 114: {
+                createOn_ = input.readStringRequireUtf8();
+                bitField0_ |= 0x00002000;
+                break;
+              } // case 114
+              case 122: {
+                errMsg_ = input.readStringRequireUtf8();
+                bitField0_ |= 0x00004000;
+                break;
+              } // case 122
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                  done = true; // was an endgroup tag
+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+      private int bitField0_;
+
+      private double batteryLevel_ ;
+      /**
+       * <pre>
+       * 电池电量 [0,1]
+       * </pre>
+       *
+       * <code>optional double battery_level = 1;</code>
+       * @return Whether the batteryLevel field is set.
+       */
+      @java.lang.Override
+      public boolean hasBatteryLevel() {
+        return ((bitField0_ & 0x00000001) != 0);
+      }
+      /**
+       * <pre>
+       * 电池电量 [0,1]
+       * </pre>
+       *
+       * <code>optional double battery_level = 1;</code>
+       * @return The batteryLevel.
+       */
+      @java.lang.Override
+      public double getBatteryLevel() {
+        return batteryLevel_;
+      }
+      /**
+       * <pre>
+       * 电池电量 [0,1]
+       * </pre>
+       *
+       * <code>optional double battery_level = 1;</code>
+       * @param value The batteryLevel to set.
+       * @return This builder for chaining.
+       */
+      public Builder setBatteryLevel(double value) {
+        bitField0_ |= 0x00000001;
+        batteryLevel_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 电池电量 [0,1]
+       * </pre>
+       *
+       * <code>optional double battery_level = 1;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearBatteryLevel() {
+        bitField0_ = (bitField0_ & ~0x00000001);
+        batteryLevel_ = 0D;
+        onChanged();
+        return this;
+      }
+
+      private double batteryTemp_ ;
+      /**
+       * <pre>
+       * 电池温度 ℃
+       * </pre>
+       *
+       * <code>optional double battery_temp = 2;</code>
+       * @return Whether the batteryTemp field is set.
+       */
+      @java.lang.Override
+      public boolean hasBatteryTemp() {
+        return ((bitField0_ & 0x00000002) != 0);
+      }
+      /**
+       * <pre>
+       * 电池温度 ℃
+       * </pre>
+       *
+       * <code>optional double battery_temp = 2;</code>
+       * @return The batteryTemp.
+       */
+      @java.lang.Override
+      public double getBatteryTemp() {
+        return batteryTemp_;
+      }
+      /**
+       * <pre>
+       * 电池温度 ℃
+       * </pre>
+       *
+       * <code>optional double battery_temp = 2;</code>
+       * @param value The batteryTemp to set.
+       * @return This builder for chaining.
+       */
+      public Builder setBatteryTemp(double value) {
+        bitField0_ |= 0x00000002;
+        batteryTemp_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 电池温度 ℃
+       * </pre>
+       *
+       * <code>optional double battery_temp = 2;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearBatteryTemp() {
+        bitField0_ = (bitField0_ & ~0x00000002);
+        batteryTemp_ = 0D;
+        onChanged();
+        return this;
+      }
+
+      private boolean charging_ ;
+      /**
+       * <pre>
+       * 是否正在充电
+       * </pre>
+       *
+       * <code>optional bool charging = 3;</code>
+       * @return Whether the charging field is set.
+       */
+      @java.lang.Override
+      public boolean hasCharging() {
+        return ((bitField0_ & 0x00000004) != 0);
+      }
+      /**
+       * <pre>
+       * 是否正在充电
+       * </pre>
+       *
+       * <code>optional bool charging = 3;</code>
+       * @return The charging.
+       */
+      @java.lang.Override
+      public boolean getCharging() {
+        return charging_;
+      }
+      /**
+       * <pre>
+       * 是否正在充电
+       * </pre>
+       *
+       * <code>optional bool charging = 3;</code>
+       * @param value The charging to set.
+       * @return This builder for chaining.
+       */
+      public Builder setCharging(boolean value) {
+        bitField0_ |= 0x00000004;
+        charging_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 是否正在充电
+       * </pre>
+       *
+       * <code>optional bool charging = 3;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearCharging() {
+        bitField0_ = (bitField0_ & ~0x00000004);
+        charging_ = false;
+        onChanged();
+        return this;
+      }
+
+      private double voltage_ ;
+      /**
+       * <pre>
+       * 电压 V
+       * </pre>
+       *
+       * <code>optional double voltage = 4;</code>
+       * @return Whether the voltage field is set.
+       */
+      @java.lang.Override
+      public boolean hasVoltage() {
+        return ((bitField0_ & 0x00000008) != 0);
+      }
+      /**
+       * <pre>
+       * 电压 V
+       * </pre>
+       *
+       * <code>optional double voltage = 4;</code>
+       * @return The voltage.
+       */
+      @java.lang.Override
+      public double getVoltage() {
+        return voltage_;
+      }
+      /**
+       * <pre>
+       * 电压 V
+       * </pre>
+       *
+       * <code>optional double voltage = 4;</code>
+       * @param value The voltage to set.
+       * @return This builder for chaining.
+       */
+      public Builder setVoltage(double value) {
+        bitField0_ |= 0x00000008;
+        voltage_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 电压 V
+       * </pre>
+       *
+       * <code>optional double voltage = 4;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearVoltage() {
+        bitField0_ = (bitField0_ & ~0x00000008);
+        voltage_ = 0D;
+        onChanged();
+        return this;
+      }
+
+      private double current_ ;
+      /**
+       * <pre>
+       * 电流 A
+       * </pre>
+       *
+       * <code>optional double current = 5;</code>
+       * @return Whether the current field is set.
+       */
+      @java.lang.Override
+      public boolean hasCurrent() {
+        return ((bitField0_ & 0x00000010) != 0);
+      }
+      /**
+       * <pre>
+       * 电流 A
+       * </pre>
+       *
+       * <code>optional double current = 5;</code>
+       * @return The current.
+       */
+      @java.lang.Override
+      public double getCurrent() {
+        return current_;
+      }
+      /**
+       * <pre>
+       * 电流 A
+       * </pre>
+       *
+       * <code>optional double current = 5;</code>
+       * @param value The current to set.
+       * @return This builder for chaining.
+       */
+      public Builder setCurrent(double value) {
+        bitField0_ |= 0x00000010;
+        current_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 电流 A
+       * </pre>
+       *
+       * <code>optional double current = 5;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearCurrent() {
+        bitField0_ = (bitField0_ & ~0x00000010);
+        current_ = 0D;
+        onChanged();
+        return this;
+      }
+
+      private double maxChargeVoltage_ ;
+      /**
+       * <pre>
+       * 最大充电电压，-1=不支持
+       * </pre>
+       *
+       * <code>optional double max_charge_voltage = 6;</code>
+       * @return Whether the maxChargeVoltage field is set.
+       */
+      @java.lang.Override
+      public boolean hasMaxChargeVoltage() {
+        return ((bitField0_ & 0x00000020) != 0);
+      }
+      /**
+       * <pre>
+       * 最大充电电压，-1=不支持
+       * </pre>
+       *
+       * <code>optional double max_charge_voltage = 6;</code>
+       * @return The maxChargeVoltage.
+       */
+      @java.lang.Override
+      public double getMaxChargeVoltage() {
+        return maxChargeVoltage_;
+      }
+      /**
+       * <pre>
+       * 最大充电电压，-1=不支持
+       * </pre>
+       *
+       * <code>optional double max_charge_voltage = 6;</code>
+       * @param value The maxChargeVoltage to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMaxChargeVoltage(double value) {
+        bitField0_ |= 0x00000020;
+        maxChargeVoltage_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 最大充电电压，-1=不支持
+       * </pre>
+       *
+       * <code>optional double max_charge_voltage = 6;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearMaxChargeVoltage() {
+        bitField0_ = (bitField0_ & ~0x00000020);
+        maxChargeVoltage_ = 0D;
+        onChanged();
+        return this;
+      }
+
+      private double maxChargeCurrent_ ;
+      /**
+       * <pre>
+       * 最大充电电流，-1=不支持
+       * </pre>
+       *
+       * <code>optional double max_charge_current = 7;</code>
+       * @return Whether the maxChargeCurrent field is set.
+       */
+      @java.lang.Override
+      public boolean hasMaxChargeCurrent() {
+        return ((bitField0_ & 0x00000040) != 0);
+      }
+      /**
+       * <pre>
+       * 最大充电电流，-1=不支持
+       * </pre>
+       *
+       * <code>optional double max_charge_current = 7;</code>
+       * @return The maxChargeCurrent.
+       */
+      @java.lang.Override
+      public double getMaxChargeCurrent() {
+        return maxChargeCurrent_;
+      }
+      /**
+       * <pre>
+       * 最大充电电流，-1=不支持
+       * </pre>
+       *
+       * <code>optional double max_charge_current = 7;</code>
+       * @param value The maxChargeCurrent to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMaxChargeCurrent(double value) {
+        bitField0_ |= 0x00000040;
+        maxChargeCurrent_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 最大充电电流，-1=不支持
+       * </pre>
+       *
+       * <code>optional double max_charge_current = 7;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearMaxChargeCurrent() {
+        bitField0_ = (bitField0_ & ~0x00000040);
+        maxChargeCurrent_ = 0D;
+        onChanged();
+        return this;
+      }
+
+      private boolean manualCharge_ ;
+      /**
+       * <pre>
+       * 手动充电状态
+       * </pre>
+       *
+       * <code>optional bool manual_charge = 8;</code>
+       * @return Whether the manualCharge field is set.
+       */
+      @java.lang.Override
+      public boolean hasManualCharge() {
+        return ((bitField0_ & 0x00000080) != 0);
+      }
+      /**
+       * <pre>
+       * 手动充电状态
+       * </pre>
+       *
+       * <code>optional bool manual_charge = 8;</code>
+       * @return The manualCharge.
+       */
+      @java.lang.Override
+      public boolean getManualCharge() {
+        return manualCharge_;
+      }
+      /**
+       * <pre>
+       * 手动充电状态
+       * </pre>
+       *
+       * <code>optional bool manual_charge = 8;</code>
+       * @param value The manualCharge to set.
+       * @return This builder for chaining.
+       */
+      public Builder setManualCharge(boolean value) {
+        bitField0_ |= 0x00000080;
+        manualCharge_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 手动充电状态
+       * </pre>
+       *
+       * <code>optional bool manual_charge = 8;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearManualCharge() {
+        bitField0_ = (bitField0_ & ~0x00000080);
+        manualCharge_ = false;
+        onChanged();
+        return this;
+      }
+
+      private boolean autoCharge_ ;
+      /**
+       * <pre>
+       * 自动充电状态
+       * </pre>
+       *
+       * <code>optional bool auto_charge = 9;</code>
+       * @return Whether the autoCharge field is set.
+       */
+      @java.lang.Override
+      public boolean hasAutoCharge() {
+        return ((bitField0_ & 0x00000100) != 0);
+      }
+      /**
+       * <pre>
+       * 自动充电状态
+       * </pre>
+       *
+       * <code>optional bool auto_charge = 9;</code>
+       * @return The autoCharge.
+       */
+      @java.lang.Override
+      public boolean getAutoCharge() {
+        return autoCharge_;
+      }
+      /**
+       * <pre>
+       * 自动充电状态
+       * </pre>
+       *
+       * <code>optional bool auto_charge = 9;</code>
+       * @param value The autoCharge to set.
+       * @return This builder for chaining.
+       */
+      public Builder setAutoCharge(boolean value) {
+        bitField0_ |= 0x00000100;
+        autoCharge_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 自动充电状态
+       * </pre>
+       *
+       * <code>optional bool auto_charge = 9;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearAutoCharge() {
+        bitField0_ = (bitField0_ & ~0x00000100);
+        autoCharge_ = false;
+        onChanged();
+        return this;
+      }
+
+      private int batteryCycle_ ;
+      /**
+       * <pre>
+       * 电池循环次数
+       * </pre>
+       *
+       * <code>optional int32 battery_cycle = 10;</code>
+       * @return Whether the batteryCycle field is set.
+       */
+      @java.lang.Override
+      public boolean hasBatteryCycle() {
+        return ((bitField0_ & 0x00000200) != 0);
+      }
+      /**
+       * <pre>
+       * 电池循环次数
+       * </pre>
+       *
+       * <code>optional int32 battery_cycle = 10;</code>
+       * @return The batteryCycle.
+       */
+      @java.lang.Override
+      public int getBatteryCycle() {
+        return batteryCycle_;
+      }
+      /**
+       * <pre>
+       * 电池循环次数
+       * </pre>
+       *
+       * <code>optional int32 battery_cycle = 10;</code>
+       * @param value The batteryCycle to set.
+       * @return This builder for chaining.
+       */
+      public Builder setBatteryCycle(int value) {
+        bitField0_ |= 0x00000200;
+        batteryCycle_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 电池循环次数
+       * </pre>
+       *
+       * <code>optional int32 battery_cycle = 10;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearBatteryCycle() {
+        bitField0_ = (bitField0_ & ~0x00000200);
+        batteryCycle_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private java.lang.Object batteryUserData_ = "";
+      /**
+       * <pre>
+       * 电池自定义数据
+       * </pre>
+       *
+       * <code>optional string battery_user_data = 11;</code>
+       * @return Whether the batteryUserData field is set.
+       */
+      public boolean hasBatteryUserData() {
+        return ((bitField0_ & 0x00000400) != 0);
+      }
+      /**
+       * <pre>
+       * 电池自定义数据
+       * </pre>
+       *
+       * <code>optional string battery_user_data = 11;</code>
+       * @return The batteryUserData.
+       */
+      public java.lang.String getBatteryUserData() {
+        java.lang.Object ref = batteryUserData_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          batteryUserData_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * <pre>
+       * 电池自定义数据
+       * </pre>
+       *
+       * <code>optional string battery_user_data = 11;</code>
+       * @return The bytes for batteryUserData.
+       */
+      public com.google.protobuf.ByteString
+          getBatteryUserDataBytes() {
+        java.lang.Object ref = batteryUserData_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          batteryUserData_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * <pre>
+       * 电池自定义数据
+       * </pre>
+       *
+       * <code>optional string battery_user_data = 11;</code>
+       * @param value The batteryUserData to set.
+       * @return This builder for chaining.
+       */
+      public Builder setBatteryUserData(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  bitField0_ |= 0x00000400;
+        batteryUserData_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 电池自定义数据
+       * </pre>
+       *
+       * <code>optional string battery_user_data = 11;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearBatteryUserData() {
+        bitField0_ = (bitField0_ & ~0x00000400);
+        batteryUserData_ = getDefaultInstance().getBatteryUserData();
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 电池自定义数据
+       * </pre>
+       *
+       * <code>optional string battery_user_data = 11;</code>
+       * @param value The bytes for batteryUserData to set.
+       * @return This builder for chaining.
+       */
+      public Builder setBatteryUserDataBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        bitField0_ |= 0x00000400;
+        batteryUserData_ = value;
+        onChanged();
+        return this;
+      }
+
+      private java.lang.Object extra_ = "";
+      /**
+       * <pre>
+       * 客户自定义数据
+       * </pre>
+       *
+       * <code>optional string extra = 12;</code>
+       * @return Whether the extra field is set.
+       */
+      public boolean hasExtra() {
+        return ((bitField0_ & 0x00000800) != 0);
+      }
+      /**
+       * <pre>
+       * 客户自定义数据
+       * </pre>
+       *
+       * <code>optional string extra = 12;</code>
+       * @return The extra.
+       */
+      public java.lang.String getExtra() {
+        java.lang.Object ref = extra_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          extra_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * <pre>
+       * 客户自定义数据
+       * </pre>
+       *
+       * <code>optional string extra = 12;</code>
+       * @return The bytes for extra.
+       */
+      public com.google.protobuf.ByteString
+          getExtraBytes() {
+        java.lang.Object ref = extra_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          extra_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * <pre>
+       * 客户自定义数据
+       * </pre>
+       *
+       * <code>optional string extra = 12;</code>
+       * @param value The extra to set.
+       * @return This builder for chaining.
+       */
+      public Builder setExtra(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  bitField0_ |= 0x00000800;
+        extra_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 客户自定义数据
+       * </pre>
+       *
+       * <code>optional string extra = 12;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearExtra() {
+        bitField0_ = (bitField0_ & ~0x00000800);
+        extra_ = getDefaultInstance().getExtra();
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 客户自定义数据
+       * </pre>
+       *
+       * <code>optional string extra = 12;</code>
+       * @param value The bytes for extra to set.
+       * @return This builder for chaining.
+       */
+      public Builder setExtraBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        bitField0_ |= 0x00000800;
+        extra_ = value;
+        onChanged();
+        return this;
+      }
+
+      private int retCode_ ;
+      /**
+       * <pre>
+       * 错误码
+       * </pre>
+       *
+       * <code>optional int32 ret_code = 13;</code>
+       * @return Whether the retCode field is set.
+       */
+      @java.lang.Override
+      public boolean hasRetCode() {
+        return ((bitField0_ & 0x00001000) != 0);
+      }
+      /**
+       * <pre>
+       * 错误码
+       * </pre>
+       *
+       * <code>optional int32 ret_code = 13;</code>
+       * @return The retCode.
+       */
+      @java.lang.Override
+      public int getRetCode() {
+        return retCode_;
+      }
+      /**
+       * <pre>
+       * 错误码
+       * </pre>
+       *
+       * <code>optional int32 ret_code = 13;</code>
+       * @param value The retCode to set.
+       * @return This builder for chaining.
+       */
+      public Builder setRetCode(int value) {
+        bitField0_ |= 0x00001000;
+        retCode_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 错误码
+       * </pre>
+       *
+       * <code>optional int32 ret_code = 13;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearRetCode() {
+        bitField0_ = (bitField0_ & ~0x00001000);
+        retCode_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private java.lang.Object createOn_ = "";
+      /**
+       * <pre>
+       * 时间戳
+       * </pre>
+       *
+       * <code>optional string create_on = 14;</code>
+       * @return Whether the createOn field is set.
+       */
+      public boolean hasCreateOn() {
+        return ((bitField0_ & 0x00002000) != 0);
+      }
+      /**
+       * <pre>
+       * 时间戳
+       * </pre>
+       *
+       * <code>optional string create_on = 14;</code>
+       * @return The createOn.
+       */
+      public java.lang.String getCreateOn() {
+        java.lang.Object ref = createOn_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          createOn_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * <pre>
+       * 时间戳
+       * </pre>
+       *
+       * <code>optional string create_on = 14;</code>
+       * @return The bytes for createOn.
+       */
+      public com.google.protobuf.ByteString
+          getCreateOnBytes() {
+        java.lang.Object ref = createOn_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          createOn_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * <pre>
+       * 时间戳
+       * </pre>
+       *
+       * <code>optional string create_on = 14;</code>
+       * @param value The createOn to set.
+       * @return This builder for chaining.
+       */
+      public Builder setCreateOn(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  bitField0_ |= 0x00002000;
+        createOn_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 时间戳
+       * </pre>
+       *
+       * <code>optional string create_on = 14;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearCreateOn() {
+        bitField0_ = (bitField0_ & ~0x00002000);
+        createOn_ = getDefaultInstance().getCreateOn();
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 时间戳
+       * </pre>
+       *
+       * <code>optional string create_on = 14;</code>
+       * @param value The bytes for createOn to set.
+       * @return This builder for chaining.
+       */
+      public Builder setCreateOnBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        bitField0_ |= 0x00002000;
+        createOn_ = value;
+        onChanged();
+        return this;
+      }
+
+      private java.lang.Object errMsg_ = "";
+      /**
+       * <pre>
+       * 错误信息
+       * </pre>
+       *
+       * <code>optional string err_msg = 15;</code>
+       * @return Whether the errMsg field is set.
+       */
+      public boolean hasErrMsg() {
+        return ((bitField0_ & 0x00004000) != 0);
+      }
+      /**
+       * <pre>
+       * 错误信息
+       * </pre>
+       *
+       * <code>optional string err_msg = 15;</code>
+       * @return The errMsg.
+       */
+      public java.lang.String getErrMsg() {
+        java.lang.Object ref = errMsg_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
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+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
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+          throws java.io.IOException {
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+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
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+          cmvr.api.AgvCommand.RobotStatusBatteryCommand.RequestOrBuilder {
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+        @java.lang.Override
+        public Builder mergeFrom(
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+            com.google.protobuf.ExtensionRegistryLite extensionRegistry)
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+          return this;
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+          return this;
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+          return this;
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+        /**
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+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.RobotStatusBatteryRequestData data = 2;</code>
+         */
+        public Builder setData(
+            cmvr.api.AgvCommand.RobotStatusBatteryRequestData.Builder builderForValue) {
+          if (dataBuilder_ == null) {
+            data_ = builderForValue.build();
+            onChanged();
+          } else {
+            dataBuilder_.setMessage(builderForValue.build());
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.RobotStatusBatteryRequestData data = 2;</code>
+         */
+        public Builder mergeData(cmvr.api.AgvCommand.RobotStatusBatteryRequestData value) {
+          if (dataBuilder_ == null) {
+            if (data_ != null) {
+              data_ =
+                cmvr.api.AgvCommand.RobotStatusBatteryRequestData.newBuilder(data_).mergeFrom(value).buildPartial();
+            } else {
+              data_ = value;
+            }
+            onChanged();
+          } else {
+            dataBuilder_.mergeFrom(value);
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.RobotStatusBatteryRequestData data = 2;</code>
+         */
+        public Builder clearData() {
+          if (dataBuilder_ == null) {
+            data_ = null;
+            onChanged();
+          } else {
+            data_ = null;
+            dataBuilder_ = null;
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.RobotStatusBatteryRequestData data = 2;</code>
+         */
+        public cmvr.api.AgvCommand.RobotStatusBatteryRequestData.Builder getDataBuilder() {
+          
+          onChanged();
+          return getDataFieldBuilder().getBuilder();
+        }
+        /**
+         * <code>.cmvr.api.RobotStatusBatteryRequestData data = 2;</code>
+         */
+        public cmvr.api.AgvCommand.RobotStatusBatteryRequestDataOrBuilder getDataOrBuilder() {
+          if (dataBuilder_ != null) {
+            return dataBuilder_.getMessageOrBuilder();
+          } else {
+            return data_ == null ?
+                cmvr.api.AgvCommand.RobotStatusBatteryRequestData.getDefaultInstance() : data_;
+          }
+        }
+        /**
+         * <code>.cmvr.api.RobotStatusBatteryRequestData data = 2;</code>
+         */
+        private com.google.protobuf.SingleFieldBuilderV3<
+            cmvr.api.AgvCommand.RobotStatusBatteryRequestData, cmvr.api.AgvCommand.RobotStatusBatteryRequestData.Builder, cmvr.api.AgvCommand.RobotStatusBatteryRequestDataOrBuilder> 
+            getDataFieldBuilder() {
+          if (dataBuilder_ == null) {
+            dataBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+                cmvr.api.AgvCommand.RobotStatusBatteryRequestData, cmvr.api.AgvCommand.RobotStatusBatteryRequestData.Builder, cmvr.api.AgvCommand.RobotStatusBatteryRequestDataOrBuilder>(
+                    getData(),
+                    getParentForChildren(),
+                    isClean());
+            data_ = null;
+          }
+          return dataBuilder_;
+        }
+        @java.lang.Override
+        public final Builder setUnknownFields(
+            final com.google.protobuf.UnknownFieldSet unknownFields) {
+          return super.setUnknownFields(unknownFields);
+        }
+
+        @java.lang.Override
+        public final Builder mergeUnknownFields(
+            final com.google.protobuf.UnknownFieldSet unknownFields) {
+          return super.mergeUnknownFields(unknownFields);
+        }
+
+
+        // @@protoc_insertion_point(builder_scope:cmvr.api.RobotStatusBatteryCommand.Request)
+      }
+
+      // @@protoc_insertion_point(class_scope:cmvr.api.RobotStatusBatteryCommand.Request)
+      private static final cmvr.api.AgvCommand.RobotStatusBatteryCommand.Request DEFAULT_INSTANCE;
+      static {
+        DEFAULT_INSTANCE = new cmvr.api.AgvCommand.RobotStatusBatteryCommand.Request();
+      }
+
+      public static cmvr.api.AgvCommand.RobotStatusBatteryCommand.Request getDefaultInstance() {
+        return DEFAULT_INSTANCE;
+      }
+
+      private static final com.google.protobuf.Parser<Request>
+          PARSER = new com.google.protobuf.AbstractParser<Request>() {
+        @java.lang.Override
+        public Request parsePartialFrom(
+            com.google.protobuf.CodedInputStream input,
+            com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+            throws com.google.protobuf.InvalidProtocolBufferException {
+          Builder builder = newBuilder();
+          try {
+            builder.mergeFrom(input, extensionRegistry);
+          } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+            throw e.setUnfinishedMessage(builder.buildPartial());
+          } catch (com.google.protobuf.UninitializedMessageException e) {
+            throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+          } catch (java.io.IOException e) {
+            throw new com.google.protobuf.InvalidProtocolBufferException(e)
+                .setUnfinishedMessage(builder.buildPartial());
+          }
+          return builder.buildPartial();
+        }
+      };
+
+      public static com.google.protobuf.Parser<Request> parser() {
+        return PARSER;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Parser<Request> getParserForType() {
+        return PARSER;
+      }
+
+      @java.lang.Override
+      public cmvr.api.AgvCommand.RobotStatusBatteryCommand.Request getDefaultInstanceForType() {
+        return DEFAULT_INSTANCE;
+      }
+
+    }
+
+    public interface FeedbackOrBuilder extends
+        // @@protoc_insertion_point(interface_extends:cmvr.api.RobotStatusBatteryCommand.Feedback)
+        com.google.protobuf.MessageOrBuilder {
+
+      /**
+       * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+       * @return Whether the header field is set.
+       */
+      boolean hasHeader();
+      /**
+       * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+       * @return The header.
+       */
+      cmvr.api.Common.CommandHeader.Feedback getHeader();
+      /**
+       * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+       */
+      cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder();
+
+      /**
+       * <code>.cmvr.api.AgvBatteryStatus status = 2;</code>
+       * @return Whether the status field is set.
+       */
+      boolean hasStatus();
+      /**
+       * <code>.cmvr.api.AgvBatteryStatus status = 2;</code>
+       * @return The status.
+       */
+      cmvr.api.AgvCommand.AgvBatteryStatus getStatus();
+      /**
+       * <code>.cmvr.api.AgvBatteryStatus status = 2;</code>
+       */
+      cmvr.api.AgvCommand.AgvBatteryStatusOrBuilder getStatusOrBuilder();
+    }
+    /**
+     * Protobuf type {@code cmvr.api.RobotStatusBatteryCommand.Feedback}
+     */
+    public static final class Feedback extends
+        com.google.protobuf.GeneratedMessageV3 implements
+        // @@protoc_insertion_point(message_implements:cmvr.api.RobotStatusBatteryCommand.Feedback)
+        FeedbackOrBuilder {
+    private static final long serialVersionUID = 0L;
+      // Use Feedback.newBuilder() to construct.
+      private Feedback(com.google.protobuf.GeneratedMessageV3.Builder<?> builder) {
+        super(builder);
+      }
+      private Feedback() {
+      }
+
+      @java.lang.Override
+      @SuppressWarnings({"unused"})
+      protected java.lang.Object newInstance(
+          UnusedPrivateParameter unused) {
+        return new Feedback();
+      }
+
+      @java.lang.Override
+      public final com.google.protobuf.UnknownFieldSet
+      getUnknownFields() {
+        return this.unknownFields;
+      }
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.AgvCommand.internal_static_cmvr_api_RobotStatusBatteryCommand_Feedback_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.api.AgvCommand.internal_static_cmvr_api_RobotStatusBatteryCommand_Feedback_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback.class, cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback.Builder.class);
+      }
+
+      public static final int HEADER_FIELD_NUMBER = 1;
+      private cmvr.api.Common.CommandHeader.Feedback header_;
+      /**
+       * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+       * @return Whether the header field is set.
+       */
+      @java.lang.Override
+      public boolean hasHeader() {
+        return header_ != null;
+      }
+      /**
+       * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+       * @return The header.
+       */
+      @java.lang.Override
+      public cmvr.api.Common.CommandHeader.Feedback getHeader() {
+        return header_ == null ? cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
+      }
+      /**
+       * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+       */
+      @java.lang.Override
+      public cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder() {
+        return getHeader();
+      }
+
+      public static final int STATUS_FIELD_NUMBER = 2;
+      private cmvr.api.AgvCommand.AgvBatteryStatus status_;
+      /**
+       * <code>.cmvr.api.AgvBatteryStatus status = 2;</code>
+       * @return Whether the status field is set.
+       */
+      @java.lang.Override
+      public boolean hasStatus() {
+        return status_ != null;
+      }
+      /**
+       * <code>.cmvr.api.AgvBatteryStatus status = 2;</code>
+       * @return The status.
+       */
+      @java.lang.Override
+      public cmvr.api.AgvCommand.AgvBatteryStatus getStatus() {
+        return status_ == null ? cmvr.api.AgvCommand.AgvBatteryStatus.getDefaultInstance() : status_;
+      }
+      /**
+       * <code>.cmvr.api.AgvBatteryStatus status = 2;</code>
+       */
+      @java.lang.Override
+      public cmvr.api.AgvCommand.AgvBatteryStatusOrBuilder getStatusOrBuilder() {
+        return getStatus();
+      }
+
+      private byte memoizedIsInitialized = -1;
+      @java.lang.Override
+      public final boolean isInitialized() {
+        byte isInitialized = memoizedIsInitialized;
+        if (isInitialized == 1) return true;
+        if (isInitialized == 0) return false;
+
+        memoizedIsInitialized = 1;
+        return true;
+      }
+
+      @java.lang.Override
+      public void writeTo(com.google.protobuf.CodedOutputStream output)
+                          throws java.io.IOException {
+        if (header_ != null) {
+          output.writeMessage(1, getHeader());
+        }
+        if (status_ != null) {
+          output.writeMessage(2, getStatus());
+        }
+        getUnknownFields().writeTo(output);
+      }
+
+      @java.lang.Override
+      public int getSerializedSize() {
+        int size = memoizedSize;
+        if (size != -1) return size;
+
+        size = 0;
+        if (header_ != null) {
+          size += com.google.protobuf.CodedOutputStream
+            .computeMessageSize(1, getHeader());
+        }
+        if (status_ != null) {
+          size += com.google.protobuf.CodedOutputStream
+            .computeMessageSize(2, getStatus());
+        }
+        size += getUnknownFields().getSerializedSize();
+        memoizedSize = size;
+        return size;
+      }
+
+      @java.lang.Override
+      public boolean equals(final java.lang.Object obj) {
+        if (obj == this) {
+         return true;
+        }
+        if (!(obj instanceof cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback)) {
+          return super.equals(obj);
+        }
+        cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback other = (cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback) obj;
+
+        if (hasHeader() != other.hasHeader()) return false;
+        if (hasHeader()) {
+          if (!getHeader()
+              .equals(other.getHeader())) return false;
+        }
+        if (hasStatus() != other.hasStatus()) return false;
+        if (hasStatus()) {
+          if (!getStatus()
+              .equals(other.getStatus())) return false;
+        }
+        if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+        return true;
+      }
+
+      @java.lang.Override
+      public int hashCode() {
+        if (memoizedHashCode != 0) {
+          return memoizedHashCode;
+        }
+        int hash = 41;
+        hash = (19 * hash) + getDescriptor().hashCode();
+        if (hasHeader()) {
+          hash = (37 * hash) + HEADER_FIELD_NUMBER;
+          hash = (53 * hash) + getHeader().hashCode();
+        }
+        if (hasStatus()) {
+          hash = (37 * hash) + STATUS_FIELD_NUMBER;
+          hash = (53 * hash) + getStatus().hashCode();
+        }
+        hash = (29 * hash) + getUnknownFields().hashCode();
+        memoizedHashCode = hash;
+        return hash;
+      }
+
+      public static cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback parseFrom(
+          java.nio.ByteBuffer data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data);
+      }
+      public static cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback parseFrom(
+          java.nio.ByteBuffer data,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data, extensionRegistry);
+      }
+      public static cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback parseFrom(
+          com.google.protobuf.ByteString data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data);
+      }
+      public static cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback parseFrom(
+          com.google.protobuf.ByteString data,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data, extensionRegistry);
+      }
+      public static cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback parseFrom(byte[] data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data);
+      }
+      public static cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback parseFrom(
+          byte[] data,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data, extensionRegistry);
+      }
+      public static cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback parseFrom(java.io.InputStream input)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageV3
+            .parseWithIOException(PARSER, input);
+      }
+      public static cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback parseFrom(
+          java.io.InputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageV3
+            .parseWithIOException(PARSER, input, extensionRegistry);
+      }
+      public static cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback parseDelimitedFrom(java.io.InputStream input)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageV3
+            .parseDelimitedWithIOException(PARSER, input);
+      }
+      public static cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback parseDelimitedFrom(
+          java.io.InputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageV3
+            .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+      }
+      public static cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback parseFrom(
+          com.google.protobuf.CodedInputStream input)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageV3
+            .parseWithIOException(PARSER, input);
+      }
+      public static cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback parseFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageV3
+            .parseWithIOException(PARSER, input, extensionRegistry);
+      }
+
+      @java.lang.Override
+      public Builder newBuilderForType() { return newBuilder(); }
+      public static Builder newBuilder() {
+        return DEFAULT_INSTANCE.toBuilder();
+      }
+      public static Builder newBuilder(cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback prototype) {
+        return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+      }
+      @java.lang.Override
+      public Builder toBuilder() {
+        return this == DEFAULT_INSTANCE
+            ? new Builder() : new Builder().mergeFrom(this);
+      }
+
+      @java.lang.Override
+      protected Builder newBuilderForType(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        Builder builder = new Builder(parent);
+        return builder;
+      }
+      /**
+       * Protobuf type {@code cmvr.api.RobotStatusBatteryCommand.Feedback}
+       */
+      public static final class Builder extends
+          com.google.protobuf.GeneratedMessageV3.Builder<Builder> implements
+          // @@protoc_insertion_point(builder_implements:cmvr.api.RobotStatusBatteryCommand.Feedback)
+          cmvr.api.AgvCommand.RobotStatusBatteryCommand.FeedbackOrBuilder {
+        public static final com.google.protobuf.Descriptors.Descriptor
+            getDescriptor() {
+          return cmvr.api.AgvCommand.internal_static_cmvr_api_RobotStatusBatteryCommand_Feedback_descriptor;
+        }
+
+        @java.lang.Override
+        protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+            internalGetFieldAccessorTable() {
+          return cmvr.api.AgvCommand.internal_static_cmvr_api_RobotStatusBatteryCommand_Feedback_fieldAccessorTable
+              .ensureFieldAccessorsInitialized(
+                  cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback.class, cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback.Builder.class);
+        }
+
+        // Construct using cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback.newBuilder()
+        private Builder() {
+
+        }
+
+        private Builder(
+            com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+          super(parent);
+
+        }
+        @java.lang.Override
+        public Builder clear() {
+          super.clear();
+          if (headerBuilder_ == null) {
+            header_ = null;
+          } else {
+            header_ = null;
+            headerBuilder_ = null;
+          }
+          if (statusBuilder_ == null) {
+            status_ = null;
+          } else {
+            status_ = null;
+            statusBuilder_ = null;
+          }
+          return this;
+        }
+
+        @java.lang.Override
+        public com.google.protobuf.Descriptors.Descriptor
+            getDescriptorForType() {
+          return cmvr.api.AgvCommand.internal_static_cmvr_api_RobotStatusBatteryCommand_Feedback_descriptor;
+        }
+
+        @java.lang.Override
+        public cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback getDefaultInstanceForType() {
+          return cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback.getDefaultInstance();
+        }
+
+        @java.lang.Override
+        public cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback build() {
+          cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback result = buildPartial();
+          if (!result.isInitialized()) {
+            throw newUninitializedMessageException(result);
+          }
+          return result;
+        }
+
+        @java.lang.Override
+        public cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback buildPartial() {
+          cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback result = new cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback(this);
+          if (headerBuilder_ == null) {
+            result.header_ = header_;
+          } else {
+            result.header_ = headerBuilder_.build();
+          }
+          if (statusBuilder_ == null) {
+            result.status_ = status_;
+          } else {
+            result.status_ = statusBuilder_.build();
+          }
+          onBuilt();
+          return result;
+        }
+
+        @java.lang.Override
+        public Builder clone() {
+          return super.clone();
+        }
+        @java.lang.Override
+        public Builder setField(
+            com.google.protobuf.Descriptors.FieldDescriptor field,
+            java.lang.Object value) {
+          return super.setField(field, value);
+        }
+        @java.lang.Override
+        public Builder clearField(
+            com.google.protobuf.Descriptors.FieldDescriptor field) {
+          return super.clearField(field);
+        }
+        @java.lang.Override
+        public Builder clearOneof(
+            com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+          return super.clearOneof(oneof);
+        }
+        @java.lang.Override
+        public Builder setRepeatedField(
+            com.google.protobuf.Descriptors.FieldDescriptor field,
+            int index, java.lang.Object value) {
+          return super.setRepeatedField(field, index, value);
+        }
+        @java.lang.Override
+        public Builder addRepeatedField(
+            com.google.protobuf.Descriptors.FieldDescriptor field,
+            java.lang.Object value) {
+          return super.addRepeatedField(field, value);
+        }
+        @java.lang.Override
+        public Builder mergeFrom(com.google.protobuf.Message other) {
+          if (other instanceof cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback) {
+            return mergeFrom((cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback)other);
+          } else {
+            super.mergeFrom(other);
+            return this;
+          }
+        }
+
+        public Builder mergeFrom(cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback other) {
+          if (other == cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback.getDefaultInstance()) return this;
+          if (other.hasHeader()) {
+            mergeHeader(other.getHeader());
+          }
+          if (other.hasStatus()) {
+            mergeStatus(other.getStatus());
+          }
+          this.mergeUnknownFields(other.getUnknownFields());
+          onChanged();
+          return this;
+        }
+
+        @java.lang.Override
+        public final boolean isInitialized() {
+          return true;
+        }
+
+        @java.lang.Override
+        public Builder mergeFrom(
+            com.google.protobuf.CodedInputStream input,
+            com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+            throws java.io.IOException {
+          if (extensionRegistry == null) {
+            throw new java.lang.NullPointerException();
+          }
+          try {
+            boolean done = false;
+            while (!done) {
+              int tag = input.readTag();
+              switch (tag) {
+                case 0:
+                  done = true;
+                  break;
+                case 10: {
+                  input.readMessage(
+                      getHeaderFieldBuilder().getBuilder(),
+                      extensionRegistry);
+
+                  break;
+                } // case 10
+                case 18: {
+                  input.readMessage(
+                      getStatusFieldBuilder().getBuilder(),
+                      extensionRegistry);
+
+                  break;
+                } // case 18
+                default: {
+                  if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                    done = true; // was an endgroup tag
+                  }
+                  break;
+                } // default:
+              } // switch (tag)
+            } // while (!done)
+          } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+            throw e.unwrapIOException();
+          } finally {
+            onChanged();
+          } // finally
+          return this;
+        }
+
+        private cmvr.api.Common.CommandHeader.Feedback header_;
+        private com.google.protobuf.SingleFieldBuilderV3<
+            cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder> headerBuilder_;
+        /**
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         * @return Whether the header field is set.
+         */
+        public boolean hasHeader() {
+          return headerBuilder_ != null || header_ != null;
+        }
+        /**
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         * @return The header.
+         */
+        public cmvr.api.Common.CommandHeader.Feedback getHeader() {
+          if (headerBuilder_ == null) {
+            return header_ == null ? cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
+          } else {
+            return headerBuilder_.getMessage();
+          }
+        }
+        /**
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         */
+        public Builder setHeader(cmvr.api.Common.CommandHeader.Feedback value) {
+          if (headerBuilder_ == null) {
+            if (value == null) {
+              throw new NullPointerException();
+            }
+            header_ = value;
+            onChanged();
+          } else {
+            headerBuilder_.setMessage(value);
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         */
+        public Builder setHeader(
+            cmvr.api.Common.CommandHeader.Feedback.Builder builderForValue) {
+          if (headerBuilder_ == null) {
+            header_ = builderForValue.build();
+            onChanged();
+          } else {
+            headerBuilder_.setMessage(builderForValue.build());
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         */
+        public Builder mergeHeader(cmvr.api.Common.CommandHeader.Feedback value) {
+          if (headerBuilder_ == null) {
+            if (header_ != null) {
+              header_ =
+                cmvr.api.Common.CommandHeader.Feedback.newBuilder(header_).mergeFrom(value).buildPartial();
+            } else {
+              header_ = value;
+            }
+            onChanged();
+          } else {
+            headerBuilder_.mergeFrom(value);
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         */
+        public Builder clearHeader() {
+          if (headerBuilder_ == null) {
+            header_ = null;
+            onChanged();
+          } else {
+            header_ = null;
+            headerBuilder_ = null;
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         */
+        public cmvr.api.Common.CommandHeader.Feedback.Builder getHeaderBuilder() {
+          
+          onChanged();
+          return getHeaderFieldBuilder().getBuilder();
+        }
+        /**
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         */
+        public cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder() {
+          if (headerBuilder_ != null) {
+            return headerBuilder_.getMessageOrBuilder();
+          } else {
+            return header_ == null ?
+                cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
+          }
+        }
+        /**
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         */
+        private com.google.protobuf.SingleFieldBuilderV3<
+            cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder> 
+            getHeaderFieldBuilder() {
+          if (headerBuilder_ == null) {
+            headerBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+                cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder>(
+                    getHeader(),
+                    getParentForChildren(),
+                    isClean());
+            header_ = null;
+          }
+          return headerBuilder_;
+        }
+
+        private cmvr.api.AgvCommand.AgvBatteryStatus status_;
+        private com.google.protobuf.SingleFieldBuilderV3<
+            cmvr.api.AgvCommand.AgvBatteryStatus, cmvr.api.AgvCommand.AgvBatteryStatus.Builder, cmvr.api.AgvCommand.AgvBatteryStatusOrBuilder> statusBuilder_;
+        /**
+         * <code>.cmvr.api.AgvBatteryStatus status = 2;</code>
+         * @return Whether the status field is set.
+         */
+        public boolean hasStatus() {
+          return statusBuilder_ != null || status_ != null;
+        }
+        /**
+         * <code>.cmvr.api.AgvBatteryStatus status = 2;</code>
+         * @return The status.
+         */
+        public cmvr.api.AgvCommand.AgvBatteryStatus getStatus() {
+          if (statusBuilder_ == null) {
+            return status_ == null ? cmvr.api.AgvCommand.AgvBatteryStatus.getDefaultInstance() : status_;
+          } else {
+            return statusBuilder_.getMessage();
+          }
+        }
+        /**
+         * <code>.cmvr.api.AgvBatteryStatus status = 2;</code>
+         */
+        public Builder setStatus(cmvr.api.AgvCommand.AgvBatteryStatus value) {
+          if (statusBuilder_ == null) {
+            if (value == null) {
+              throw new NullPointerException();
+            }
+            status_ = value;
+            onChanged();
+          } else {
+            statusBuilder_.setMessage(value);
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.AgvBatteryStatus status = 2;</code>
+         */
+        public Builder setStatus(
+            cmvr.api.AgvCommand.AgvBatteryStatus.Builder builderForValue) {
+          if (statusBuilder_ == null) {
+            status_ = builderForValue.build();
+            onChanged();
+          } else {
+            statusBuilder_.setMessage(builderForValue.build());
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.AgvBatteryStatus status = 2;</code>
+         */
+        public Builder mergeStatus(cmvr.api.AgvCommand.AgvBatteryStatus value) {
+          if (statusBuilder_ == null) {
+            if (status_ != null) {
+              status_ =
+                cmvr.api.AgvCommand.AgvBatteryStatus.newBuilder(status_).mergeFrom(value).buildPartial();
+            } else {
+              status_ = value;
+            }
+            onChanged();
+          } else {
+            statusBuilder_.mergeFrom(value);
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.AgvBatteryStatus status = 2;</code>
+         */
+        public Builder clearStatus() {
+          if (statusBuilder_ == null) {
+            status_ = null;
+            onChanged();
+          } else {
+            status_ = null;
+            statusBuilder_ = null;
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.AgvBatteryStatus status = 2;</code>
+         */
+        public cmvr.api.AgvCommand.AgvBatteryStatus.Builder getStatusBuilder() {
+          
+          onChanged();
+          return getStatusFieldBuilder().getBuilder();
+        }
+        /**
+         * <code>.cmvr.api.AgvBatteryStatus status = 2;</code>
+         */
+        public cmvr.api.AgvCommand.AgvBatteryStatusOrBuilder getStatusOrBuilder() {
+          if (statusBuilder_ != null) {
+            return statusBuilder_.getMessageOrBuilder();
+          } else {
+            return status_ == null ?
+                cmvr.api.AgvCommand.AgvBatteryStatus.getDefaultInstance() : status_;
+          }
+        }
+        /**
+         * <code>.cmvr.api.AgvBatteryStatus status = 2;</code>
+         */
+        private com.google.protobuf.SingleFieldBuilderV3<
+            cmvr.api.AgvCommand.AgvBatteryStatus, cmvr.api.AgvCommand.AgvBatteryStatus.Builder, cmvr.api.AgvCommand.AgvBatteryStatusOrBuilder> 
+            getStatusFieldBuilder() {
+          if (statusBuilder_ == null) {
+            statusBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+                cmvr.api.AgvCommand.AgvBatteryStatus, cmvr.api.AgvCommand.AgvBatteryStatus.Builder, cmvr.api.AgvCommand.AgvBatteryStatusOrBuilder>(
+                    getStatus(),
+                    getParentForChildren(),
+                    isClean());
+            status_ = null;
+          }
+          return statusBuilder_;
+        }
+        @java.lang.Override
+        public final Builder setUnknownFields(
+            final com.google.protobuf.UnknownFieldSet unknownFields) {
+          return super.setUnknownFields(unknownFields);
+        }
+
+        @java.lang.Override
+        public final Builder mergeUnknownFields(
+            final com.google.protobuf.UnknownFieldSet unknownFields) {
+          return super.mergeUnknownFields(unknownFields);
+        }
+
+
+        // @@protoc_insertion_point(builder_scope:cmvr.api.RobotStatusBatteryCommand.Feedback)
+      }
+
+      // @@protoc_insertion_point(class_scope:cmvr.api.RobotStatusBatteryCommand.Feedback)
+      private static final cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback DEFAULT_INSTANCE;
+      static {
+        DEFAULT_INSTANCE = new cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback();
+      }
+
+      public static cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback getDefaultInstance() {
+        return DEFAULT_INSTANCE;
+      }
+
+      private static final com.google.protobuf.Parser<Feedback>
+          PARSER = new com.google.protobuf.AbstractParser<Feedback>() {
+        @java.lang.Override
+        public Feedback parsePartialFrom(
+            com.google.protobuf.CodedInputStream input,
+            com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+            throws com.google.protobuf.InvalidProtocolBufferException {
+          Builder builder = newBuilder();
+          try {
+            builder.mergeFrom(input, extensionRegistry);
+          } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+            throw e.setUnfinishedMessage(builder.buildPartial());
+          } catch (com.google.protobuf.UninitializedMessageException e) {
+            throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+          } catch (java.io.IOException e) {
+            throw new com.google.protobuf.InvalidProtocolBufferException(e)
+                .setUnfinishedMessage(builder.buildPartial());
+          }
+          return builder.buildPartial();
+        }
+      };
+
+      public static com.google.protobuf.Parser<Feedback> parser() {
+        return PARSER;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Parser<Feedback> getParserForType() {
+        return PARSER;
+      }
+
+      @java.lang.Override
+      public cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback getDefaultInstanceForType() {
+        return DEFAULT_INSTANCE;
+      }
+
+    }
+
+    private byte memoizedIsInitialized = -1;
+    @java.lang.Override
+    public final boolean isInitialized() {
+      byte isInitialized = memoizedIsInitialized;
+      if (isInitialized == 1) return true;
+      if (isInitialized == 0) return false;
+
+      memoizedIsInitialized = 1;
+      return true;
+    }
+
+    @java.lang.Override
+    public void writeTo(com.google.protobuf.CodedOutputStream output)
+                        throws java.io.IOException {
+      getUnknownFields().writeTo(output);
+    }
+
+    @java.lang.Override
+    public int getSerializedSize() {
+      int size = memoizedSize;
+      if (size != -1) return size;
+
+      size = 0;
+      size += getUnknownFields().getSerializedSize();
+      memoizedSize = size;
+      return size;
+    }
+
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
+      if (!(obj instanceof cmvr.api.AgvCommand.RobotStatusBatteryCommand)) {
+        return super.equals(obj);
+      }
+      cmvr.api.AgvCommand.RobotStatusBatteryCommand other = (cmvr.api.AgvCommand.RobotStatusBatteryCommand) obj;
+
+      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+      return true;
+    }
+
+    @java.lang.Override
+    public int hashCode() {
+      if (memoizedHashCode != 0) {
+        return memoizedHashCode;
+      }
+      int hash = 41;
+      hash = (19 * hash) + getDescriptor().hashCode();
+      hash = (29 * hash) + getUnknownFields().hashCode();
+      memoizedHashCode = hash;
+      return hash;
+    }
+
+    public static cmvr.api.AgvCommand.RobotStatusBatteryCommand parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.AgvCommand.RobotStatusBatteryCommand parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.AgvCommand.RobotStatusBatteryCommand parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.AgvCommand.RobotStatusBatteryCommand parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.AgvCommand.RobotStatusBatteryCommand parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.AgvCommand.RobotStatusBatteryCommand parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.AgvCommand.RobotStatusBatteryCommand parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.AgvCommand.RobotStatusBatteryCommand parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.AgvCommand.RobotStatusBatteryCommand parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static cmvr.api.AgvCommand.RobotStatusBatteryCommand parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.AgvCommand.RobotStatusBatteryCommand parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.AgvCommand.RobotStatusBatteryCommand parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.api.AgvCommand.RobotStatusBatteryCommand prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * Protobuf type {@code cmvr.api.RobotStatusBatteryCommand}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder<Builder> implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.RobotStatusBatteryCommand)
+        cmvr.api.AgvCommand.RobotStatusBatteryCommandOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.AgvCommand.internal_static_cmvr_api_RobotStatusBatteryCommand_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.api.AgvCommand.internal_static_cmvr_api_RobotStatusBatteryCommand_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.api.AgvCommand.RobotStatusBatteryCommand.class, cmvr.api.AgvCommand.RobotStatusBatteryCommand.Builder.class);
+      }
+
+      // Construct using cmvr.api.AgvCommand.RobotStatusBatteryCommand.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.AgvCommand.internal_static_cmvr_api_RobotStatusBatteryCommand_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.AgvCommand.RobotStatusBatteryCommand getDefaultInstanceForType() {
+        return cmvr.api.AgvCommand.RobotStatusBatteryCommand.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.api.AgvCommand.RobotStatusBatteryCommand build() {
+        cmvr.api.AgvCommand.RobotStatusBatteryCommand result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.api.AgvCommand.RobotStatusBatteryCommand buildPartial() {
+        cmvr.api.AgvCommand.RobotStatusBatteryCommand result = new cmvr.api.AgvCommand.RobotStatusBatteryCommand(this);
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
+      }
+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
+      }
+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
+      }
+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.AgvCommand.RobotStatusBatteryCommand) {
+          return mergeFrom((cmvr.api.AgvCommand.RobotStatusBatteryCommand)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.AgvCommand.RobotStatusBatteryCommand other) {
+        if (other == cmvr.api.AgvCommand.RobotStatusBatteryCommand.getDefaultInstance()) return this;
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
+          throw new java.lang.NullPointerException();
+        }
+        try {
+          boolean done = false;
+          while (!done) {
+            int tag = input.readTag();
+            switch (tag) {
+              case 0:
+                done = true;
+                break;
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                  done = true; // was an endgroup tag
+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.api.RobotStatusBatteryCommand)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.RobotStatusBatteryCommand)
+    private static final cmvr.api.AgvCommand.RobotStatusBatteryCommand DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.AgvCommand.RobotStatusBatteryCommand();
+    }
+
+    public static cmvr.api.AgvCommand.RobotStatusBatteryCommand getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser<RobotStatusBatteryCommand>
+        PARSER = new com.google.protobuf.AbstractParser<RobotStatusBatteryCommand>() {
+      @java.lang.Override
+      public RobotStatusBatteryCommand parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser<RobotStatusBatteryCommand> parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser<RobotStatusBatteryCommand> getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.AgvCommand.RobotStatusBatteryCommand getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  public interface AgvRobotLocationOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.AgvRobotLocation)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * <pre>
+     * X坐标(m)
+     * </pre>
+     *
+     * <code>optional double x = 1;</code>
+     * @return Whether the x field is set.
+     */
+    boolean hasX();
+    /**
+     * <pre>
+     * X坐标(m)
+     * </pre>
+     *
+     * <code>optional double x = 1;</code>
+     * @return The x.
+     */
+    double getX();
+
+    /**
+     * <pre>
+     * Y坐标(m)
+     * </pre>
+     *
+     * <code>optional double y = 2;</code>
+     * @return Whether the y field is set.
+     */
+    boolean hasY();
+    /**
+     * <pre>
+     * Y坐标(m)
+     * </pre>
+     *
+     * <code>optional double y = 2;</code>
+     * @return The y.
+     */
+    double getY();
+
+    /**
+     * <pre>
+     * 姿态角(rad)
+     * </pre>
+     *
+     * <code>optional double angle = 3;</code>
+     * @return Whether the angle field is set.
+     */
+    boolean hasAngle();
+    /**
+     * <pre>
+     * 姿态角(rad)
+     * </pre>
+     *
+     * <code>optional double angle = 3;</code>
+     * @return The angle.
+     */
+    double getAngle();
+
+    /**
+     * <pre>
+     * 定位置信度[0,1]
+     * </pre>
+     *
+     * <code>optional double confidence = 4;</code>
+     * @return Whether the confidence field is set.
+     */
+    boolean hasConfidence();
+    /**
+     * <pre>
+     * 定位置信度[0,1]
+     * </pre>
+     *
+     * <code>optional double confidence = 4;</code>
+     * @return The confidence.
+     */
+    double getConfidence();
+
+    /**
+     * <pre>
+     * 当前最近站点ID
+     * </pre>
+     *
+     * <code>optional string current_station = 5;</code>
+     * @return Whether the currentStation field is set.
+     */
+    boolean hasCurrentStation();
+    /**
+     * <pre>
+     * 当前最近站点ID
+     * </pre>
+     *
+     * <code>optional string current_station = 5;</code>
+     * @return The currentStation.
+     */
+    java.lang.String getCurrentStation();
+    /**
+     * <pre>
+     * 当前最近站点ID
+     * </pre>
+     *
+     * <code>optional string current_station = 5;</code>
+     * @return The bytes for currentStation.
+     */
+    com.google.protobuf.ByteString
+        getCurrentStationBytes();
+
+    /**
+     * <pre>
+     * 上一站点ID
+     * </pre>
+     *
+     * <code>optional string last_station = 6;</code>
+     * @return Whether the lastStation field is set.
+     */
+    boolean hasLastStation();
+    /**
+     * <pre>
+     * 上一站点ID
+     * </pre>
+     *
+     * <code>optional string last_station = 6;</code>
+     * @return The lastStation.
+     */
+    java.lang.String getLastStation();
+    /**
+     * <pre>
+     * 上一站点ID
+     * </pre>
+     *
+     * <code>optional string last_station = 6;</code>
+     * @return The bytes for lastStation.
+     */
+    com.google.protobuf.ByteString
+        getLastStationBytes();
+
+    /**
+     * <pre>
+     * 定位方式
+     * </pre>
+     *
+     * <code>optional int32 loc_method = 7;</code>
+     * @return Whether the locMethod field is set.
+     */
+    boolean hasLocMethod();
+    /**
+     * <pre>
+     * 定位方式
+     * </pre>
+     *
+     * <code>optional int32 loc_method = 7;</code>
+     * @return The locMethod.
+     */
+    int getLocMethod();
+
+    /**
+     * <pre>
+     * 错误码
+     * </pre>
+     *
+     * <code>optional int32 ret_code = 8;</code>
+     * @return Whether the retCode field is set.
+     */
+    boolean hasRetCode();
+    /**
+     * <pre>
+     * 错误码
+     * </pre>
+     *
+     * <code>optional int32 ret_code = 8;</code>
+     * @return The retCode.
+     */
+    int getRetCode();
+
+    /**
+     * <pre>
+     * 时间戳
+     * </pre>
+     *
+     * <code>optional string create_on = 9;</code>
+     * @return Whether the createOn field is set.
+     */
+    boolean hasCreateOn();
+    /**
+     * <pre>
+     * 时间戳
+     * </pre>
+     *
+     * <code>optional string create_on = 9;</code>
+     * @return The createOn.
+     */
+    java.lang.String getCreateOn();
+    /**
+     * <pre>
+     * 时间戳
+     * </pre>
+     *
+     * <code>optional string create_on = 9;</code>
+     * @return The bytes for createOn.
+     */
+    com.google.protobuf.ByteString
+        getCreateOnBytes();
+
+    /**
+     * <pre>
+     * 错误信息
+     * </pre>
+     *
+     * <code>optional string err_msg = 10;</code>
+     * @return Whether the errMsg field is set.
+     */
+    boolean hasErrMsg();
+    /**
+     * <pre>
+     * 错误信息
+     * </pre>
+     *
+     * <code>optional string err_msg = 10;</code>
+     * @return The errMsg.
+     */
+    java.lang.String getErrMsg();
+    /**
+     * <pre>
+     * 错误信息
+     * </pre>
+     *
+     * <code>optional string err_msg = 10;</code>
+     * @return The bytes for errMsg.
+     */
+    com.google.protobuf.ByteString
+        getErrMsgBytes();
+  }
+  /**
+   * <pre>
+   * ===================== 机器人位置查询 =====================
+   * </pre>
+   *
+   * Protobuf type {@code cmvr.api.AgvRobotLocation}
+   */
+  public static final class AgvRobotLocation extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.AgvRobotLocation)
+      AgvRobotLocationOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use AgvRobotLocation.newBuilder() to construct.
+    private AgvRobotLocation(com.google.protobuf.GeneratedMessageV3.Builder<?> builder) {
+      super(builder);
+    }
+    private AgvRobotLocation() {
+      currentStation_ = "";
+      lastStation_ = "";
+      createOn_ = "";
+      errMsg_ = "";
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new AgvRobotLocation();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.api.AgvCommand.internal_static_cmvr_api_AgvRobotLocation_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.api.AgvCommand.internal_static_cmvr_api_AgvRobotLocation_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              cmvr.api.AgvCommand.AgvRobotLocation.class, cmvr.api.AgvCommand.AgvRobotLocation.Builder.class);
+    }
+
+    private int bitField0_;
+    public static final int X_FIELD_NUMBER = 1;
+    private double x_;
+    /**
+     * <pre>
+     * X坐标(m)
+     * </pre>
+     *
+     * <code>optional double x = 1;</code>
+     * @return Whether the x field is set.
+     */
+    @java.lang.Override
+    public boolean hasX() {
+      return ((bitField0_ & 0x00000001) != 0);
+    }
+    /**
+     * <pre>
+     * X坐标(m)
+     * </pre>
+     *
+     * <code>optional double x = 1;</code>
+     * @return The x.
+     */
+    @java.lang.Override
+    public double getX() {
+      return x_;
+    }
+
+    public static final int Y_FIELD_NUMBER = 2;
+    private double y_;
+    /**
+     * <pre>
+     * Y坐标(m)
+     * </pre>
+     *
+     * <code>optional double y = 2;</code>
+     * @return Whether the y field is set.
+     */
+    @java.lang.Override
+    public boolean hasY() {
+      return ((bitField0_ & 0x00000002) != 0);
+    }
+    /**
+     * <pre>
+     * Y坐标(m)
+     * </pre>
+     *
+     * <code>optional double y = 2;</code>
+     * @return The y.
+     */
+    @java.lang.Override
+    public double getY() {
+      return y_;
+    }
+
+    public static final int ANGLE_FIELD_NUMBER = 3;
+    private double angle_;
+    /**
+     * <pre>
+     * 姿态角(rad)
+     * </pre>
+     *
+     * <code>optional double angle = 3;</code>
+     * @return Whether the angle field is set.
+     */
+    @java.lang.Override
+    public boolean hasAngle() {
+      return ((bitField0_ & 0x00000004) != 0);
+    }
+    /**
+     * <pre>
+     * 姿态角(rad)
+     * </pre>
+     *
+     * <code>optional double angle = 3;</code>
+     * @return The angle.
+     */
+    @java.lang.Override
+    public double getAngle() {
+      return angle_;
+    }
+
+    public static final int CONFIDENCE_FIELD_NUMBER = 4;
+    private double confidence_;
+    /**
+     * <pre>
+     * 定位置信度[0,1]
+     * </pre>
+     *
+     * <code>optional double confidence = 4;</code>
+     * @return Whether the confidence field is set.
+     */
+    @java.lang.Override
+    public boolean hasConfidence() {
+      return ((bitField0_ & 0x00000008) != 0);
+    }
+    /**
+     * <pre>
+     * 定位置信度[0,1]
+     * </pre>
+     *
+     * <code>optional double confidence = 4;</code>
+     * @return The confidence.
+     */
+    @java.lang.Override
+    public double getConfidence() {
+      return confidence_;
+    }
+
+    public static final int CURRENT_STATION_FIELD_NUMBER = 5;
+    private volatile java.lang.Object currentStation_;
+    /**
+     * <pre>
+     * 当前最近站点ID
+     * </pre>
+     *
+     * <code>optional string current_station = 5;</code>
+     * @return Whether the currentStation field is set.
+     */
+    @java.lang.Override
+    public boolean hasCurrentStation() {
+      return ((bitField0_ & 0x00000010) != 0);
+    }
+    /**
+     * <pre>
+     * 当前最近站点ID
+     * </pre>
+     *
+     * <code>optional string current_station = 5;</code>
+     * @return The currentStation.
+     */
+    @java.lang.Override
+    public java.lang.String getCurrentStation() {
+      java.lang.Object ref = currentStation_;
+      if (ref instanceof java.lang.String) {
+        return (java.lang.String) ref;
+      } else {
+        com.google.protobuf.ByteString bs = 
+            (com.google.protobuf.ByteString) ref;
+        java.lang.String s = bs.toStringUtf8();
+        currentStation_ = s;
+        return s;
+      }
+    }
+    /**
+     * <pre>
+     * 当前最近站点ID
+     * </pre>
+     *
+     * <code>optional string current_station = 5;</code>
+     * @return The bytes for currentStation.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getCurrentStationBytes() {
+      java.lang.Object ref = currentStation_;
+      if (ref instanceof java.lang.String) {
+        com.google.protobuf.ByteString b = 
+            com.google.protobuf.ByteString.copyFromUtf8(
+                (java.lang.String) ref);
+        currentStation_ = b;
+        return b;
+      } else {
+        return (com.google.protobuf.ByteString) ref;
+      }
+    }
+
+    public static final int LAST_STATION_FIELD_NUMBER = 6;
+    private volatile java.lang.Object lastStation_;
+    /**
+     * <pre>
+     * 上一站点ID
+     * </pre>
+     *
+     * <code>optional string last_station = 6;</code>
+     * @return Whether the lastStation field is set.
+     */
+    @java.lang.Override
+    public boolean hasLastStation() {
+      return ((bitField0_ & 0x00000020) != 0);
+    }
+    /**
+     * <pre>
+     * 上一站点ID
+     * </pre>
+     *
+     * <code>optional string last_station = 6;</code>
+     * @return The lastStation.
+     */
+    @java.lang.Override
+    public java.lang.String getLastStation() {
+      java.lang.Object ref = lastStation_;
+      if (ref instanceof java.lang.String) {
+        return (java.lang.String) ref;
+      } else {
+        com.google.protobuf.ByteString bs = 
+            (com.google.protobuf.ByteString) ref;
+        java.lang.String s = bs.toStringUtf8();
+        lastStation_ = s;
+        return s;
+      }
+    }
+    /**
+     * <pre>
+     * 上一站点ID
+     * </pre>
+     *
+     * <code>optional string last_station = 6;</code>
+     * @return The bytes for lastStation.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getLastStationBytes() {
+      java.lang.Object ref = lastStation_;
+      if (ref instanceof java.lang.String) {
+        com.google.protobuf.ByteString b = 
+            com.google.protobuf.ByteString.copyFromUtf8(
+                (java.lang.String) ref);
+        lastStation_ = b;
+        return b;
+      } else {
+        return (com.google.protobuf.ByteString) ref;
+      }
+    }
+
+    public static final int LOC_METHOD_FIELD_NUMBER = 7;
+    private int locMethod_;
+    /**
+     * <pre>
+     * 定位方式
+     * </pre>
+     *
+     * <code>optional int32 loc_method = 7;</code>
+     * @return Whether the locMethod field is set.
+     */
+    @java.lang.Override
+    public boolean hasLocMethod() {
+      return ((bitField0_ & 0x00000040) != 0);
+    }
+    /**
+     * <pre>
+     * 定位方式
+     * </pre>
+     *
+     * <code>optional int32 loc_method = 7;</code>
+     * @return The locMethod.
+     */
+    @java.lang.Override
+    public int getLocMethod() {
+      return locMethod_;
+    }
+
+    public static final int RET_CODE_FIELD_NUMBER = 8;
+    private int retCode_;
+    /**
+     * <pre>
+     * 错误码
+     * </pre>
+     *
+     * <code>optional int32 ret_code = 8;</code>
+     * @return Whether the retCode field is set.
+     */
+    @java.lang.Override
+    public boolean hasRetCode() {
+      return ((bitField0_ & 0x00000080) != 0);
+    }
+    /**
+     * <pre>
+     * 错误码
+     * </pre>
+     *
+     * <code>optional int32 ret_code = 8;</code>
+     * @return The retCode.
+     */
+    @java.lang.Override
+    public int getRetCode() {
+      return retCode_;
+    }
+
+    public static final int CREATE_ON_FIELD_NUMBER = 9;
+    private volatile java.lang.Object createOn_;
+    /**
+     * <pre>
+     * 时间戳
+     * </pre>
+     *
+     * <code>optional string create_on = 9;</code>
+     * @return Whether the createOn field is set.
+     */
+    @java.lang.Override
+    public boolean hasCreateOn() {
+      return ((bitField0_ & 0x00000100) != 0);
+    }
+    /**
+     * <pre>
+     * 时间戳
+     * </pre>
+     *
+     * <code>optional string create_on = 9;</code>
+     * @return The createOn.
+     */
+    @java.lang.Override
+    public java.lang.String getCreateOn() {
+      java.lang.Object ref = createOn_;
+      if (ref instanceof java.lang.String) {
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+        java.lang.String s = bs.toStringUtf8();
+        createOn_ = s;
+        return s;
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+    }
+    /**
+     * <pre>
+     * 时间戳
+     * </pre>
+     *
+     * <code>optional string create_on = 9;</code>
+     * @return The bytes for createOn.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getCreateOnBytes() {
+      java.lang.Object ref = createOn_;
+      if (ref instanceof java.lang.String) {
+        com.google.protobuf.ByteString b = 
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+        createOn_ = b;
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+    public static final int ERR_MSG_FIELD_NUMBER = 10;
+    private volatile java.lang.Object errMsg_;
+    /**
+     * <pre>
+     * 错误信息
+     * </pre>
+     *
+     * <code>optional string err_msg = 10;</code>
+     * @return Whether the errMsg field is set.
+     */
+    @java.lang.Override
+    public boolean hasErrMsg() {
+      return ((bitField0_ & 0x00000200) != 0);
+    }
+    /**
+     * <pre>
+     * 错误信息
+     * </pre>
+     *
+     * <code>optional string err_msg = 10;</code>
+     * @return The errMsg.
+     */
+    @java.lang.Override
+    public java.lang.String getErrMsg() {
+      java.lang.Object ref = errMsg_;
+      if (ref instanceof java.lang.String) {
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+        java.lang.String s = bs.toStringUtf8();
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+     * <pre>
+     * 错误信息
+     * </pre>
+     *
+     * <code>optional string err_msg = 10;</code>
+     * @return The bytes for errMsg.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getErrMsgBytes() {
+      java.lang.Object ref = errMsg_;
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+    public static cmvr.api.AgvCommand.AgvRobotLocation parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.AgvCommand.AgvRobotLocation parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.AgvCommand.AgvRobotLocation parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.AgvCommand.AgvRobotLocation parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.AgvCommand.AgvRobotLocation parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.AgvCommand.AgvRobotLocation parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.AgvCommand.AgvRobotLocation parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.AgvCommand.AgvRobotLocation parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static cmvr.api.AgvCommand.AgvRobotLocation parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.AgvCommand.AgvRobotLocation parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.AgvCommand.AgvRobotLocation parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.api.AgvCommand.AgvRobotLocation prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * <pre>
+     * ===================== 机器人位置查询 =====================
+     * </pre>
+     *
+     * Protobuf type {@code cmvr.api.AgvRobotLocation}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder<Builder> implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.AgvRobotLocation)
+        cmvr.api.AgvCommand.AgvRobotLocationOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.AgvCommand.internal_static_cmvr_api_AgvRobotLocation_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.api.AgvCommand.internal_static_cmvr_api_AgvRobotLocation_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.api.AgvCommand.AgvRobotLocation.class, cmvr.api.AgvCommand.AgvRobotLocation.Builder.class);
+      }
+
+      // Construct using cmvr.api.AgvCommand.AgvRobotLocation.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        x_ = 0D;
+        bitField0_ = (bitField0_ & ~0x00000001);
+        y_ = 0D;
+        bitField0_ = (bitField0_ & ~0x00000002);
+        angle_ = 0D;
+        bitField0_ = (bitField0_ & ~0x00000004);
+        confidence_ = 0D;
+        bitField0_ = (bitField0_ & ~0x00000008);
+        currentStation_ = "";
+        bitField0_ = (bitField0_ & ~0x00000010);
+        lastStation_ = "";
+        bitField0_ = (bitField0_ & ~0x00000020);
+        locMethod_ = 0;
+        bitField0_ = (bitField0_ & ~0x00000040);
+        retCode_ = 0;
+        bitField0_ = (bitField0_ & ~0x00000080);
+        createOn_ = "";
+        bitField0_ = (bitField0_ & ~0x00000100);
+        errMsg_ = "";
+        bitField0_ = (bitField0_ & ~0x00000200);
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.AgvCommand.internal_static_cmvr_api_AgvRobotLocation_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.AgvCommand.AgvRobotLocation getDefaultInstanceForType() {
+        return cmvr.api.AgvCommand.AgvRobotLocation.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.api.AgvCommand.AgvRobotLocation build() {
+        cmvr.api.AgvCommand.AgvRobotLocation result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.api.AgvCommand.AgvRobotLocation buildPartial() {
+        cmvr.api.AgvCommand.AgvRobotLocation result = new cmvr.api.AgvCommand.AgvRobotLocation(this);
+        int from_bitField0_ = bitField0_;
+        int to_bitField0_ = 0;
+        if (((from_bitField0_ & 0x00000001) != 0)) {
+          result.x_ = x_;
+          to_bitField0_ |= 0x00000001;
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+        if (((from_bitField0_ & 0x00000002) != 0)) {
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+          to_bitField0_ |= 0x00000002;
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+        if (((from_bitField0_ & 0x00000004) != 0)) {
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+          to_bitField0_ |= 0x00000004;
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+          to_bitField0_ |= 0x00000080;
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+        result.errMsg_ = errMsg_;
+        result.bitField0_ = to_bitField0_;
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
+      }
+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
+      }
+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
+      }
+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.AgvCommand.AgvRobotLocation) {
+          return mergeFrom((cmvr.api.AgvCommand.AgvRobotLocation)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.AgvCommand.AgvRobotLocation other) {
+        if (other == cmvr.api.AgvCommand.AgvRobotLocation.getDefaultInstance()) return this;
+        if (other.hasX()) {
+          setX(other.getX());
+        }
+        if (other.hasY()) {
+          setY(other.getY());
+        }
+        if (other.hasAngle()) {
+          setAngle(other.getAngle());
+        }
+        if (other.hasConfidence()) {
+          setConfidence(other.getConfidence());
+        }
+        if (other.hasCurrentStation()) {
+          bitField0_ |= 0x00000010;
+          currentStation_ = other.currentStation_;
+          onChanged();
+        }
+        if (other.hasLastStation()) {
+          bitField0_ |= 0x00000020;
+          lastStation_ = other.lastStation_;
+          onChanged();
+        }
+        if (other.hasLocMethod()) {
+          setLocMethod(other.getLocMethod());
+        }
+        if (other.hasRetCode()) {
+          setRetCode(other.getRetCode());
+        }
+        if (other.hasCreateOn()) {
+          bitField0_ |= 0x00000100;
+          createOn_ = other.createOn_;
+          onChanged();
+        }
+        if (other.hasErrMsg()) {
+          bitField0_ |= 0x00000200;
+          errMsg_ = other.errMsg_;
+          onChanged();
+        }
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
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+          while (!done) {
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+                break;
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+                break;
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+              case 17: {
+                y_ = input.readDouble();
+                bitField0_ |= 0x00000002;
+                break;
+              } // case 17
+              case 25: {
+                angle_ = input.readDouble();
+                bitField0_ |= 0x00000004;
+                break;
+              } // case 25
+              case 33: {
+                confidence_ = input.readDouble();
+                bitField0_ |= 0x00000008;
+                break;
+              } // case 33
+              case 42: {
+                currentStation_ = input.readStringRequireUtf8();
+                bitField0_ |= 0x00000010;
+                break;
+              } // case 42
+              case 50: {
+                lastStation_ = input.readStringRequireUtf8();
+                bitField0_ |= 0x00000020;
+                break;
+              } // case 50
+              case 56: {
+                locMethod_ = input.readInt32();
+                bitField0_ |= 0x00000040;
+                break;
+              } // case 56
+              case 64: {
+                retCode_ = input.readInt32();
+                bitField0_ |= 0x00000080;
+                break;
+              } // case 64
+              case 74: {
+                createOn_ = input.readStringRequireUtf8();
+                bitField0_ |= 0x00000100;
+                break;
+              } // case 74
+              case 82: {
+                errMsg_ = input.readStringRequireUtf8();
+                bitField0_ |= 0x00000200;
+                break;
+              } // case 82
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                  done = true; // was an endgroup tag
+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+      private int bitField0_;
+
+      private double x_ ;
+      /**
+       * <pre>
+       * X坐标(m)
+       * </pre>
+       *
+       * <code>optional double x = 1;</code>
+       * @return Whether the x field is set.
+       */
+      @java.lang.Override
+      public boolean hasX() {
+        return ((bitField0_ & 0x00000001) != 0);
+      }
+      /**
+       * <pre>
+       * X坐标(m)
+       * </pre>
+       *
+       * <code>optional double x = 1;</code>
+       * @return The x.
+       */
+      @java.lang.Override
+      public double getX() {
+        return x_;
+      }
+      /**
+       * <pre>
+       * X坐标(m)
+       * </pre>
+       *
+       * <code>optional double x = 1;</code>
+       * @param value The x to set.
+       * @return This builder for chaining.
+       */
+      public Builder setX(double value) {
+        bitField0_ |= 0x00000001;
+        x_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * X坐标(m)
+       * </pre>
+       *
+       * <code>optional double x = 1;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearX() {
+        bitField0_ = (bitField0_ & ~0x00000001);
+        x_ = 0D;
+        onChanged();
+        return this;
+      }
+
+      private double y_ ;
+      /**
+       * <pre>
+       * Y坐标(m)
+       * </pre>
+       *
+       * <code>optional double y = 2;</code>
+       * @return Whether the y field is set.
+       */
+      @java.lang.Override
+      public boolean hasY() {
+        return ((bitField0_ & 0x00000002) != 0);
+      }
+      /**
+       * <pre>
+       * Y坐标(m)
+       * </pre>
+       *
+       * <code>optional double y = 2;</code>
+       * @return The y.
+       */
+      @java.lang.Override
+      public double getY() {
+        return y_;
+      }
+      /**
+       * <pre>
+       * Y坐标(m)
+       * </pre>
+       *
+       * <code>optional double y = 2;</code>
+       * @param value The y to set.
+       * @return This builder for chaining.
+       */
+      public Builder setY(double value) {
+        bitField0_ |= 0x00000002;
+        y_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * Y坐标(m)
+       * </pre>
+       *
+       * <code>optional double y = 2;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearY() {
+        bitField0_ = (bitField0_ & ~0x00000002);
+        y_ = 0D;
+        onChanged();
+        return this;
+      }
+
+      private double angle_ ;
+      /**
+       * <pre>
+       * 姿态角(rad)
+       * </pre>
+       *
+       * <code>optional double angle = 3;</code>
+       * @return Whether the angle field is set.
+       */
+      @java.lang.Override
+      public boolean hasAngle() {
+        return ((bitField0_ & 0x00000004) != 0);
+      }
+      /**
+       * <pre>
+       * 姿态角(rad)
+       * </pre>
+       *
+       * <code>optional double angle = 3;</code>
+       * @return The angle.
+       */
+      @java.lang.Override
+      public double getAngle() {
+        return angle_;
+      }
+      /**
+       * <pre>
+       * 姿态角(rad)
+       * </pre>
+       *
+       * <code>optional double angle = 3;</code>
+       * @param value The angle to set.
+       * @return This builder for chaining.
+       */
+      public Builder setAngle(double value) {
+        bitField0_ |= 0x00000004;
+        angle_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 姿态角(rad)
+       * </pre>
+       *
+       * <code>optional double angle = 3;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearAngle() {
+        bitField0_ = (bitField0_ & ~0x00000004);
+        angle_ = 0D;
+        onChanged();
+        return this;
+      }
+
+      private double confidence_ ;
+      /**
+       * <pre>
+       * 定位置信度[0,1]
+       * </pre>
+       *
+       * <code>optional double confidence = 4;</code>
+       * @return Whether the confidence field is set.
+       */
+      @java.lang.Override
+      public boolean hasConfidence() {
+        return ((bitField0_ & 0x00000008) != 0);
+      }
+      /**
+       * <pre>
+       * 定位置信度[0,1]
+       * </pre>
+       *
+       * <code>optional double confidence = 4;</code>
+       * @return The confidence.
+       */
+      @java.lang.Override
+      public double getConfidence() {
+        return confidence_;
+      }
+      /**
+       * <pre>
+       * 定位置信度[0,1]
+       * </pre>
+       *
+       * <code>optional double confidence = 4;</code>
+       * @param value The confidence to set.
+       * @return This builder for chaining.
+       */
+      public Builder setConfidence(double value) {
+        bitField0_ |= 0x00000008;
+        confidence_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 定位置信度[0,1]
+       * </pre>
+       *
+       * <code>optional double confidence = 4;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearConfidence() {
+        bitField0_ = (bitField0_ & ~0x00000008);
+        confidence_ = 0D;
+        onChanged();
+        return this;
+      }
+
+      private java.lang.Object currentStation_ = "";
+      /**
+       * <pre>
+       * 当前最近站点ID
+       * </pre>
+       *
+       * <code>optional string current_station = 5;</code>
+       * @return Whether the currentStation field is set.
+       */
+      public boolean hasCurrentStation() {
+        return ((bitField0_ & 0x00000010) != 0);
+      }
+      /**
+       * <pre>
+       * 当前最近站点ID
+       * </pre>
+       *
+       * <code>optional string current_station = 5;</code>
+       * @return The currentStation.
+       */
+      public java.lang.String getCurrentStation() {
+        java.lang.Object ref = currentStation_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          currentStation_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * <pre>
+       * 当前最近站点ID
+       * </pre>
+       *
+       * <code>optional string current_station = 5;</code>
+       * @return The bytes for currentStation.
+       */
+      public com.google.protobuf.ByteString
+          getCurrentStationBytes() {
+        java.lang.Object ref = currentStation_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          currentStation_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * <pre>
+       * 当前最近站点ID
+       * </pre>
+       *
+       * <code>optional string current_station = 5;</code>
+       * @param value The currentStation to set.
+       * @return This builder for chaining.
+       */
+      public Builder setCurrentStation(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  bitField0_ |= 0x00000010;
+        currentStation_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 当前最近站点ID
+       * </pre>
+       *
+       * <code>optional string current_station = 5;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearCurrentStation() {
+        bitField0_ = (bitField0_ & ~0x00000010);
+        currentStation_ = getDefaultInstance().getCurrentStation();
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 当前最近站点ID
+       * </pre>
+       *
+       * <code>optional string current_station = 5;</code>
+       * @param value The bytes for currentStation to set.
+       * @return This builder for chaining.
+       */
+      public Builder setCurrentStationBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        bitField0_ |= 0x00000010;
+        currentStation_ = value;
+        onChanged();
+        return this;
+      }
+
+      private java.lang.Object lastStation_ = "";
+      /**
+       * <pre>
+       * 上一站点ID
+       * </pre>
+       *
+       * <code>optional string last_station = 6;</code>
+       * @return Whether the lastStation field is set.
+       */
+      public boolean hasLastStation() {
+        return ((bitField0_ & 0x00000020) != 0);
+      }
+      /**
+       * <pre>
+       * 上一站点ID
+       * </pre>
+       *
+       * <code>optional string last_station = 6;</code>
+       * @return The lastStation.
+       */
+      public java.lang.String getLastStation() {
+        java.lang.Object ref = lastStation_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          lastStation_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * <pre>
+       * 上一站点ID
+       * </pre>
+       *
+       * <code>optional string last_station = 6;</code>
+       * @return The bytes for lastStation.
+       */
+      public com.google.protobuf.ByteString
+          getLastStationBytes() {
+        java.lang.Object ref = lastStation_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          lastStation_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * <pre>
+       * 上一站点ID
+       * </pre>
+       *
+       * <code>optional string last_station = 6;</code>
+       * @param value The lastStation to set.
+       * @return This builder for chaining.
+       */
+      public Builder setLastStation(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  bitField0_ |= 0x00000020;
+        lastStation_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 上一站点ID
+       * </pre>
+       *
+       * <code>optional string last_station = 6;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearLastStation() {
+        bitField0_ = (bitField0_ & ~0x00000020);
+        lastStation_ = getDefaultInstance().getLastStation();
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 上一站点ID
+       * </pre>
+       *
+       * <code>optional string last_station = 6;</code>
+       * @param value The bytes for lastStation to set.
+       * @return This builder for chaining.
+       */
+      public Builder setLastStationBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        bitField0_ |= 0x00000020;
+        lastStation_ = value;
+        onChanged();
+        return this;
+      }
+
+      private int locMethod_ ;
+      /**
+       * <pre>
+       * 定位方式
+       * </pre>
+       *
+       * <code>optional int32 loc_method = 7;</code>
+       * @return Whether the locMethod field is set.
+       */
+      @java.lang.Override
+      public boolean hasLocMethod() {
+        return ((bitField0_ & 0x00000040) != 0);
+      }
+      /**
+       * <pre>
+       * 定位方式
+       * </pre>
+       *
+       * <code>optional int32 loc_method = 7;</code>
+       * @return The locMethod.
+       */
+      @java.lang.Override
+      public int getLocMethod() {
+        return locMethod_;
+      }
+      /**
+       * <pre>
+       * 定位方式
+       * </pre>
+       *
+       * <code>optional int32 loc_method = 7;</code>
+       * @param value The locMethod to set.
+       * @return This builder for chaining.
+       */
+      public Builder setLocMethod(int value) {
+        bitField0_ |= 0x00000040;
+        locMethod_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 定位方式
+       * </pre>
+       *
+       * <code>optional int32 loc_method = 7;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearLocMethod() {
+        bitField0_ = (bitField0_ & ~0x00000040);
+        locMethod_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int retCode_ ;
+      /**
+       * <pre>
+       * 错误码
+       * </pre>
+       *
+       * <code>optional int32 ret_code = 8;</code>
+       * @return Whether the retCode field is set.
+       */
+      @java.lang.Override
+      public boolean hasRetCode() {
+        return ((bitField0_ & 0x00000080) != 0);
+      }
+      /**
+       * <pre>
+       * 错误码
+       * </pre>
+       *
+       * <code>optional int32 ret_code = 8;</code>
+       * @return The retCode.
+       */
+      @java.lang.Override
+      public int getRetCode() {
+        return retCode_;
+      }
+      /**
+       * <pre>
+       * 错误码
+       * </pre>
+       *
+       * <code>optional int32 ret_code = 8;</code>
+       * @param value The retCode to set.
+       * @return This builder for chaining.
+       */
+      public Builder setRetCode(int value) {
+        bitField0_ |= 0x00000080;
+        retCode_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 错误码
+       * </pre>
+       *
+       * <code>optional int32 ret_code = 8;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearRetCode() {
+        bitField0_ = (bitField0_ & ~0x00000080);
+        retCode_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private java.lang.Object createOn_ = "";
+      /**
+       * <pre>
+       * 时间戳
+       * </pre>
+       *
+       * <code>optional string create_on = 9;</code>
+       * @return Whether the createOn field is set.
+       */
+      public boolean hasCreateOn() {
+        return ((bitField0_ & 0x00000100) != 0);
+      }
+      /**
+       * <pre>
+       * 时间戳
+       * </pre>
+       *
+       * <code>optional string create_on = 9;</code>
+       * @return The createOn.
+       */
+      public java.lang.String getCreateOn() {
+        java.lang.Object ref = createOn_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          createOn_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * <pre>
+       * 时间戳
+       * </pre>
+       *
+       * <code>optional string create_on = 9;</code>
+       * @return The bytes for createOn.
+       */
+      public com.google.protobuf.ByteString
+          getCreateOnBytes() {
+        java.lang.Object ref = createOn_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          createOn_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * <pre>
+       * 时间戳
+       * </pre>
+       *
+       * <code>optional string create_on = 9;</code>
+       * @param value The createOn to set.
+       * @return This builder for chaining.
+       */
+      public Builder setCreateOn(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  bitField0_ |= 0x00000100;
+        createOn_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 时间戳
+       * </pre>
+       *
+       * <code>optional string create_on = 9;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearCreateOn() {
+        bitField0_ = (bitField0_ & ~0x00000100);
+        createOn_ = getDefaultInstance().getCreateOn();
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 时间戳
+       * </pre>
+       *
+       * <code>optional string create_on = 9;</code>
+       * @param value The bytes for createOn to set.
+       * @return This builder for chaining.
+       */
+      public Builder setCreateOnBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        bitField0_ |= 0x00000100;
+        createOn_ = value;
+        onChanged();
+        return this;
+      }
+
+      private java.lang.Object errMsg_ = "";
+      /**
+       * <pre>
+       * 错误信息
+       * </pre>
+       *
+       * <code>optional string err_msg = 10;</code>
+       * @return Whether the errMsg field is set.
+       */
+      public boolean hasErrMsg() {
+        return ((bitField0_ & 0x00000200) != 0);
+      }
+      /**
+       * <pre>
+       * 错误信息
+       * </pre>
+       *
+       * <code>optional string err_msg = 10;</code>
+       * @return The errMsg.
+       */
+      public java.lang.String getErrMsg() {
+        java.lang.Object ref = errMsg_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          errMsg_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * <pre>
+       * 错误信息
+       * </pre>
+       *
+       * <code>optional string err_msg = 10;</code>
+       * @return The bytes for errMsg.
+       */
+      public com.google.protobuf.ByteString
+          getErrMsgBytes() {
+        java.lang.Object ref = errMsg_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          errMsg_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * <pre>
+       * 错误信息
+       * </pre>
+       *
+       * <code>optional string err_msg = 10;</code>
+       * @param value The errMsg to set.
+       * @return This builder for chaining.
+       */
+      public Builder setErrMsg(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  bitField0_ |= 0x00000200;
+        errMsg_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 错误信息
+       * </pre>
+       *
+       * <code>optional string err_msg = 10;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearErrMsg() {
+        bitField0_ = (bitField0_ & ~0x00000200);
+        errMsg_ = getDefaultInstance().getErrMsg();
+        onChanged();
+        return this;
+      }
+      /**
+       * <pre>
+       * 错误信息
+       * </pre>
+       *
+       * <code>optional string err_msg = 10;</code>
+       * @param value The bytes for errMsg to set.
+       * @return This builder for chaining.
+       */
+      public Builder setErrMsgBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        bitField0_ |= 0x00000200;
+        errMsg_ = value;
+        onChanged();
+        return this;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.api.AgvRobotLocation)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.AgvRobotLocation)
+    private static final cmvr.api.AgvCommand.AgvRobotLocation DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.AgvCommand.AgvRobotLocation();
+    }
+
+    public static cmvr.api.AgvCommand.AgvRobotLocation getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser<AgvRobotLocation>
+        PARSER = new com.google.protobuf.AbstractParser<AgvRobotLocation>() {
+      @java.lang.Override
+      public AgvRobotLocation parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser<AgvRobotLocation> parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser<AgvRobotLocation> getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.AgvCommand.AgvRobotLocation getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  public interface RobotStatusLocCommandOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.RobotStatusLocCommand)
+      com.google.protobuf.MessageOrBuilder {
+  }
+  /**
+   * Protobuf type {@code cmvr.api.RobotStatusLocCommand}
+   */
+  public static final class RobotStatusLocCommand extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.RobotStatusLocCommand)
+      RobotStatusLocCommandOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use RobotStatusLocCommand.newBuilder() to construct.
+    private RobotStatusLocCommand(com.google.protobuf.GeneratedMessageV3.Builder<?> builder) {
+      super(builder);
+    }
+    private RobotStatusLocCommand() {
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new RobotStatusLocCommand();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.api.AgvCommand.internal_static_cmvr_api_RobotStatusLocCommand_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
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+    }
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+        // @@protoc_insertion_point(interface_extends:cmvr.api.RobotStatusLocCommand.Request)
+        com.google.protobuf.MessageOrBuilder {
+
+      /**
+       * <code>.cmvr.api.CommandHeader.Request header = 1;</code>
+       * @return Whether the header field is set.
+       */
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+      /**
+       * <code>.cmvr.api.CommandHeader.Request header = 1;</code>
+       * @return The header.
+       */
+      cmvr.api.Common.CommandHeader.Request getHeader();
+      /**
+       * <code>.cmvr.api.CommandHeader.Request header = 1;</code>
+       */
+      cmvr.api.Common.CommandHeader.RequestOrBuilder getHeaderOrBuilder();
+    }
+    /**
+     * Protobuf type {@code cmvr.api.RobotStatusLocCommand.Request}
+     */
+    public static final class Request extends
+        com.google.protobuf.GeneratedMessageV3 implements
+        // @@protoc_insertion_point(message_implements:cmvr.api.RobotStatusLocCommand.Request)
+        RequestOrBuilder {
+    private static final long serialVersionUID = 0L;
+      // Use Request.newBuilder() to construct.
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+        if (!(obj instanceof cmvr.api.AgvCommand.RobotStatusLocCommand.Request)) {
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+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data, extensionRegistry);
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+          com.google.protobuf.ByteString data)
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+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data, extensionRegistry);
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+      public static cmvr.api.AgvCommand.RobotStatusLocCommand.Request parseFrom(byte[] data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
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+      // @@protoc_insertion_point(class_scope:cmvr.api.RobotStatusLocCommand.Request)
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+          PARSER = new com.google.protobuf.AbstractParser<Request>() {
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+            throws com.google.protobuf.InvalidProtocolBufferException {
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+        return DEFAULT_INSTANCE;
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+        // @@protoc_insertion_point(interface_extends:cmvr.api.RobotStatusLocCommand.Feedback)
+        com.google.protobuf.MessageOrBuilder {
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+      /**
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+      /**
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+      /**
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+      /**
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+      protected java.lang.Object newInstance(
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+        if (!(obj instanceof cmvr.api.AgvCommand.RobotStatusLocCommand.Feedback)) {
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+      public int hashCode() {
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+          throws com.google.protobuf.InvalidProtocolBufferException {
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+          com.google.protobuf.ByteString data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data);
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+      public static cmvr.api.AgvCommand.RobotStatusLocCommand.Feedback parseFrom(
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+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data, extensionRegistry);
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+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data);
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+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data, extensionRegistry);
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+          throws java.io.IOException {
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+          throws java.io.IOException {
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+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageV3
+            .parseWithIOException(PARSER, input);
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+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
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+      @java.lang.Override
+      public Builder newBuilderForType() { return newBuilder(); }
+      public static Builder newBuilder() {
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+      public static Builder newBuilder(cmvr.api.AgvCommand.RobotStatusLocCommand.Feedback prototype) {
+        return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+      }
+      @java.lang.Override
+      public Builder toBuilder() {
+        return this == DEFAULT_INSTANCE
+            ? new Builder() : new Builder().mergeFrom(this);
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+
+      @java.lang.Override
+      protected Builder newBuilderForType(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        Builder builder = new Builder(parent);
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+      /**
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+      public static final class Builder extends
+          com.google.protobuf.GeneratedMessageV3.Builder<Builder> implements
+          // @@protoc_insertion_point(builder_implements:cmvr.api.RobotStatusLocCommand.Feedback)
+          cmvr.api.AgvCommand.RobotStatusLocCommand.FeedbackOrBuilder {
+        public static final com.google.protobuf.Descriptors.Descriptor
+            getDescriptor() {
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+        private Builder() {
+
+        }
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+        private Builder(
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+        public com.google.protobuf.Descriptors.Descriptor
+            getDescriptorForType() {
+          return cmvr.api.AgvCommand.internal_static_cmvr_api_RobotStatusLocCommand_Feedback_descriptor;
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+        @java.lang.Override
+        public cmvr.api.AgvCommand.RobotStatusLocCommand.Feedback getDefaultInstanceForType() {
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+        public cmvr.api.AgvCommand.RobotStatusLocCommand.Feedback build() {
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+        public Builder setRepeatedField(
+            com.google.protobuf.Descriptors.FieldDescriptor field,
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+        public Builder mergeFrom(cmvr.api.AgvCommand.RobotStatusLocCommand.Feedback other) {
+          if (other == cmvr.api.AgvCommand.RobotStatusLocCommand.Feedback.getDefaultInstance()) return this;
+          if (other.hasHeader()) {
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+          return this;
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+        @java.lang.Override
+        public final boolean isInitialized() {
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+
+        @java.lang.Override
+        public Builder mergeFrom(
+            com.google.protobuf.CodedInputStream input,
+            com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+            throws java.io.IOException {
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+        private com.google.protobuf.SingleFieldBuilderV3<
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+        /**
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+         * @return Whether the header field is set.
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+        public boolean hasHeader() {
+          return headerBuilder_ != null || header_ != null;
+        }
+        /**
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         * @return The header.
+         */
+        public cmvr.api.Common.CommandHeader.Feedback getHeader() {
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+        /**
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
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+        public Builder setHeader(cmvr.api.Common.CommandHeader.Feedback value) {
+          if (headerBuilder_ == null) {
+            if (value == null) {
+              throw new NullPointerException();
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+            header_ = value;
+            onChanged();
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+            headerBuilder_.setMessage(value);
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+
+          return this;
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+        /**
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
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+        public Builder setHeader(
+            cmvr.api.Common.CommandHeader.Feedback.Builder builderForValue) {
+          if (headerBuilder_ == null) {
+            header_ = builderForValue.build();
+            onChanged();
+          } else {
+            headerBuilder_.setMessage(builderForValue.build());
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+
+          return this;
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+        /**
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
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+        public Builder mergeHeader(cmvr.api.Common.CommandHeader.Feedback value) {
+          if (headerBuilder_ == null) {
+            if (header_ != null) {
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+                cmvr.api.Common.CommandHeader.Feedback.newBuilder(header_).mergeFrom(value).buildPartial();
+            } else {
+              header_ = value;
+            }
+            onChanged();
+          } else {
+            headerBuilder_.mergeFrom(value);
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+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         */
+        public Builder clearHeader() {
+          if (headerBuilder_ == null) {
+            header_ = null;
+            onChanged();
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+            header_ = null;
+            headerBuilder_ = null;
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         */
+        public cmvr.api.Common.CommandHeader.Feedback.Builder getHeaderBuilder() {
+          
+          onChanged();
+          return getHeaderFieldBuilder().getBuilder();
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+        /**
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+        public cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder() {
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+        /**
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+        private com.google.protobuf.SingleFieldBuilderV3<
+            cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder> 
+            getHeaderFieldBuilder() {
+          if (headerBuilder_ == null) {
+            headerBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+                cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder>(
+                    getHeader(),
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+            header_ = null;
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+          return headerBuilder_;
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+        private com.google.protobuf.SingleFieldBuilderV3<
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+        /**
+         * <code>.cmvr.api.AgvRobotLocation status = 2;</code>
+         * @return Whether the status field is set.
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+        /**
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+         * @return The status.
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+          } else {
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+        /**
+         * <code>.cmvr.api.AgvRobotLocation status = 2;</code>
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+        public Builder setStatus(cmvr.api.AgvCommand.AgvRobotLocation value) {
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+            status_ = value;
+            onChanged();
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+            statusBuilder_.setMessage(value);
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+
+          return this;
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+        /**
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+            cmvr.api.AgvCommand.AgvRobotLocation.Builder builderForValue) {
+          if (statusBuilder_ == null) {
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+            onChanged();
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+          return this;
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+        public Builder mergeStatus(cmvr.api.AgvCommand.AgvRobotLocation value) {
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+          onChanged();
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+            throws com.google.protobuf.InvalidProtocolBufferException {
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+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
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+    public static cmvr.api.AgvCommand.RobotStatusLocCommand parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.AgvCommand.RobotStatusLocCommand parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
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+    public static cmvr.api.AgvCommand.RobotStatusLocCommand parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
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+    public static cmvr.api.AgvCommand.RobotStatusLocCommand parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
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+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
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+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
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+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
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+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
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+    public static cmvr.api.AgvCommand.RobotStatusLocCommand parseFrom(
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+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
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+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.api.AgvCommand.RobotStatusLocCommand prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
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+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
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+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder<Builder> implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.RobotStatusLocCommand)
+        cmvr.api.AgvCommand.RobotStatusLocCommandOrBuilder {
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+      public Builder addRepeatedField(
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+
+    // @@protoc_insertion_point(class_scope:cmvr.api.AgvDownloadMapResult)
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+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
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+    public com.google.protobuf.Parser<AgvDownloadMapResult> getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.AgvCommand.AgvDownloadMapResult getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
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+      com.google.protobuf.MessageOrBuilder {
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+      RobotConfigDownloadMapCommandOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use RobotConfigDownloadMapCommand.newBuilder() to construct.
+    private RobotConfigDownloadMapCommand(com.google.protobuf.GeneratedMessageV3.Builder<?> builder) {
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+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
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+      /**
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+       * @return Whether the data field is set.
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+      /**
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+      /**
+       * <code>.cmvr.api.RobotConfigDownloadMapRequestData data = 2;</code>
+       */
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+    }
+    /**
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+          return this;
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+            onChanged();
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+          return this;
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+        /**
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+          return this;
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+    public static cmvr.api.AgvCommand.MapFileInfo parseFrom(
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+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
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+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
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+    public static cmvr.api.AgvCommand.MapFileInfo parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
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+    public static cmvr.api.AgvCommand.MapFileInfo parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
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+    public static cmvr.api.AgvCommand.MapFileInfo parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
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+    public static cmvr.api.AgvCommand.MapFileInfo parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
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+    public static cmvr.api.AgvCommand.MapFileInfo parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
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+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
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+    public static cmvr.api.AgvCommand.MapFileInfo parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
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+    public static cmvr.api.AgvCommand.MapFileInfo parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.api.AgvCommand.MapFileInfo prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
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+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
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+    /**
+     * <pre>
+     * 单条地图文件信息
+     * </pre>
+     *
+     * Protobuf type {@code cmvr.api.MapFileInfo}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder<Builder> implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.MapFileInfo)
+        cmvr.api.AgvCommand.MapFileInfoOrBuilder {
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+      private Builder() {
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+      }
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+      /**
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+      public long getSize() {
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+      /**
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+      /**
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+      public Builder clearSize() {
+        bitField0_ = (bitField0_ & ~0x00000004);
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+      // @@protoc_insertion_point(builder_scope:cmvr.api.MapFileInfo)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.MapFileInfo)
+    private static final cmvr.api.AgvCommand.MapFileInfo DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.AgvCommand.MapFileInfo();
+    }
+
+    public static cmvr.api.AgvCommand.MapFileInfo getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser<MapFileInfo>
+        PARSER = new com.google.protobuf.AbstractParser<MapFileInfo>() {
+      @java.lang.Override
+      public MapFileInfo parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
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+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser<MapFileInfo> parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser<MapFileInfo> getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.AgvCommand.MapFileInfo getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  public interface AgvMapStatusOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.AgvMapStatus)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * <code>optional string current_map = 1;</code>
+     * @return Whether the currentMap field is set.
+     */
+    boolean hasCurrentMap();
+    /**
+     * <code>optional string current_map = 1;</code>
+     * @return The currentMap.
+     */
+    java.lang.String getCurrentMap();
+    /**
+     * <code>optional string current_map = 1;</code>
+     * @return The bytes for currentMap.
+     */
+    com.google.protobuf.ByteString
+        getCurrentMapBytes();
+
+    /**
+     * <code>optional string current_map_md5 = 2;</code>
+     * @return Whether the currentMapMd5 field is set.
+     */
+    boolean hasCurrentMapMd5();
+    /**
+     * <code>optional string current_map_md5 = 2;</code>
+     * @return The currentMapMd5.
+     */
+    java.lang.String getCurrentMapMd5();
+    /**
+     * <code>optional string current_map_md5 = 2;</code>
+     * @return The bytes for currentMapMd5.
+     */
+    com.google.protobuf.ByteString
+        getCurrentMapMd5Bytes();
+
+    /**
+     * <code>repeated string maps = 3;</code>
+     * @return A list containing the maps.
+     */
+    java.util.List<java.lang.String>
+        getMapsList();
+    /**
+     * <code>repeated string maps = 3;</code>
+     * @return The count of maps.
+     */
+    int getMapsCount();
+    /**
+     * <code>repeated string maps = 3;</code>
+     * @param index The index of the element to return.
+     * @return The maps at the given index.
+     */
+    java.lang.String getMaps(int index);
+    /**
+     * <code>repeated string maps = 3;</code>
+     * @param index The index of the value to return.
+     * @return The bytes of the maps at the given index.
+     */
+    com.google.protobuf.ByteString
+        getMapsBytes(int index);
+
+    /**
+     * <code>repeated .cmvr.api.MapFileInfo map_files_info = 4;</code>
+     */
+    java.util.List<cmvr.api.AgvCommand.MapFileInfo> 
+        getMapFilesInfoList();
+    /**
+     * <code>repeated .cmvr.api.MapFileInfo map_files_info = 4;</code>
+     */
+    cmvr.api.AgvCommand.MapFileInfo getMapFilesInfo(int index);
+    /**
+     * <code>repeated .cmvr.api.MapFileInfo map_files_info = 4;</code>
+     */
+    int getMapFilesInfoCount();
+    /**
+     * <code>repeated .cmvr.api.MapFileInfo map_files_info = 4;</code>
+     */
+    java.util.List<? extends cmvr.api.AgvCommand.MapFileInfoOrBuilder> 
+        getMapFilesInfoOrBuilderList();
+    /**
+     * <code>repeated .cmvr.api.MapFileInfo map_files_info = 4;</code>
+     */
+    cmvr.api.AgvCommand.MapFileInfoOrBuilder getMapFilesInfoOrBuilder(
+        int index);
+
+    /**
+     * <code>optional int32 ret_code = 5;</code>
+     * @return Whether the retCode field is set.
+     */
+    boolean hasRetCode();
+    /**
+     * <code>optional int32 ret_code = 5;</code>
+     * @return The retCode.
+     */
+    int getRetCode();
+
+    /**
+     * <code>optional string create_on = 6;</code>
+     * @return Whether the createOn field is set.
+     */
+    boolean hasCreateOn();
+    /**
+     * <code>optional string create_on = 6;</code>
+     * @return The createOn.
+     */
+    java.lang.String getCreateOn();
+    /**
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+     * @return The bytes for createOn.
+     */
+    com.google.protobuf.ByteString
+        getCreateOnBytes();
+
+    /**
+     * <code>optional string err_msg = 7;</code>
+     * @return Whether the errMsg field is set.
+     */
+    boolean hasErrMsg();
+    /**
+     * <code>optional string err_msg = 7;</code>
+     * @return The errMsg.
+     */
+    java.lang.String getErrMsg();
+    /**
+     * <code>optional string err_msg = 7;</code>
+     * @return The bytes for errMsg.
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+
+      @java.lang.Override
+      public cmvr.api.AgvCommand.AgvMapStatus buildPartial() {
+        cmvr.api.AgvCommand.AgvMapStatus result = new cmvr.api.AgvCommand.AgvMapStatus(this);
+        int from_bitField0_ = bitField0_;
+        int to_bitField0_ = 0;
+        if (((from_bitField0_ & 0x00000001) != 0)) {
+          to_bitField0_ |= 0x00000001;
+        }
+        result.currentMap_ = currentMap_;
+        if (((from_bitField0_ & 0x00000002) != 0)) {
+          to_bitField0_ |= 0x00000002;
+        }
+        result.currentMapMd5_ = currentMapMd5_;
+        if (((bitField0_ & 0x00000004) != 0)) {
+          maps_ = maps_.getUnmodifiableView();
+          bitField0_ = (bitField0_ & ~0x00000004);
+        }
+        result.maps_ = maps_;
+        if (mapFilesInfoBuilder_ == null) {
+          if (((bitField0_ & 0x00000008) != 0)) {
+            mapFilesInfo_ = java.util.Collections.unmodifiableList(mapFilesInfo_);
+            bitField0_ = (bitField0_ & ~0x00000008);
+          }
+          result.mapFilesInfo_ = mapFilesInfo_;
+        } else {
+          result.mapFilesInfo_ = mapFilesInfoBuilder_.build();
+        }
+        if (((from_bitField0_ & 0x00000010) != 0)) {
+          result.retCode_ = retCode_;
+          to_bitField0_ |= 0x00000004;
+        }
+        if (((from_bitField0_ & 0x00000020) != 0)) {
+          to_bitField0_ |= 0x00000008;
+        }
+        result.createOn_ = createOn_;
+        if (((from_bitField0_ & 0x00000040) != 0)) {
+          to_bitField0_ |= 0x00000010;
+        }
+        result.errMsg_ = errMsg_;
+        result.bitField0_ = to_bitField0_;
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
+      }
+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
+      }
+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
+      }
+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.AgvCommand.AgvMapStatus) {
+          return mergeFrom((cmvr.api.AgvCommand.AgvMapStatus)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.AgvCommand.AgvMapStatus other) {
+        if (other == cmvr.api.AgvCommand.AgvMapStatus.getDefaultInstance()) return this;
+        if (other.hasCurrentMap()) {
+          bitField0_ |= 0x00000001;
+          currentMap_ = other.currentMap_;
+          onChanged();
+        }
+        if (other.hasCurrentMapMd5()) {
+          bitField0_ |= 0x00000002;
+          currentMapMd5_ = other.currentMapMd5_;
+          onChanged();
+        }
+        if (!other.maps_.isEmpty()) {
+          if (maps_.isEmpty()) {
+            maps_ = other.maps_;
+            bitField0_ = (bitField0_ & ~0x00000004);
+          } else {
+            ensureMapsIsMutable();
+            maps_.addAll(other.maps_);
+          }
+          onChanged();
+        }
+        if (mapFilesInfoBuilder_ == null) {
+          if (!other.mapFilesInfo_.isEmpty()) {
+            if (mapFilesInfo_.isEmpty()) {
+              mapFilesInfo_ = other.mapFilesInfo_;
+              bitField0_ = (bitField0_ & ~0x00000008);
+            } else {
+              ensureMapFilesInfoIsMutable();
+              mapFilesInfo_.addAll(other.mapFilesInfo_);
+            }
+            onChanged();
+          }
+        } else {
+          if (!other.mapFilesInfo_.isEmpty()) {
+            if (mapFilesInfoBuilder_.isEmpty()) {
+              mapFilesInfoBuilder_.dispose();
+              mapFilesInfoBuilder_ = null;
+              mapFilesInfo_ = other.mapFilesInfo_;
+              bitField0_ = (bitField0_ & ~0x00000008);
+              mapFilesInfoBuilder_ = 
+                com.google.protobuf.GeneratedMessageV3.alwaysUseFieldBuilders ?
+                   getMapFilesInfoFieldBuilder() : null;
+            } else {
+              mapFilesInfoBuilder_.addAllMessages(other.mapFilesInfo_);
+            }
+          }
+        }
+        if (other.hasRetCode()) {
+          setRetCode(other.getRetCode());
+        }
+        if (other.hasCreateOn()) {
+          bitField0_ |= 0x00000020;
+          createOn_ = other.createOn_;
+          onChanged();
+        }
+        if (other.hasErrMsg()) {
+          bitField0_ |= 0x00000040;
+          errMsg_ = other.errMsg_;
+          onChanged();
+        }
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
+          throw new java.lang.NullPointerException();
+        }
+        try {
+          boolean done = false;
+          while (!done) {
+            int tag = input.readTag();
+            switch (tag) {
+              case 0:
+                done = true;
+                break;
+              case 10: {
+                currentMap_ = input.readStringRequireUtf8();
+                bitField0_ |= 0x00000001;
+                break;
+              } // case 10
+              case 18: {
+                currentMapMd5_ = input.readStringRequireUtf8();
+                bitField0_ |= 0x00000002;
+                break;
+              } // case 18
+              case 26: {
+                java.lang.String s = input.readStringRequireUtf8();
+                ensureMapsIsMutable();
+                maps_.add(s);
+                break;
+              } // case 26
+              case 34: {
+                cmvr.api.AgvCommand.MapFileInfo m =
+                    input.readMessage(
+                        cmvr.api.AgvCommand.MapFileInfo.parser(),
+                        extensionRegistry);
+                if (mapFilesInfoBuilder_ == null) {
+                  ensureMapFilesInfoIsMutable();
+                  mapFilesInfo_.add(m);
+                } else {
+                  mapFilesInfoBuilder_.addMessage(m);
+                }
+                break;
+              } // case 34
+              case 40: {
+                retCode_ = input.readInt32();
+                bitField0_ |= 0x00000010;
+                break;
+              } // case 40
+              case 50: {
+                createOn_ = input.readStringRequireUtf8();
+                bitField0_ |= 0x00000020;
+                break;
+              } // case 50
+              case 58: {
+                errMsg_ = input.readStringRequireUtf8();
+                bitField0_ |= 0x00000040;
+                break;
+              } // case 58
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                  done = true; // was an endgroup tag
+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+      private int bitField0_;
+
+      private java.lang.Object currentMap_ = "";
+      /**
+       * <code>optional string current_map = 1;</code>
+       * @return Whether the currentMap field is set.
+       */
+      public boolean hasCurrentMap() {
+        return ((bitField0_ & 0x00000001) != 0);
+      }
+      /**
+       * <code>optional string current_map = 1;</code>
+       * @return The currentMap.
+       */
+      public java.lang.String getCurrentMap() {
+        java.lang.Object ref = currentMap_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          currentMap_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * <code>optional string current_map = 1;</code>
+       * @return The bytes for currentMap.
+       */
+      public com.google.protobuf.ByteString
+          getCurrentMapBytes() {
+        java.lang.Object ref = currentMap_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          currentMap_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * <code>optional string current_map = 1;</code>
+       * @param value The currentMap to set.
+       * @return This builder for chaining.
+       */
+      public Builder setCurrentMap(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  bitField0_ |= 0x00000001;
+        currentMap_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <code>optional string current_map = 1;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearCurrentMap() {
+        bitField0_ = (bitField0_ & ~0x00000001);
+        currentMap_ = getDefaultInstance().getCurrentMap();
+        onChanged();
+        return this;
+      }
+      /**
+       * <code>optional string current_map = 1;</code>
+       * @param value The bytes for currentMap to set.
+       * @return This builder for chaining.
+       */
+      public Builder setCurrentMapBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        bitField0_ |= 0x00000001;
+        currentMap_ = value;
+        onChanged();
+        return this;
+      }
+
+      private java.lang.Object currentMapMd5_ = "";
+      /**
+       * <code>optional string current_map_md5 = 2;</code>
+       * @return Whether the currentMapMd5 field is set.
+       */
+      public boolean hasCurrentMapMd5() {
+        return ((bitField0_ & 0x00000002) != 0);
+      }
+      /**
+       * <code>optional string current_map_md5 = 2;</code>
+       * @return The currentMapMd5.
+       */
+      public java.lang.String getCurrentMapMd5() {
+        java.lang.Object ref = currentMapMd5_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          currentMapMd5_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * <code>optional string current_map_md5 = 2;</code>
+       * @return The bytes for currentMapMd5.
+       */
+      public com.google.protobuf.ByteString
+          getCurrentMapMd5Bytes() {
+        java.lang.Object ref = currentMapMd5_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          currentMapMd5_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * <code>optional string current_map_md5 = 2;</code>
+       * @param value The currentMapMd5 to set.
+       * @return This builder for chaining.
+       */
+      public Builder setCurrentMapMd5(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  bitField0_ |= 0x00000002;
+        currentMapMd5_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * <code>optional string current_map_md5 = 2;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearCurrentMapMd5() {
+        bitField0_ = (bitField0_ & ~0x00000002);
+        currentMapMd5_ = getDefaultInstance().getCurrentMapMd5();
+        onChanged();
+        return this;
+      }
+      /**
+       * <code>optional string current_map_md5 = 2;</code>
+       * @param value The bytes for currentMapMd5 to set.
+       * @return This builder for chaining.
+       */
+      public Builder setCurrentMapMd5Bytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        bitField0_ |= 0x00000002;
+        currentMapMd5_ = value;
+        onChanged();
+        return this;
+      }
+
+      private com.google.protobuf.LazyStringList maps_ = com.google.protobuf.LazyStringArrayList.EMPTY;
+      private void ensureMapsIsMutable() {
+        if (!((bitField0_ & 0x00000004) != 0)) {
+          maps_ = new com.google.protobuf.LazyStringArrayList(maps_);
+          bitField0_ |= 0x00000004;
+         }
+      }
+      /**
+       * <code>repeated string maps = 3;</code>
+       * @return A list containing the maps.
+       */
+      public com.google.protobuf.ProtocolStringList
+          getMapsList() {
+        return maps_.getUnmodifiableView();
+      }
+      /**
+       * <code>repeated string maps = 3;</code>
+       * @return The count of maps.
+       */
+      public int getMapsCount() {
+        return maps_.size();
+      }
+      /**
+       * <code>repeated string maps = 3;</code>
+       * @param index The index of the element to return.
+       * @return The maps at the given index.
+       */
+      public java.lang.String getMaps(int index) {
+        return maps_.get(index);
+      }
+      /**
+       * <code>repeated string maps = 3;</code>
+       * @param index The index of the value to return.
+       * @return The bytes of the maps at the given index.
+       */
+      public com.google.protobuf.ByteString
+          getMapsBytes(int index) {
+        return maps_.getByteString(index);
+      }
+      /**
+       * <code>repeated string maps = 3;</code>
+       * @param index The index to set the value at.
+       * @param value The maps to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMaps(
+          int index, java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  ensureMapsIsMutable();
+        maps_.set(index, value);
+        onChanged();
+        return this;
+      }
+      /**
+       * <code>repeated string maps = 3;</code>
+       * @param value The maps to add.
+       * @return This builder for chaining.
+       */
+      public Builder addMaps(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  ensureMapsIsMutable();
+        maps_.add(value);
+        onChanged();
+        return this;
+      }
+      /**
+       * <code>repeated string maps = 3;</code>
+       * @param values The maps to add.
+       * @return This builder for chaining.
+       */
+      public Builder addAllMaps(
+          java.lang.Iterable<java.lang.String> values) {
+        ensureMapsIsMutable();
+        com.google.protobuf.AbstractMessageLite.Builder.addAll(
+            values, maps_);
+        onChanged();
+        return this;
+      }
+      /**
+       * <code>repeated string maps = 3;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearMaps() {
+        maps_ = com.google.protobuf.LazyStringArrayList.EMPTY;
+        bitField0_ = (bitField0_ & ~0x00000004);
+        onChanged();
+        return this;
+      }
+      /**
+       * <code>repeated string maps = 3;</code>
+       * @param value The bytes of the maps to add.
+       * @return This builder for chaining.
+       */
+      public Builder addMapsBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        ensureMapsIsMutable();
+        maps_.add(value);
+        onChanged();
+        return this;
+      }
+
+      private java.util.List<cmvr.api.AgvCommand.MapFileInfo> mapFilesInfo_ =
+        java.util.Collections.emptyList();
+      private void ensureMapFilesInfoIsMutable() {
+        if (!((bitField0_ & 0x00000008) != 0)) {
+          mapFilesInfo_ = new java.util.ArrayList<cmvr.api.AgvCommand.MapFileInfo>(mapFilesInfo_);
+          bitField0_ |= 0x00000008;
+         }
+      }
+
+      private com.google.protobuf.RepeatedFieldBuilderV3<
+          cmvr.api.AgvCommand.MapFileInfo, cmvr.api.AgvCommand.MapFileInfo.Builder, cmvr.api.AgvCommand.MapFileInfoOrBuilder> mapFilesInfoBuilder_;
+
+      /**
+       * <code>repeated .cmvr.api.MapFileInfo map_files_info = 4;</code>
+       */
+      public java.util.List<cmvr.api.AgvCommand.MapFileInfo> getMapFilesInfoList() {
+        if (mapFilesInfoBuilder_ == null) {
+          return java.util.Collections.unmodifiableList(mapFilesInfo_);
+        } else {
+          return mapFilesInfoBuilder_.getMessageList();
+        }
+      }
+      /**
+       * <code>repeated .cmvr.api.MapFileInfo map_files_info = 4;</code>
+       */
+      public int getMapFilesInfoCount() {
+        if (mapFilesInfoBuilder_ == null) {
+          return mapFilesInfo_.size();
+        } else {
+          return mapFilesInfoBuilder_.getCount();
+        }
+      }
+      /**
+       * <code>repeated .cmvr.api.MapFileInfo map_files_info = 4;</code>
+       */
+      public cmvr.api.AgvCommand.MapFileInfo getMapFilesInfo(int index) {
+        if (mapFilesInfoBuilder_ == null) {
+          return mapFilesInfo_.get(index);
+        } else {
+          return mapFilesInfoBuilder_.getMessage(index);
+        }
+      }
+      /**
+       * <code>repeated .cmvr.api.MapFileInfo map_files_info = 4;</code>
+       */
+      public Builder setMapFilesInfo(
+          int index, cmvr.api.AgvCommand.MapFileInfo value) {
+        if (mapFilesInfoBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          ensureMapFilesInfoIsMutable();
+          mapFilesInfo_.set(index, value);
+          onChanged();
+        } else {
+          mapFilesInfoBuilder_.setMessage(index, value);
+        }
+        return this;
+      }
+      /**
+       * <code>repeated .cmvr.api.MapFileInfo map_files_info = 4;</code>
+       */
+      public Builder setMapFilesInfo(
+          int index, cmvr.api.AgvCommand.MapFileInfo.Builder builderForValue) {
+        if (mapFilesInfoBuilder_ == null) {
+          ensureMapFilesInfoIsMutable();
+          mapFilesInfo_.set(index, builderForValue.build());
+          onChanged();
+        } else {
+          mapFilesInfoBuilder_.setMessage(index, builderForValue.build());
+        }
+        return this;
+      }
+      /**
+       * <code>repeated .cmvr.api.MapFileInfo map_files_info = 4;</code>
+       */
+      public Builder addMapFilesInfo(cmvr.api.AgvCommand.MapFileInfo value) {
+        if (mapFilesInfoBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          ensureMapFilesInfoIsMutable();
+          mapFilesInfo_.add(value);
+          onChanged();
+        } else {
+          mapFilesInfoBuilder_.addMessage(value);
+        }
+        return this;
+      }
+      /**
+       * <code>repeated .cmvr.api.MapFileInfo map_files_info = 4;</code>
+       */
+      public Builder addMapFilesInfo(
+          int index, cmvr.api.AgvCommand.MapFileInfo value) {
+        if (mapFilesInfoBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          ensureMapFilesInfoIsMutable();
+          mapFilesInfo_.add(index, value);
+          onChanged();
+        } else {
+          mapFilesInfoBuilder_.addMessage(index, value);
+        }
+        return this;
+      }
+      /**
+       * <code>repeated .cmvr.api.MapFileInfo map_files_info = 4;</code>
+       */
+      public Builder addMapFilesInfo(
+          cmvr.api.AgvCommand.MapFileInfo.Builder builderForValue) {
+        if (mapFilesInfoBuilder_ == null) {
+          ensureMapFilesInfoIsMutable();
+          mapFilesInfo_.add(builderForValue.build());
+          onChanged();
+        } else {
+          mapFilesInfoBuilder_.addMessage(builderForValue.build());
+        }
+        return this;
+      }
+      /**
+       * <code>repeated .cmvr.api.MapFileInfo map_files_info = 4;</code>
+       */
+      public Builder addMapFilesInfo(
+          int index, cmvr.api.AgvCommand.MapFileInfo.Builder builderForValue) {
+        if (mapFilesInfoBuilder_ == null) {
+          ensureMapFilesInfoIsMutable();
+          mapFilesInfo_.add(index, builderForValue.build());
+          onChanged();
+        } else {
+          mapFilesInfoBuilder_.addMessage(index, builderForValue.build());
+        }
+        return this;
+      }
+      /**
+       * <code>repeated .cmvr.api.MapFileInfo map_files_info = 4;</code>
+       */
+      public Builder addAllMapFilesInfo(
+          java.lang.Iterable<? extends cmvr.api.AgvCommand.MapFileInfo> values) {
+        if (mapFilesInfoBuilder_ == null) {
+          ensureMapFilesInfoIsMutable();
+          com.google.protobuf.AbstractMessageLite.Builder.addAll(
+              values, mapFilesInfo_);
+          onChanged();
+        } else {
+          mapFilesInfoBuilder_.addAllMessages(values);
+        }
+        return this;
+      }
+      /**
+       * <code>repeated .cmvr.api.MapFileInfo map_files_info = 4;</code>
+       */
+      public Builder clearMapFilesInfo() {
+        if (mapFilesInfoBuilder_ == null) {
+          mapFilesInfo_ = java.util.Collections.emptyList();
+          bitField0_ = (bitField0_ & ~0x00000008);
+          onChanged();
+        } else {
+          mapFilesInfoBuilder_.clear();
+        }
+        return this;
+      }
+      /**
+       * <code>repeated .cmvr.api.MapFileInfo map_files_info = 4;</code>
+       */
+      public Builder removeMapFilesInfo(int index) {
+        if (mapFilesInfoBuilder_ == null) {
+          ensureMapFilesInfoIsMutable();
+          mapFilesInfo_.remove(index);
+          onChanged();
+        } else {
+          mapFilesInfoBuilder_.remove(index);
+        }
+        return this;
+      }
+      /**
+       * <code>repeated .cmvr.api.MapFileInfo map_files_info = 4;</code>
+       */
+      public cmvr.api.AgvCommand.MapFileInfo.Builder getMapFilesInfoBuilder(
+          int index) {
+        return getMapFilesInfoFieldBuilder().getBuilder(index);
+      }
+      /**
+       * <code>repeated .cmvr.api.MapFileInfo map_files_info = 4;</code>
+       */
+      public cmvr.api.AgvCommand.MapFileInfoOrBuilder getMapFilesInfoOrBuilder(
+          int index) {
+        if (mapFilesInfoBuilder_ == null) {
+          return mapFilesInfo_.get(index);  } else {
+          return mapFilesInfoBuilder_.getMessageOrBuilder(index);
+        }
+      }
+      /**
+       * <code>repeated .cmvr.api.MapFileInfo map_files_info = 4;</code>
+       */
+      public java.util.List<? extends cmvr.api.AgvCommand.MapFileInfoOrBuilder> 
+           getMapFilesInfoOrBuilderList() {
+        if (mapFilesInfoBuilder_ != null) {
+          return mapFilesInfoBuilder_.getMessageOrBuilderList();
+        } else {
+          return java.util.Collections.unmodifiableList(mapFilesInfo_);
+        }
+      }
+      /**
+       * <code>repeated .cmvr.api.MapFileInfo map_files_info = 4;</code>
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+      // @@protoc_insertion_point(builder_scope:cmvr.api.AgvMapStatus)
+    }
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+   * 查询地图状态命令
+   * </pre>
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+        @java.lang.Override
+        public Builder mergeFrom(com.google.protobuf.Message other) {
+          if (other instanceof cmvr.api.AgvCommand.RobotStatusMapCommand.Feedback) {
+            return mergeFrom((cmvr.api.AgvCommand.RobotStatusMapCommand.Feedback)other);
+          } else {
+            super.mergeFrom(other);
+            return this;
+          }
+        }
+
+        public Builder mergeFrom(cmvr.api.AgvCommand.RobotStatusMapCommand.Feedback other) {
+          if (other == cmvr.api.AgvCommand.RobotStatusMapCommand.Feedback.getDefaultInstance()) return this;
+          if (other.hasHeader()) {
+            mergeHeader(other.getHeader());
+          }
+          if (other.hasStatus()) {
+            mergeStatus(other.getStatus());
+          }
+          this.mergeUnknownFields(other.getUnknownFields());
+          onChanged();
+          return this;
+        }
+
+        @java.lang.Override
+        public final boolean isInitialized() {
+          return true;
+        }
+
+        @java.lang.Override
+        public Builder mergeFrom(
+            com.google.protobuf.CodedInputStream input,
+            com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+            throws java.io.IOException {
+          if (extensionRegistry == null) {
+            throw new java.lang.NullPointerException();
+          }
+          try {
+            boolean done = false;
+            while (!done) {
+              int tag = input.readTag();
+              switch (tag) {
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+                  done = true;
+                  break;
+                case 10: {
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+                      extensionRegistry);
+
+                  break;
+                } // case 10
+                case 18: {
+                  input.readMessage(
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+
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+          return this;
+        }
+
+        private cmvr.api.Common.CommandHeader.Feedback header_;
+        private com.google.protobuf.SingleFieldBuilderV3<
+            cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder> headerBuilder_;
+        /**
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         * @return Whether the header field is set.
+         */
+        public boolean hasHeader() {
+          return headerBuilder_ != null || header_ != null;
+        }
+        /**
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         * @return The header.
+         */
+        public cmvr.api.Common.CommandHeader.Feedback getHeader() {
+          if (headerBuilder_ == null) {
+            return header_ == null ? cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
+          } else {
+            return headerBuilder_.getMessage();
+          }
+        }
+        /**
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         */
+        public Builder setHeader(cmvr.api.Common.CommandHeader.Feedback value) {
+          if (headerBuilder_ == null) {
+            if (value == null) {
+              throw new NullPointerException();
+            }
+            header_ = value;
+            onChanged();
+          } else {
+            headerBuilder_.setMessage(value);
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         */
+        public Builder setHeader(
+            cmvr.api.Common.CommandHeader.Feedback.Builder builderForValue) {
+          if (headerBuilder_ == null) {
+            header_ = builderForValue.build();
+            onChanged();
+          } else {
+            headerBuilder_.setMessage(builderForValue.build());
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         */
+        public Builder mergeHeader(cmvr.api.Common.CommandHeader.Feedback value) {
+          if (headerBuilder_ == null) {
+            if (header_ != null) {
+              header_ =
+                cmvr.api.Common.CommandHeader.Feedback.newBuilder(header_).mergeFrom(value).buildPartial();
+            } else {
+              header_ = value;
+            }
+            onChanged();
+          } else {
+            headerBuilder_.mergeFrom(value);
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         */
+        public Builder clearHeader() {
+          if (headerBuilder_ == null) {
+            header_ = null;
+            onChanged();
+          } else {
+            header_ = null;
+            headerBuilder_ = null;
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         */
+        public cmvr.api.Common.CommandHeader.Feedback.Builder getHeaderBuilder() {
+          
+          onChanged();
+          return getHeaderFieldBuilder().getBuilder();
+        }
+        /**
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         */
+        public cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder() {
+          if (headerBuilder_ != null) {
+            return headerBuilder_.getMessageOrBuilder();
+          } else {
+            return header_ == null ?
+                cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
+          }
+        }
+        /**
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         */
+        private com.google.protobuf.SingleFieldBuilderV3<
+            cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder> 
+            getHeaderFieldBuilder() {
+          if (headerBuilder_ == null) {
+            headerBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+                cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder>(
+                    getHeader(),
+                    getParentForChildren(),
+                    isClean());
+            header_ = null;
+          }
+          return headerBuilder_;
+        }
+
+        private cmvr.api.AgvCommand.AgvMapStatus status_;
+        private com.google.protobuf.SingleFieldBuilderV3<
+            cmvr.api.AgvCommand.AgvMapStatus, cmvr.api.AgvCommand.AgvMapStatus.Builder, cmvr.api.AgvCommand.AgvMapStatusOrBuilder> statusBuilder_;
+        /**
+         * <code>.cmvr.api.AgvMapStatus status = 2;</code>
+         * @return Whether the status field is set.
+         */
+        public boolean hasStatus() {
+          return statusBuilder_ != null || status_ != null;
+        }
+        /**
+         * <code>.cmvr.api.AgvMapStatus status = 2;</code>
+         * @return The status.
+         */
+        public cmvr.api.AgvCommand.AgvMapStatus getStatus() {
+          if (statusBuilder_ == null) {
+            return status_ == null ? cmvr.api.AgvCommand.AgvMapStatus.getDefaultInstance() : status_;
+          } else {
+            return statusBuilder_.getMessage();
+          }
+        }
+        /**
+         * <code>.cmvr.api.AgvMapStatus status = 2;</code>
+         */
+        public Builder setStatus(cmvr.api.AgvCommand.AgvMapStatus value) {
+          if (statusBuilder_ == null) {
+            if (value == null) {
+              throw new NullPointerException();
+            }
+            status_ = value;
+            onChanged();
+          } else {
+            statusBuilder_.setMessage(value);
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.AgvMapStatus status = 2;</code>
+         */
+        public Builder setStatus(
+            cmvr.api.AgvCommand.AgvMapStatus.Builder builderForValue) {
+          if (statusBuilder_ == null) {
+            status_ = builderForValue.build();
+            onChanged();
+          } else {
+            statusBuilder_.setMessage(builderForValue.build());
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.AgvMapStatus status = 2;</code>
+         */
+        public Builder mergeStatus(cmvr.api.AgvCommand.AgvMapStatus value) {
+          if (statusBuilder_ == null) {
+            if (status_ != null) {
+              status_ =
+                cmvr.api.AgvCommand.AgvMapStatus.newBuilder(status_).mergeFrom(value).buildPartial();
+            } else {
+              status_ = value;
+            }
+            onChanged();
+          } else {
+            statusBuilder_.mergeFrom(value);
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.AgvMapStatus status = 2;</code>
+         */
+        public Builder clearStatus() {
+          if (statusBuilder_ == null) {
+            status_ = null;
+            onChanged();
+          } else {
+            status_ = null;
+            statusBuilder_ = null;
+          }
+
+          return this;
+        }
+        /**
+         * <code>.cmvr.api.AgvMapStatus status = 2;</code>
+         */
+        public cmvr.api.AgvCommand.AgvMapStatus.Builder getStatusBuilder() {
+          
+          onChanged();
+          return getStatusFieldBuilder().getBuilder();
+        }
+        /**
+         * <code>.cmvr.api.AgvMapStatus status = 2;</code>
+         */
+        public cmvr.api.AgvCommand.AgvMapStatusOrBuilder getStatusOrBuilder() {
+          if (statusBuilder_ != null) {
+            return statusBuilder_.getMessageOrBuilder();
+          } else {
+            return status_ == null ?
+                cmvr.api.AgvCommand.AgvMapStatus.getDefaultInstance() : status_;
+          }
+        }
+        /**
+         * <code>.cmvr.api.AgvMapStatus status = 2;</code>
+         */
+        private com.google.protobuf.SingleFieldBuilderV3<
+            cmvr.api.AgvCommand.AgvMapStatus, cmvr.api.AgvCommand.AgvMapStatus.Builder, cmvr.api.AgvCommand.AgvMapStatusOrBuilder> 
+            getStatusFieldBuilder() {
+          if (statusBuilder_ == null) {
+            statusBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+                cmvr.api.AgvCommand.AgvMapStatus, cmvr.api.AgvCommand.AgvMapStatus.Builder, cmvr.api.AgvCommand.AgvMapStatusOrBuilder>(
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+                    getParentForChildren(),
+                    isClean());
+            status_ = null;
+          }
+          return statusBuilder_;
+        }
+        @java.lang.Override
+        public final Builder setUnknownFields(
+            final com.google.protobuf.UnknownFieldSet unknownFields) {
+          return super.setUnknownFields(unknownFields);
+        }
+
+        @java.lang.Override
+        public final Builder mergeUnknownFields(
+            final com.google.protobuf.UnknownFieldSet unknownFields) {
+          return super.mergeUnknownFields(unknownFields);
+        }
+
+
+        // @@protoc_insertion_point(builder_scope:cmvr.api.RobotStatusMapCommand.Feedback)
+      }
+
+      // @@protoc_insertion_point(class_scope:cmvr.api.RobotStatusMapCommand.Feedback)
+      private static final cmvr.api.AgvCommand.RobotStatusMapCommand.Feedback DEFAULT_INSTANCE;
+      static {
+        DEFAULT_INSTANCE = new cmvr.api.AgvCommand.RobotStatusMapCommand.Feedback();
+      }
+
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+        return DEFAULT_INSTANCE;
+      }
+
+      private static final com.google.protobuf.Parser<Feedback>
+          PARSER = new com.google.protobuf.AbstractParser<Feedback>() {
+        @java.lang.Override
+        public Feedback parsePartialFrom(
+            com.google.protobuf.CodedInputStream input,
+            com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+            throws com.google.protobuf.InvalidProtocolBufferException {
+          Builder builder = newBuilder();
+          try {
+            builder.mergeFrom(input, extensionRegistry);
+          } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+            throw e.setUnfinishedMessage(builder.buildPartial());
+          } catch (com.google.protobuf.UninitializedMessageException e) {
+            throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
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+            throw new com.google.protobuf.InvalidProtocolBufferException(e)
+                .setUnfinishedMessage(builder.buildPartial());
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+          return builder.buildPartial();
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+
+      public static com.google.protobuf.Parser<Feedback> parser() {
+        return PARSER;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Parser<Feedback> getParserForType() {
+        return PARSER;
+      }
+
+      @java.lang.Override
+      public cmvr.api.AgvCommand.RobotStatusMapCommand.Feedback getDefaultInstanceForType() {
+        return DEFAULT_INSTANCE;
+      }
+
+    }
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+    @java.lang.Override
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+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
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+      if (!(obj instanceof cmvr.api.AgvCommand.RobotStatusMapCommand)) {
+        return super.equals(obj);
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+      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+      return true;
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+    public int hashCode() {
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+      int hash = 41;
+      hash = (19 * hash) + getDescriptor().hashCode();
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+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
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+    public static cmvr.api.AgvCommand.RobotStatusMapCommand parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
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+    public static cmvr.api.AgvCommand.RobotStatusMapCommand parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.AgvCommand.RobotStatusMapCommand parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.AgvCommand.RobotStatusMapCommand parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.AgvCommand.RobotStatusMapCommand parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.AgvCommand.RobotStatusMapCommand parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
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+    public static cmvr.api.AgvCommand.RobotStatusMapCommand parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.AgvCommand.RobotStatusMapCommand parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static cmvr.api.AgvCommand.RobotStatusMapCommand parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.AgvCommand.RobotStatusMapCommand parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.AgvCommand.RobotStatusMapCommand parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.api.AgvCommand.RobotStatusMapCommand prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * <pre>
+     * 查询地图状态命令
+     * </pre>
+     *
+     * Protobuf type {@code cmvr.api.RobotStatusMapCommand}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder<Builder> implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.RobotStatusMapCommand)
+        cmvr.api.AgvCommand.RobotStatusMapCommandOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.AgvCommand.internal_static_cmvr_api_RobotStatusMapCommand_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
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+                cmvr.api.AgvCommand.RobotStatusMapCommand.class, cmvr.api.AgvCommand.RobotStatusMapCommand.Builder.class);
+      }
+
+      // Construct using cmvr.api.AgvCommand.RobotStatusMapCommand.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.AgvCommand.internal_static_cmvr_api_RobotStatusMapCommand_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.AgvCommand.RobotStatusMapCommand getDefaultInstanceForType() {
+        return cmvr.api.AgvCommand.RobotStatusMapCommand.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.api.AgvCommand.RobotStatusMapCommand build() {
+        cmvr.api.AgvCommand.RobotStatusMapCommand result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
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+      @java.lang.Override
+      public cmvr.api.AgvCommand.RobotStatusMapCommand buildPartial() {
+        cmvr.api.AgvCommand.RobotStatusMapCommand result = new cmvr.api.AgvCommand.RobotStatusMapCommand(this);
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
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+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
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+      public Builder setRepeatedField(
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+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
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+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.AgvCommand.RobotStatusMapCommand) {
+          return mergeFrom((cmvr.api.AgvCommand.RobotStatusMapCommand)other);
+        } else {
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+          return this;
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+
+      public Builder mergeFrom(cmvr.api.AgvCommand.RobotStatusMapCommand other) {
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+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
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+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
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+      @java.lang.Override
+      public final Builder setUnknownFields(
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+      @java.lang.Override
+      public final Builder mergeUnknownFields(
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+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.api.RobotStatusMapCommand)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.RobotStatusMapCommand)
+    private static final cmvr.api.AgvCommand.RobotStatusMapCommand DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.AgvCommand.RobotStatusMapCommand();
+    }
+
+    public static cmvr.api.AgvCommand.RobotStatusMapCommand getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
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+        PARSER = new com.google.protobuf.AbstractParser<RobotStatusMapCommand>() {
+      @java.lang.Override
+      public RobotStatusMapCommand parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
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+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
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+
+    public static com.google.protobuf.Parser<RobotStatusMapCommand> parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser<RobotStatusMapCommand> getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.AgvCommand.RobotStatusMapCommand getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
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+  private static  com.google.protobuf.Descriptors.FileDescriptor
+      descriptor;
+  static {
+    java.lang.String[] descriptorData = {
+      "\n\032cmvr/api/agv_command.proto\022\010cmvr.api\032\025" +
+      "cmvr/api/common.proto\"\335\002\n\rAgvStatusInfo\022" +
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+      "\030\010 \001(\005H\007\210\001\001\022\025\n\010ret_code\030\t \001(\005H\010\210\001\001\022\024\n\007er" +
+      "r_msg\030\n \001(\tH\t\210\001\001B\005\n\003_idB\r\n\013_vehicle_idB\n" +
+      "\n\010_versionB\010\n\006_modelB\016\n\014_dsp_versionB\r\n\013" +
+      "_current_ipB\006\n\004_macB\007\n\005_rssiB\013\n\t_ret_cod" +
+      "eB\n\n\010_err_msg\"\274\001\n\027GetAgvStatusInfoComman" +
+      "d\032:\n\007Request\022/\n\006header\030\001 \001(\0132\037.cmvr.api." +
+      "CommandHeader.Request\032e\n\010Feedback\0220\n\006hea" +
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+      "ack\022\'\n\006status\030\002 \001(\0132\027.cmvr.api.AgvStatus" +
+      "Info\"\212\005\n\020AgvBatteryStatus\022\032\n\rbattery_lev" +
+      "el\030\001 \001(\001H\000\210\001\001\022\031\n\014battery_temp\030\002 \001(\001H\001\210\001\001" +
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+      "H\003\210\001\001\022\024\n\007current\030\005 \001(\001H\004\210\001\001\022\037\n\022max_charg" +
+      "e_voltage\030\006 \001(\001H\005\210\001\001\022\037\n\022max_charge_curre" +
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+      "\001\022\030\n\013auto_charge\030\t \001(\010H\010\210\001\001\022\032\n\rbattery_c" +
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+      "\r \001(\005H\014\210\001\001\022\026\n\tcreate_on\030\016 \001(\tH\r\210\001\001\022\024\n\007er" +
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+      "_currentB\025\n\023_max_charge_voltageB\025\n\023_max_" +
+      "charge_currentB\020\n\016_manual_chargeB\016\n\014_aut" +
+      "o_chargeB\020\n\016_battery_cycleB\024\n\022_battery_u" +
+      "ser_dataB\010\n\006_extraB\013\n\t_ret_codeB\014\n\n_crea" +
+      "te_onB\n\n\010_err_msg\"?\n\035RobotStatusBatteryR" +
+      "equestData\022\023\n\006simple\030\001 \001(\010H\000\210\001\001B\t\n\007_simp" +
+      "le\"\370\001\n\031RobotStatusBatteryCommand\032q\n\007Requ" +
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+      "ader.Request\0225\n\004data\030\002 \001(\0132\'.cmvr.api.Ro" +
+      "botStatusBatteryRequestData\032h\n\010Feedback\022" +
+      "0\n\006header\030\001 \001(\0132 .cmvr.api.CommandHeader" +
+      ".Feedback\022*\n\006status\030\002 \001(\0132\032.cmvr.api.Agv" +
+      "BatteryStatus\"\366\002\n\020AgvRobotLocation\022\016\n\001x\030" +
+      "\001 \001(\001H\000\210\001\001\022\016\n\001y\030\002 \001(\001H\001\210\001\001\022\022\n\005angle\030\003 \001(" +
+      "\001H\002\210\001\001\022\027\n\nconfidence\030\004 \001(\001H\003\210\001\001\022\034\n\017curre" +
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+      "ngleB\r\n\013_confidenceB\022\n\020_current_stationB" +
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+      "StatusLocCommand\032:\n\007Request\022/\n\006header\030\001 " +
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+      "andHeader.Feedback\022*\n\006status\030\002 \001(\0132\032.cmv" +
+      "r.api.AgvRobotLocation\"G\n!RobotConfigDow" +
+      "nloadMapRequestData\022\025\n\010map_name\030\001 \001(\tH\000\210" +
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+      "gDownloadMapRequestData\032l\n\010Feedback\0220\n\006h" +
+      "eader\030\001 \001(\0132 .cmvr.api.CommandHeader.Fee" +
+      "dback\022.\n\006status\030\002 \001(\0132\036.cmvr.api.AgvDown" +
+      "loadMapResult\"i\n\013MapFileInfo\022\021\n\004name\030\001 \001" +
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+      " \001(\003H\002\210\001\001B\007\n\005_nameB\013\n\t_modifiedB\007\n\005_size" +
+      "\"\223\002\n\014AgvMapStatus\022\030\n\013current_map\030\001 \001(\tH\000" +
+      "\210\001\001\022\034\n\017current_map_md5\030\002 \001(\tH\001\210\001\001\022\014\n\004map" +
+      "s\030\003 \003(\t\022-\n\016map_files_info\030\004 \003(\0132\025.cmvr.a" +
+      "pi.MapFileInfo\022\025\n\010ret_code\030\005 \001(\005H\002\210\001\001\022\026\n" +
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+      "\013\n\t_ret_codeB\014\n\n_create_onB\n\n\010_err_msg\"\271" +
+      "\001\n\025RobotStatusMapCommand\032:\n\007Request\022/\n\006h" +
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+      "uest\032d\n\010Feedback\0220\n\006header\030\001 \001(\0132 .cmvr." +
+      "api.CommandHeader.Feedback\022&\n\006status\030\002 \001" +
+      "(\0132\026.cmvr.api.AgvMapStatusb\006proto3"
+    };
+    descriptor = com.google.protobuf.Descriptors.FileDescriptor
+      .internalBuildGeneratedFileFrom(descriptorData,
+        new com.google.protobuf.Descriptors.FileDescriptor[] {
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+        new java.lang.String[] { "RetCode", "CreateOn", "ErrMsg", "MapContent", "RetCode", "CreateOn", "ErrMsg", "MapContent", });
+    internal_static_cmvr_api_RobotConfigDownloadMapCommand_descriptor =
+      getDescriptor().getMessageTypes().get(9);
+    internal_static_cmvr_api_RobotConfigDownloadMapCommand_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_RobotConfigDownloadMapCommand_descriptor,
+        new java.lang.String[] { });
+    internal_static_cmvr_api_RobotConfigDownloadMapCommand_Request_descriptor =
+      internal_static_cmvr_api_RobotConfigDownloadMapCommand_descriptor.getNestedTypes().get(0);
+    internal_static_cmvr_api_RobotConfigDownloadMapCommand_Request_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_RobotConfigDownloadMapCommand_Request_descriptor,
+        new java.lang.String[] { "Header", "Data", });
+    internal_static_cmvr_api_RobotConfigDownloadMapCommand_Feedback_descriptor =
+      internal_static_cmvr_api_RobotConfigDownloadMapCommand_descriptor.getNestedTypes().get(1);
+    internal_static_cmvr_api_RobotConfigDownloadMapCommand_Feedback_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_RobotConfigDownloadMapCommand_Feedback_descriptor,
+        new java.lang.String[] { "Header", "Status", });
+    internal_static_cmvr_api_MapFileInfo_descriptor =
+      getDescriptor().getMessageTypes().get(10);
+    internal_static_cmvr_api_MapFileInfo_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_MapFileInfo_descriptor,
+        new java.lang.String[] { "Name", "Modified", "Size", "Name", "Modified", "Size", });
+    internal_static_cmvr_api_AgvMapStatus_descriptor =
+      getDescriptor().getMessageTypes().get(11);
+    internal_static_cmvr_api_AgvMapStatus_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_AgvMapStatus_descriptor,
+        new java.lang.String[] { "CurrentMap", "CurrentMapMd5", "Maps", "MapFilesInfo", "RetCode", "CreateOn", "ErrMsg", "CurrentMap", "CurrentMapMd5", "RetCode", "CreateOn", "ErrMsg", });
+    internal_static_cmvr_api_RobotStatusMapCommand_descriptor =
+      getDescriptor().getMessageTypes().get(12);
+    internal_static_cmvr_api_RobotStatusMapCommand_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_RobotStatusMapCommand_descriptor,
+        new java.lang.String[] { });
+    internal_static_cmvr_api_RobotStatusMapCommand_Request_descriptor =
+      internal_static_cmvr_api_RobotStatusMapCommand_descriptor.getNestedTypes().get(0);
+    internal_static_cmvr_api_RobotStatusMapCommand_Request_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_RobotStatusMapCommand_Request_descriptor,
+        new java.lang.String[] { "Header", });
+    internal_static_cmvr_api_RobotStatusMapCommand_Feedback_descriptor =
+      internal_static_cmvr_api_RobotStatusMapCommand_descriptor.getNestedTypes().get(1);
+    internal_static_cmvr_api_RobotStatusMapCommand_Feedback_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_RobotStatusMapCommand_Feedback_descriptor,
+        new java.lang.String[] { "Header", "Status", });
+    cmvr.api.Common.getDescriptor();
+  }
+
+  // @@protoc_insertion_point(outer_class_scope)
+}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/AgvServiceGrpc.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/AgvServiceGrpc.java
new file mode 100644
index 0000000..6a61353
--- /dev/null
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/AgvServiceGrpc.java
@@ -0,0 +1,584 @@
+package cmvr.api;
+
+import static io.grpc.MethodDescriptor.generateFullMethodName;
+
+/**
+ */
+@javax.annotation.Generated(
+    value = "by gRPC proto compiler (version 1.52.0)",
+    comments = "Source: cmvr/api/agv_service.proto")
+@io.grpc.stub.annotations.GrpcGenerated
+public final class AgvServiceGrpc {
+
+  private AgvServiceGrpc() {}
+
+  public static final String SERVICE_NAME = "cmvr.api.AgvService";
+
+  // Static method descriptors that strictly reflect the proto.
+  private static volatile io.grpc.MethodDescriptor<cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Request,
+      cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Feedback> getGetStatusInfoMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetStatusInfo",
+      requestType = cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Request.class,
+      responseType = cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Feedback.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Request,
+      cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Feedback> getGetStatusInfoMethod() {
+    io.grpc.MethodDescriptor<cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Request, cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Feedback> getGetStatusInfoMethod;
+    if ((getGetStatusInfoMethod = AgvServiceGrpc.getGetStatusInfoMethod) == null) {
+      synchronized (AgvServiceGrpc.class) {
+        if ((getGetStatusInfoMethod = AgvServiceGrpc.getGetStatusInfoMethod) == null) {
+          AgvServiceGrpc.getGetStatusInfoMethod = getGetStatusInfoMethod =
+              io.grpc.MethodDescriptor.<cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Request, cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Feedback>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetStatusInfo"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Request.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Feedback.getDefaultInstance()))
+              .setSchemaDescriptor(new AgvServiceMethodDescriptorSupplier("GetStatusInfo"))
+              .build();
+        }
+      }
+    }
+    return getGetStatusInfoMethod;
+  }
+
+  private static volatile io.grpc.MethodDescriptor<cmvr.api.AgvCommand.RobotStatusBatteryCommand.Request,
+      cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback> getGetBatteryStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetBatteryStatus",
+      requestType = cmvr.api.AgvCommand.RobotStatusBatteryCommand.Request.class,
+      responseType = cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<cmvr.api.AgvCommand.RobotStatusBatteryCommand.Request,
+      cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback> getGetBatteryStatusMethod() {
+    io.grpc.MethodDescriptor<cmvr.api.AgvCommand.RobotStatusBatteryCommand.Request, cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback> getGetBatteryStatusMethod;
+    if ((getGetBatteryStatusMethod = AgvServiceGrpc.getGetBatteryStatusMethod) == null) {
+      synchronized (AgvServiceGrpc.class) {
+        if ((getGetBatteryStatusMethod = AgvServiceGrpc.getGetBatteryStatusMethod) == null) {
+          AgvServiceGrpc.getGetBatteryStatusMethod = getGetBatteryStatusMethod =
+              io.grpc.MethodDescriptor.<cmvr.api.AgvCommand.RobotStatusBatteryCommand.Request, cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetBatteryStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.AgvCommand.RobotStatusBatteryCommand.Request.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback.getDefaultInstance()))
+              .setSchemaDescriptor(new AgvServiceMethodDescriptorSupplier("GetBatteryStatus"))
+              .build();
+        }
+      }
+    }
+    return getGetBatteryStatusMethod;
+  }
+
+  private static volatile io.grpc.MethodDescriptor<cmvr.api.AgvCommand.RobotStatusLocCommand.Request,
+      cmvr.api.AgvCommand.RobotStatusLocCommand.Feedback> getGetRobotLocationMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetRobotLocation",
+      requestType = cmvr.api.AgvCommand.RobotStatusLocCommand.Request.class,
+      responseType = cmvr.api.AgvCommand.RobotStatusLocCommand.Feedback.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<cmvr.api.AgvCommand.RobotStatusLocCommand.Request,
+      cmvr.api.AgvCommand.RobotStatusLocCommand.Feedback> getGetRobotLocationMethod() {
+    io.grpc.MethodDescriptor<cmvr.api.AgvCommand.RobotStatusLocCommand.Request, cmvr.api.AgvCommand.RobotStatusLocCommand.Feedback> getGetRobotLocationMethod;
+    if ((getGetRobotLocationMethod = AgvServiceGrpc.getGetRobotLocationMethod) == null) {
+      synchronized (AgvServiceGrpc.class) {
+        if ((getGetRobotLocationMethod = AgvServiceGrpc.getGetRobotLocationMethod) == null) {
+          AgvServiceGrpc.getGetRobotLocationMethod = getGetRobotLocationMethod =
+              io.grpc.MethodDescriptor.<cmvr.api.AgvCommand.RobotStatusLocCommand.Request, cmvr.api.AgvCommand.RobotStatusLocCommand.Feedback>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetRobotLocation"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.AgvCommand.RobotStatusLocCommand.Request.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.AgvCommand.RobotStatusLocCommand.Feedback.getDefaultInstance()))
+              .setSchemaDescriptor(new AgvServiceMethodDescriptorSupplier("GetRobotLocation"))
+              .build();
+        }
+      }
+    }
+    return getGetRobotLocationMethod;
+  }
+
+  private static volatile io.grpc.MethodDescriptor<cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Request,
+      cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Feedback> getRobotConfigDownloadMapMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "RobotConfigDownloadMap",
+      requestType = cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Request.class,
+      responseType = cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Feedback.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Request,
+      cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Feedback> getRobotConfigDownloadMapMethod() {
+    io.grpc.MethodDescriptor<cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Request, cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Feedback> getRobotConfigDownloadMapMethod;
+    if ((getRobotConfigDownloadMapMethod = AgvServiceGrpc.getRobotConfigDownloadMapMethod) == null) {
+      synchronized (AgvServiceGrpc.class) {
+        if ((getRobotConfigDownloadMapMethod = AgvServiceGrpc.getRobotConfigDownloadMapMethod) == null) {
+          AgvServiceGrpc.getRobotConfigDownloadMapMethod = getRobotConfigDownloadMapMethod =
+              io.grpc.MethodDescriptor.<cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Request, cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Feedback>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "RobotConfigDownloadMap"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Request.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Feedback.getDefaultInstance()))
+              .setSchemaDescriptor(new AgvServiceMethodDescriptorSupplier("RobotConfigDownloadMap"))
+              .build();
+        }
+      }
+    }
+    return getRobotConfigDownloadMapMethod;
+  }
+
+  private static volatile io.grpc.MethodDescriptor<cmvr.api.AgvCommand.RobotStatusMapCommand.Request,
+      cmvr.api.AgvCommand.RobotStatusMapCommand.Feedback> getGetMapStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetMapStatus",
+      requestType = cmvr.api.AgvCommand.RobotStatusMapCommand.Request.class,
+      responseType = cmvr.api.AgvCommand.RobotStatusMapCommand.Feedback.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<cmvr.api.AgvCommand.RobotStatusMapCommand.Request,
+      cmvr.api.AgvCommand.RobotStatusMapCommand.Feedback> getGetMapStatusMethod() {
+    io.grpc.MethodDescriptor<cmvr.api.AgvCommand.RobotStatusMapCommand.Request, cmvr.api.AgvCommand.RobotStatusMapCommand.Feedback> getGetMapStatusMethod;
+    if ((getGetMapStatusMethod = AgvServiceGrpc.getGetMapStatusMethod) == null) {
+      synchronized (AgvServiceGrpc.class) {
+        if ((getGetMapStatusMethod = AgvServiceGrpc.getGetMapStatusMethod) == null) {
+          AgvServiceGrpc.getGetMapStatusMethod = getGetMapStatusMethod =
+              io.grpc.MethodDescriptor.<cmvr.api.AgvCommand.RobotStatusMapCommand.Request, cmvr.api.AgvCommand.RobotStatusMapCommand.Feedback>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetMapStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.AgvCommand.RobotStatusMapCommand.Request.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.AgvCommand.RobotStatusMapCommand.Feedback.getDefaultInstance()))
+              .setSchemaDescriptor(new AgvServiceMethodDescriptorSupplier("GetMapStatus"))
+              .build();
+        }
+      }
+    }
+    return getGetMapStatusMethod;
+  }
+
+  /**
+   * Creates a new async stub that supports all call types for the service
+   */
+  public static AgvServiceStub newStub(io.grpc.Channel channel) {
+    io.grpc.stub.AbstractStub.StubFactory<AgvServiceStub> factory =
+      new io.grpc.stub.AbstractStub.StubFactory<AgvServiceStub>() {
+        @java.lang.Override
+        public AgvServiceStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+          return new AgvServiceStub(channel, callOptions);
+        }
+      };
+    return AgvServiceStub.newStub(factory, channel);
+  }
+
+  /**
+   * Creates a new blocking-style stub that supports unary and streaming output calls on the service
+   */
+  public static AgvServiceBlockingStub newBlockingStub(
+      io.grpc.Channel channel) {
+    io.grpc.stub.AbstractStub.StubFactory<AgvServiceBlockingStub> factory =
+      new io.grpc.stub.AbstractStub.StubFactory<AgvServiceBlockingStub>() {
+        @java.lang.Override
+        public AgvServiceBlockingStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+          return new AgvServiceBlockingStub(channel, callOptions);
+        }
+      };
+    return AgvServiceBlockingStub.newStub(factory, channel);
+  }
+
+  /**
+   * Creates a new ListenableFuture-style stub that supports unary calls on the service
+   */
+  public static AgvServiceFutureStub newFutureStub(
+      io.grpc.Channel channel) {
+    io.grpc.stub.AbstractStub.StubFactory<AgvServiceFutureStub> factory =
+      new io.grpc.stub.AbstractStub.StubFactory<AgvServiceFutureStub>() {
+        @java.lang.Override
+        public AgvServiceFutureStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+          return new AgvServiceFutureStub(channel, callOptions);
+        }
+      };
+    return AgvServiceFutureStub.newStub(factory, channel);
+  }
+
+  /**
+   */
+  public static abstract class AgvServiceImplBase implements io.grpc.BindableService {
+
+    /**
+     * <pre>
+     * 基本控制
+     * </pre>
+     */
+    public void getStatusInfo(cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Feedback> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetStatusInfoMethod(), responseObserver);
+    }
+
+    /**
+     */
+    public void getBatteryStatus(cmvr.api.AgvCommand.RobotStatusBatteryCommand.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetBatteryStatusMethod(), responseObserver);
+    }
+
+    /**
+     */
+    public void getRobotLocation(cmvr.api.AgvCommand.RobotStatusLocCommand.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.RobotStatusLocCommand.Feedback> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetRobotLocationMethod(), responseObserver);
+    }
+
+    /**
+     */
+    public void robotConfigDownloadMap(cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Feedback> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getRobotConfigDownloadMapMethod(), responseObserver);
+    }
+
+    /**
+     */
+    public void getMapStatus(cmvr.api.AgvCommand.RobotStatusMapCommand.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.RobotStatusMapCommand.Feedback> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetMapStatusMethod(), responseObserver);
+    }
+
+    @java.lang.Override public final io.grpc.ServerServiceDefinition bindService() {
+      return io.grpc.ServerServiceDefinition.builder(getServiceDescriptor())
+          .addMethod(
+            getGetStatusInfoMethod(),
+            io.grpc.stub.ServerCalls.asyncUnaryCall(
+              new MethodHandlers<
+                cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Request,
+                cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Feedback>(
+                  this, METHODID_GET_STATUS_INFO)))
+          .addMethod(
+            getGetBatteryStatusMethod(),
+            io.grpc.stub.ServerCalls.asyncUnaryCall(
+              new MethodHandlers<
+                cmvr.api.AgvCommand.RobotStatusBatteryCommand.Request,
+                cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback>(
+                  this, METHODID_GET_BATTERY_STATUS)))
+          .addMethod(
+            getGetRobotLocationMethod(),
+            io.grpc.stub.ServerCalls.asyncUnaryCall(
+              new MethodHandlers<
+                cmvr.api.AgvCommand.RobotStatusLocCommand.Request,
+                cmvr.api.AgvCommand.RobotStatusLocCommand.Feedback>(
+                  this, METHODID_GET_ROBOT_LOCATION)))
+          .addMethod(
+            getRobotConfigDownloadMapMethod(),
+            io.grpc.stub.ServerCalls.asyncUnaryCall(
+              new MethodHandlers<
+                cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Request,
+                cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Feedback>(
+                  this, METHODID_ROBOT_CONFIG_DOWNLOAD_MAP)))
+          .addMethod(
+            getGetMapStatusMethod(),
+            io.grpc.stub.ServerCalls.asyncUnaryCall(
+              new MethodHandlers<
+                cmvr.api.AgvCommand.RobotStatusMapCommand.Request,
+                cmvr.api.AgvCommand.RobotStatusMapCommand.Feedback>(
+                  this, METHODID_GET_MAP_STATUS)))
+          .build();
+    }
+  }
+
+  /**
+   */
+  public static final class AgvServiceStub extends io.grpc.stub.AbstractAsyncStub<AgvServiceStub> {
+    private AgvServiceStub(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      super(channel, callOptions);
+    }
+
+    @java.lang.Override
+    protected AgvServiceStub build(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      return new AgvServiceStub(channel, callOptions);
+    }
+
+    /**
+     * <pre>
+     * 基本控制
+     * </pre>
+     */
+    public void getStatusInfo(cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Feedback> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetStatusInfoMethod(), getCallOptions()), request, responseObserver);
+    }
+
+    /**
+     */
+    public void getBatteryStatus(cmvr.api.AgvCommand.RobotStatusBatteryCommand.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetBatteryStatusMethod(), getCallOptions()), request, responseObserver);
+    }
+
+    /**
+     */
+    public void getRobotLocation(cmvr.api.AgvCommand.RobotStatusLocCommand.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.RobotStatusLocCommand.Feedback> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetRobotLocationMethod(), getCallOptions()), request, responseObserver);
+    }
+
+    /**
+     */
+    public void robotConfigDownloadMap(cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Feedback> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getRobotConfigDownloadMapMethod(), getCallOptions()), request, responseObserver);
+    }
+
+    /**
+     */
+    public void getMapStatus(cmvr.api.AgvCommand.RobotStatusMapCommand.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.RobotStatusMapCommand.Feedback> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetMapStatusMethod(), getCallOptions()), request, responseObserver);
+    }
+  }
+
+  /**
+   */
+  public static final class AgvServiceBlockingStub extends io.grpc.stub.AbstractBlockingStub<AgvServiceBlockingStub> {
+    private AgvServiceBlockingStub(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      super(channel, callOptions);
+    }
+
+    @java.lang.Override
+    protected AgvServiceBlockingStub build(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      return new AgvServiceBlockingStub(channel, callOptions);
+    }
+
+    /**
+     * <pre>
+     * 基本控制
+     * </pre>
+     */
+    public cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Feedback getStatusInfo(cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Request request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetStatusInfoMethod(), getCallOptions(), request);
+    }
+
+    /**
+     */
+    public cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback getBatteryStatus(cmvr.api.AgvCommand.RobotStatusBatteryCommand.Request request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetBatteryStatusMethod(), getCallOptions(), request);
+    }
+
+    /**
+     */
+    public cmvr.api.AgvCommand.RobotStatusLocCommand.Feedback getRobotLocation(cmvr.api.AgvCommand.RobotStatusLocCommand.Request request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetRobotLocationMethod(), getCallOptions(), request);
+    }
+
+    /**
+     */
+    public cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Feedback robotConfigDownloadMap(cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Request request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getRobotConfigDownloadMapMethod(), getCallOptions(), request);
+    }
+
+    /**
+     */
+    public cmvr.api.AgvCommand.RobotStatusMapCommand.Feedback getMapStatus(cmvr.api.AgvCommand.RobotStatusMapCommand.Request request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetMapStatusMethod(), getCallOptions(), request);
+    }
+  }
+
+  /**
+   */
+  public static final class AgvServiceFutureStub extends io.grpc.stub.AbstractFutureStub<AgvServiceFutureStub> {
+    private AgvServiceFutureStub(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      super(channel, callOptions);
+    }
+
+    @java.lang.Override
+    protected AgvServiceFutureStub build(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      return new AgvServiceFutureStub(channel, callOptions);
+    }
+
+    /**
+     * <pre>
+     * 基本控制
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Feedback> getStatusInfo(
+        cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Request request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetStatusInfoMethod(), getCallOptions()), request);
+    }
+
+    /**
+     */
+    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback> getBatteryStatus(
+        cmvr.api.AgvCommand.RobotStatusBatteryCommand.Request request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetBatteryStatusMethod(), getCallOptions()), request);
+    }
+
+    /**
+     */
+    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.AgvCommand.RobotStatusLocCommand.Feedback> getRobotLocation(
+        cmvr.api.AgvCommand.RobotStatusLocCommand.Request request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetRobotLocationMethod(), getCallOptions()), request);
+    }
+
+    /**
+     */
+    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Feedback> robotConfigDownloadMap(
+        cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Request request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getRobotConfigDownloadMapMethod(), getCallOptions()), request);
+    }
+
+    /**
+     */
+    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.AgvCommand.RobotStatusMapCommand.Feedback> getMapStatus(
+        cmvr.api.AgvCommand.RobotStatusMapCommand.Request request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetMapStatusMethod(), getCallOptions()), request);
+    }
+  }
+
+  private static final int METHODID_GET_STATUS_INFO = 0;
+  private static final int METHODID_GET_BATTERY_STATUS = 1;
+  private static final int METHODID_GET_ROBOT_LOCATION = 2;
+  private static final int METHODID_ROBOT_CONFIG_DOWNLOAD_MAP = 3;
+  private static final int METHODID_GET_MAP_STATUS = 4;
+
+  private static final class MethodHandlers<Req, Resp> implements
+      io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
+      io.grpc.stub.ServerCalls.ServerStreamingMethod<Req, Resp>,
+      io.grpc.stub.ServerCalls.ClientStreamingMethod<Req, Resp>,
+      io.grpc.stub.ServerCalls.BidiStreamingMethod<Req, Resp> {
+    private final AgvServiceImplBase serviceImpl;
+    private final int methodId;
+
+    MethodHandlers(AgvServiceImplBase serviceImpl, int methodId) {
+      this.serviceImpl = serviceImpl;
+      this.methodId = methodId;
+    }
+
+    @java.lang.Override
+    @java.lang.SuppressWarnings("unchecked")
+    public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserver) {
+      switch (methodId) {
+        case METHODID_GET_STATUS_INFO:
+          serviceImpl.getStatusInfo((cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Request) request,
+              (io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Feedback>) responseObserver);
+          break;
+        case METHODID_GET_BATTERY_STATUS:
+          serviceImpl.getBatteryStatus((cmvr.api.AgvCommand.RobotStatusBatteryCommand.Request) request,
+              (io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback>) responseObserver);
+          break;
+        case METHODID_GET_ROBOT_LOCATION:
+          serviceImpl.getRobotLocation((cmvr.api.AgvCommand.RobotStatusLocCommand.Request) request,
+              (io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.RobotStatusLocCommand.Feedback>) responseObserver);
+          break;
+        case METHODID_ROBOT_CONFIG_DOWNLOAD_MAP:
+          serviceImpl.robotConfigDownloadMap((cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Request) request,
+              (io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Feedback>) responseObserver);
+          break;
+        case METHODID_GET_MAP_STATUS:
+          serviceImpl.getMapStatus((cmvr.api.AgvCommand.RobotStatusMapCommand.Request) request,
+              (io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.RobotStatusMapCommand.Feedback>) responseObserver);
+          break;
+        default:
+          throw new AssertionError();
+      }
+    }
+
+    @java.lang.Override
+    @java.lang.SuppressWarnings("unchecked")
+    public io.grpc.stub.StreamObserver<Req> invoke(
+        io.grpc.stub.StreamObserver<Resp> responseObserver) {
+      switch (methodId) {
+        default:
+          throw new AssertionError();
+      }
+    }
+  }
+
+  private static abstract class AgvServiceBaseDescriptorSupplier
+      implements io.grpc.protobuf.ProtoFileDescriptorSupplier, io.grpc.protobuf.ProtoServiceDescriptorSupplier {
+    AgvServiceBaseDescriptorSupplier() {}
+
+    @java.lang.Override
+    public com.google.protobuf.Descriptors.FileDescriptor getFileDescriptor() {
+      return cmvr.api.AgvServiceOuterClass.getDescriptor();
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Descriptors.ServiceDescriptor getServiceDescriptor() {
+      return getFileDescriptor().findServiceByName("AgvService");
+    }
+  }
+
+  private static final class AgvServiceFileDescriptorSupplier
+      extends AgvServiceBaseDescriptorSupplier {
+    AgvServiceFileDescriptorSupplier() {}
+  }
+
+  private static final class AgvServiceMethodDescriptorSupplier
+      extends AgvServiceBaseDescriptorSupplier
+      implements io.grpc.protobuf.ProtoMethodDescriptorSupplier {
+    private final String methodName;
+
+    AgvServiceMethodDescriptorSupplier(String methodName) {
+      this.methodName = methodName;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Descriptors.MethodDescriptor getMethodDescriptor() {
+      return getServiceDescriptor().findMethodByName(methodName);
+    }
+  }
+
+  private static volatile io.grpc.ServiceDescriptor serviceDescriptor;
+
+  public static io.grpc.ServiceDescriptor getServiceDescriptor() {
+    io.grpc.ServiceDescriptor result = serviceDescriptor;
+    if (result == null) {
+      synchronized (AgvServiceGrpc.class) {
+        result = serviceDescriptor;
+        if (result == null) {
+          serviceDescriptor = result = io.grpc.ServiceDescriptor.newBuilder(SERVICE_NAME)
+              .setSchemaDescriptor(new AgvServiceFileDescriptorSupplier())
+              .addMethod(getGetStatusInfoMethod())
+              .addMethod(getGetBatteryStatusMethod())
+              .addMethod(getGetRobotLocationMethod())
+              .addMethod(getRobotConfigDownloadMapMethod())
+              .addMethod(getGetMapStatusMethod())
+              .build();
+        }
+      }
+    }
+    return result;
+  }
+}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/AgvServiceOuterClass.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/AgvServiceOuterClass.java
new file mode 100644
index 0000000..45b3902
--- /dev/null
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/AgvServiceOuterClass.java
@@ -0,0 +1,52 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: cmvr/api/agv_service.proto
+
+package cmvr.api;
+
+public final class AgvServiceOuterClass {
+  private AgvServiceOuterClass() {}
+  public static void registerAllExtensions(
+      com.google.protobuf.ExtensionRegistryLite registry) {
+  }
+
+  public static void registerAllExtensions(
+      com.google.protobuf.ExtensionRegistry registry) {
+    registerAllExtensions(
+        (com.google.protobuf.ExtensionRegistryLite) registry);
+  }
+
+  public static com.google.protobuf.Descriptors.FileDescriptor
+      getDescriptor() {
+    return descriptor;
+  }
+  private static  com.google.protobuf.Descriptors.FileDescriptor
+      descriptor;
+  static {
+    java.lang.String[] descriptorData = {
+      "\n\032cmvr/api/agv_service.proto\022\010cmvr.api\032\032" +
+      "cmvr/api/agv_command.proto2\252\004\n\nAgvServic" +
+      "e\022f\n\rGetStatusInfo\022).cmvr.api.GetAgvStat" +
+      "usInfoCommand.Request\032*.cmvr.api.GetAgvS" +
+      "tatusInfoCommand.Feedback\022m\n\020GetBatteryS" +
+      "tatus\022+.cmvr.api.RobotStatusBatteryComma" +
+      "nd.Request\032,.cmvr.api.RobotStatusBattery" +
+      "Command.Feedback\022e\n\020GetRobotLocation\022\'.c" +
+      "mvr.api.RobotStatusLocCommand.Request\032(." +
+      "cmvr.api.RobotStatusLocCommand.Feedback\022" +
+      "{\n\026RobotConfigDownloadMap\022/.cmvr.api.Rob" +
+      "otConfigDownloadMapCommand.Request\0320.cmv" +
+      "r.api.RobotConfigDownloadMapCommand.Feed" +
+      "back\022a\n\014GetMapStatus\022\'.cmvr.api.RobotSta" +
+      "tusMapCommand.Request\032(.cmvr.api.RobotSt" +
+      "atusMapCommand.Feedbackb\006proto3"
+    };
+    descriptor = com.google.protobuf.Descriptors.FileDescriptor
+      .internalBuildGeneratedFileFrom(descriptorData,
+        new com.google.protobuf.Descriptors.FileDescriptor[] {
+          cmvr.api.AgvCommand.getDescriptor(),
+        });
+    cmvr.api.AgvCommand.getDescriptor();
+  }
+
+  // @@protoc_insertion_point(outer_class_scope)
+}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/agv_command.proto b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/agv_command.proto
new file mode 100644
index 0000000..4c49e21
--- /dev/null
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/agv_command.proto
@@ -0,0 +1,147 @@
+syntax = "proto3";
+
+import "cmvr/api/common.proto";
+
+package cmvr.api;
+
+// AGV状态信息
+message AgvStatusInfo {
+  optional string id = 1;                      // AGV ID
+  optional string vehicle_id = 2;              // 车辆ID
+  optional string version = 3;                 // 软件版本
+  optional string model = 4;                   // 型号
+  optional string dsp_version = 5;             // DSP版本
+  optional string current_ip = 6;              // 当前IP地址
+  optional string mac = 7;                     // MAC地址
+  optional int32 rssi = 8;                     // 信号强度
+  optional int32 ret_code = 9;                 // 返回码
+  optional string err_msg = 10;                // 错误信息
+}
+
+// 获取AGV状态命令
+message GetAgvStatusInfoCommand {
+  message Request {
+    CommandHeader.Request header = 1;
+  }
+
+  message Feedback {
+    CommandHeader.Feedback header = 1;
+    AgvStatusInfo status = 2;
+  }
+}
+
+
+// ===================== 电池状态查询 =====================
+message AgvBatteryStatus {
+  optional double battery_level = 1;        // 电池电量 [0,1]
+  optional double battery_temp = 2;         // 电池温度 ℃
+  optional bool charging = 3;               // 是否正在充电
+  optional double voltage = 4;              // 电压 V
+  optional double current = 5;               // 电流 A
+  optional double max_charge_voltage = 6;   // 最大充电电压，-1=不支持
+  optional double max_charge_current = 7;   // 最大充电电流，-1=不支持
+  optional bool manual_charge = 8;          // 手动充电状态
+  optional bool auto_charge = 9;            // 自动充电状态
+  optional int32 battery_cycle = 10;        // 电池循环次数
+  optional string battery_user_data = 11;   // 电池自定义数据
+  optional string extra = 12;               // 客户自定义数据
+  optional int32 ret_code = 13;             // 错误码
+  optional string create_on = 14;           // 时间戳
+  optional string err_msg = 15;             // 错误信息
+}
+
+message RobotStatusBatteryRequestData {
+  optional bool simple = 1;  // true:仅简单数据 false:全量数据，默认false
+}
+
+message RobotStatusBatteryCommand {
+  message Request {
+    CommandHeader.Request header = 1;
+    RobotStatusBatteryRequestData data = 2;
+  }
+  message Feedback {
+    CommandHeader.Feedback header = 1;
+    AgvBatteryStatus status = 2;
+  }
+}
+
+
+
+// ===================== 机器人位置查询 =====================
+message AgvRobotLocation {
+  optional double x = 1;                // X坐标(m)
+  optional double y = 2;                // Y坐标(m)
+  optional double angle = 3;            // 姿态角(rad)
+  optional double confidence = 4;       // 定位置信度[0,1]
+  optional string current_station = 5;  // 当前最近站点ID
+  optional string last_station = 6;     // 上一站点ID
+  optional int32 loc_method = 7;        // 定位方式
+  optional int32 ret_code = 8;          // 错误码
+  optional string create_on = 9;        // 时间戳
+  optional string err_msg = 10;         // 错误信息
+}
+
+message RobotStatusLocCommand {
+  message Request {
+    CommandHeader.Request header = 1;
+  }
+  message Feedback {
+    CommandHeader.Feedback header = 1;
+    AgvRobotLocation status = 2;
+  }
+}
+
+
+// ===================== 地图下载 =====================
+message RobotConfigDownloadMapRequestData {
+  optional string map_name = 1;  // 地图名称
+}
+
+message AgvDownloadMapResult {
+  optional int32 ret_code = 1;
+  optional string create_on = 2;
+  optional string err_msg = 3;
+  optional string map_content = 4; // 完整地图JSON文本
+}
+
+message RobotConfigDownloadMapCommand {
+  message Request {
+    CommandHeader.Request header = 1;
+    RobotConfigDownloadMapRequestData data = 2;
+  }
+  message Feedback {
+    CommandHeader.Feedback header = 1;
+    AgvDownloadMapResult status = 2;
+  }
+}
+
+
+
+// 单条地图文件信息
+message MapFileInfo {
+  optional string name = 1;
+  optional string modified = 2;
+  optional int64 size = 3;
+}
+
+// 地图查询响应
+message AgvMapStatus {
+  optional string current_map = 1;
+  optional string current_map_md5 = 2;
+  repeated string maps = 3;
+  repeated MapFileInfo map_files_info = 4;
+  optional int32 ret_code = 5;
+  optional string create_on = 6;
+  optional string err_msg = 7;
+}
+
+// 查询地图状态命令
+message RobotStatusMapCommand {
+  message Request {
+    CommandHeader.Request header = 1;
+  }
+  message Feedback {
+    CommandHeader.Feedback header = 1;
+    AgvMapStatus status = 2;
+  }
+}
\ No newline at end of file
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/agv_service.proto b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/agv_service.proto
new file mode 100644
index 0000000..0b392de
--- /dev/null
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/agv_service.proto
@@ -0,0 +1,19 @@
+syntax = "proto3";
+
+import "cmvr/api/agv_command.proto";
+
+package cmvr.api;
+
+service AgvService {
+  // 基本控制
+  rpc GetStatusInfo(GetAgvStatusInfoCommand.Request) returns (GetAgvStatusInfoCommand.Feedback);
+
+  rpc GetBatteryStatus(RobotStatusBatteryCommand.Request) returns (RobotStatusBatteryCommand.Feedback);
+
+  rpc GetRobotLocation(RobotStatusLocCommand.Request) returns (RobotStatusLocCommand.Feedback);
+
+  rpc RobotConfigDownloadMap(RobotConfigDownloadMapCommand.Request) returns (RobotConfigDownloadMapCommand.Feedback);
+
+  rpc GetMapStatus(RobotStatusMapCommand.Request) returns (RobotStatusMapCommand.Feedback);
+
+}
\ No newline at end of file
diff --git a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/domain/InspectionRobot.java b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/domain/InspectionRobot.java
index db3ad1f..9132a58 100644
--- a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/domain/InspectionRobot.java
+++ b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/domain/InspectionRobot.java
@@ -59,7 +59,7 @@ public class InspectionRobot extends BaseEntity
     /** 端口号 */
     @Excel(name = "端口号")
     @ApiModelProperty("端口号")
-    private Integer port;
+    private Long port;
 
     /** 当前地图 */
     @Excel(name = "当前地图")
@@ -81,4 +81,9 @@ public class InspectionRobot extends BaseEntity
     @ApiModelProperty("当前位置")
     private String currentPosition;
 
+    /** 终端id */
+    @Excel(name = "终端id")
+    @ApiModelProperty("终端id")
+    private String terminalId;
+
 }
diff --git a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/domain/vo/InspectionRobotVo.java b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/domain/vo/InspectionRobotVo.java
index d60c2f0..3a16e04 100644
--- a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/domain/vo/InspectionRobotVo.java
+++ b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/domain/vo/InspectionRobotVo.java
@@ -68,6 +68,11 @@ public class InspectionRobotVo extends BaseEntity
     @ApiModelProperty("当前地图名称")
     private String currentMapName;
 
+    /** 机器人中地图名称 */
+    @Excel(name = "机器人中地图名称")
+    @ApiModelProperty("机器人中地图名称")
+    private String robotMapName;
+
     /** 当前状态 */
     @Excel(name = "当前状态")
     @ApiModelProperty("当前状态(0在线 1离线 2充电中 3巡检中)")
@@ -93,4 +98,9 @@ public class InspectionRobotVo extends BaseEntity
     @ApiModelProperty("修改人昵称")
     private String updateByName;
 
+    /** 终端id */
+    @Excel(name = "终端id")
+    @ApiModelProperty("终端id")
+    private String terminalId;
+
 }
diff --git a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/mapper/InspectionMapMapper.java b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/mapper/InspectionMapMapper.java
index 929da85..30b94e3 100644
--- a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/mapper/InspectionMapMapper.java
+++ b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/mapper/InspectionMapMapper.java
@@ -4,17 +4,18 @@ import java.util.List;
 import com.cmvr.inspection.domain.InspectionMap;
 import com.cmvr.inspection.domain.vo.InspectionMapVo;
 import com.github.yulichang.base.MPJBaseMapper;
+import org.apache.ibatis.annotations.Param;
 
 /**
  * 巡检地图Mapper接口
- * 
+ *
  * @author cmvr-iot
  */
 public interface InspectionMapMapper  extends MPJBaseMapper<InspectionMap>
 {
     /**
      * 查询巡检地图
-     * 
+     *
      * @param id 巡检地图主键
      * @return 巡检地图
      */
@@ -22,7 +23,7 @@ public interface InspectionMapMapper  extends MPJBaseMapper<InspectionMap>
 
     /**
      * 新增巡检地图
-     * 
+     *
      * @param inspectionMap 巡检地图
      * @return 结果
      */
@@ -30,7 +31,7 @@ public interface InspectionMapMapper  extends MPJBaseMapper<InspectionMap>
 
     /**
      * 修改巡检地图
-     * 
+     *
      * @param inspectionMap 巡检地图
      * @return 结果
      */
@@ -38,7 +39,7 @@ public interface InspectionMapMapper  extends MPJBaseMapper<InspectionMap>
 
     /**
      * 批量删除巡检地图
-     * 
+     *
      * @param ids 需要删除的数据主键集合
      * @return 结果
      */
@@ -46,9 +47,18 @@ public interface InspectionMapMapper  extends MPJBaseMapper<InspectionMap>
 
     /**
      * 查询巡检地图视图列表（包含关联信息）
-     * 
+     *
      * @param inspectionMap 巡检地图
      * @return 巡检地图视图集合
      */
     List<InspectionMapVo> selectInspectionMapVoList(InspectionMap inspectionMap);
+
+    /**
+     * 根据机器人ID查询地图列表
+     *
+     * @param robotId 机器人ID
+     * @return 地图列表
+     */
+    List<InspectionMapVo> selectMapsByRobotId(@Param("robotId") String robotId);
 }
+
diff --git a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/IInspectionMapService.java b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/IInspectionMapService.java
index 9105ab1..c7a4c09 100644
--- a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/IInspectionMapService.java
+++ b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/IInspectionMapService.java
@@ -8,7 +8,7 @@ import com.cmvr.inspection.domain.vo.InspectionMapVo;
 
 /**
  * 巡检地图Service接口
- * 
+ *
  * @author cmvr-iot
  * @since 2026-05-29
  */
@@ -16,7 +16,7 @@ public interface IInspectionMapService extends IService<InspectionMap>
 {
     /**
      * 查询巡检地图
-     * 
+     *
      * @param id 巡检地图主键
      * @return 巡检地图
      */
@@ -24,7 +24,7 @@ public interface IInspectionMapService extends IService<InspectionMap>
 
     /**
      * 查询巡检地图列表
-     * 
+     *
      * @param inspectionMap 巡检地图
      * @return 巡检地图集合
      */
@@ -32,7 +32,7 @@ public interface IInspectionMapService extends IService<InspectionMap>
 
     /**
      * 新增巡检地图
-     * 
+     *
      * @param inspectionMap 巡检地图
      * @return 结果
      */
@@ -40,7 +40,7 @@ public interface IInspectionMapService extends IService<InspectionMap>
 
     /**
      * 修改巡检地图
-     * 
+     *
      * @param inspectionMap 巡检地图
      * @return 结果
      */
@@ -48,10 +48,19 @@ public interface IInspectionMapService extends IService<InspectionMap>
 
     /**
      * 批量删除巡检地图
-     * 
+     *
      * @param ids 需要删除的巡检地图主键集合
      * @return 结果
      */
     int deleteInspectionMapByIds(String[] ids);
 
+    /**
+     * 根据机器人ID查询地图列表
+     *
+     * @param robotId 机器人ID
+     * @return 地图列表
+     */
+    List<InspectionMapVo> getMapsByRobotId(String robotId);
+
 }
+
diff --git a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/IInspectionRobotService.java b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/IInspectionRobotService.java
index 2efa704..57fd685 100644
--- a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/IInspectionRobotService.java
+++ b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/IInspectionRobotService.java
@@ -1,3 +1,4 @@
+
 package com.cmvr.inspection.service;
 
 import java.util.List;
@@ -5,10 +6,11 @@ import java.util.List;
 import com.baomidou.mybatisplus.extension.service.IService;
 import com.cmvr.inspection.domain.InspectionRobot;
 import com.cmvr.inspection.domain.vo.InspectionRobotVo;
+import cmvr.api.AgvCommand;
 
 /**
  * 巡检机器人Service接口
- * 
+ *
  * @author cmvr-iot
  * @since 2026-05-29
  */
@@ -16,7 +18,7 @@ public interface IInspectionRobotService extends IService<InspectionRobot>
 {
     /**
      * 查询巡检机器人
-     * 
+     *
      * @param id 巡检机器人主键
      * @return 巡检机器人
      */
@@ -24,7 +26,7 @@ public interface IInspectionRobotService extends IService<InspectionRobot>
 
     /**
      * 查询巡检机器人列表
-     * 
+     *
      * @param inspectionRobot 巡检机器人
      * @return 巡检机器人集合
      */
@@ -32,7 +34,7 @@ public interface IInspectionRobotService extends IService<InspectionRobot>
 
     /**
      * 新增巡检机器人
-     * 
+     *
      * @param inspectionRobot 巡检机器人
      * @return 结果
      */
@@ -40,7 +42,7 @@ public interface IInspectionRobotService extends IService<InspectionRobot>
 
     /**
      * 修改巡检机器人
-     * 
+     *
      * @param inspectionRobot 巡检机器人
      * @return 结果
      */
@@ -48,10 +50,53 @@ public interface IInspectionRobotService extends IService<InspectionRobot>
 
     /**
      * 批量删除巡检机器人
-     * 
+     *
      * @param ids 需要删除的巡检机器人主键集合
      * @return 结果
      */
     int deleteInspectionRobotByIds(String[] ids);
 
-}
+    /**
+     * 获取机器人地图列表（从AGV获取）
+     *
+     * @param robotId 机器人ID
+     * @return 地图状态信息
+     */
+    AgvCommand.AgvMapStatus getRobotMapList(String robotId);
+
+    /**
+     * 绑定机器人地图
+     *
+     * @param robotId 机器人ID
+     * @param mapId 地图ID
+     * @return 结果
+     */
+    int bindRobotMap(String robotId, String mapId);
+
+    /**
+     * 上传地图到机器人
+     *
+     * @param robotId 机器人ID
+     * @param mapId 地图ID
+     * @return 结果
+     */
+    String uploadMapToRobot(String robotId, String mapId);
+
+    /**
+     * 从机器人下载地图
+     *
+     * @param robotId 机器人ID
+     * @param mapName 地图名称
+     * @return 地图ID
+     */
+    String downloadMapFromRobot(String robotId, String mapName);
+
+    /**
+     * 同步机器人状态（电量、位置等）
+     *
+     * @param robotId 机器人ID
+     * @return 更新后的机器人信息
+     */
+    InspectionRobot syncRobotStatus(String robotId);
+
+}
\ No newline at end of file
diff --git a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/impl/InspectionMapServiceImpl.java b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/impl/InspectionMapServiceImpl.java
index d70047d..58a26b9 100644
--- a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/impl/InspectionMapServiceImpl.java
+++ b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/impl/InspectionMapServiceImpl.java
@@ -1,3 +1,4 @@
+
 package com.cmvr.inspection.service.impl;
 
 import java.util.List;
@@ -15,7 +16,7 @@ import com.cmvr.inspection.service.IInspectionMapService;
 
 /**
  * 巡检地图Service业务层处理
- * 
+ *
  * @author cmvr-iot
  * @since 2026-05-29
  */
@@ -27,7 +28,7 @@ public class InspectionMapServiceImpl extends ServiceImpl<InspectionMapMapper, I
 
     /**
      * 查询巡检地图
-     * 
+     *
      * @param id 巡检地图主键
      * @return 巡检地图
      */
@@ -39,7 +40,7 @@ public class InspectionMapServiceImpl extends ServiceImpl<InspectionMapMapper, I
 
     /**
      * 查询巡检地图列表
-     * 
+     *
      * @param inspectionMap 巡检地图
      * @return 巡检地图
      */
@@ -51,7 +52,7 @@ public class InspectionMapServiceImpl extends ServiceImpl<InspectionMapMapper, I
 
     /**
      * 新增巡检地图
-     * 
+     *
      * @param inspectionMap 巡检地图
      * @return 结果
      */
@@ -69,7 +70,7 @@ public class InspectionMapServiceImpl extends ServiceImpl<InspectionMapMapper, I
 
     /**
      * 修改巡检地图
-     * 
+     *
      * @param inspectionMap 巡检地图
      * @return 结果
      */
@@ -83,7 +84,7 @@ public class InspectionMapServiceImpl extends ServiceImpl<InspectionMapMapper, I
 
     /**
      * 批量删除巡检地图
-     * 
+     *
      * @param ids 需要删除的巡检地图主键
      * @return 结果
      */
@@ -92,4 +93,17 @@ public class InspectionMapServiceImpl extends ServiceImpl<InspectionMapMapper, I
     {
         return inspectionMapMapper.deleteInspectionMapByIds(ids);
     }
-}
+
+    /**
+     * 根据机器人ID查询地图列表
+     *
+     * @param robotId 机器人ID
+     * @return 地图列表
+     */
+    @Override
+    public List<InspectionMapVo> getMapsByRobotId(String robotId)
+    {
+        return inspectionMapMapper.selectMapsByRobotId(robotId);
+    }
+
+}
\ No newline at end of file
diff --git a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/impl/InspectionRobotServiceImpl.java b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/impl/InspectionRobotServiceImpl.java
index 3df9343..9581d25 100644
--- a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/impl/InspectionRobotServiceImpl.java
+++ b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/impl/InspectionRobotServiceImpl.java
@@ -1,21 +1,32 @@
+
 package com.cmvr.inspection.service.impl;
 
+import java.util.Arrays;
 import java.util.List;
 import java.util.UUID;
 
+import cmvr.api.AgvCommand;
 import com.baomidou.mybatisplus.extension.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.vo.InspectionRobotVo;
+import com.cmvr.inspection.mapper.InspectionMapMapper;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 import com.cmvr.common.utils.DateUtils;
 import com.cmvr.inspection.mapper.InspectionRobotMapper;
 import com.cmvr.inspection.domain.InspectionRobot;
 import com.cmvr.inspection.service.IInspectionRobotService;
+import cn.hutool.core.util.StrUtil;
+import com.cmvr.common.exception.GlobalException;
 
 /**
  * 巡检机器人Service业务层处理
- * 
+ *
  * @author cmvr-iot
  * @since 2026-05-29
  */
@@ -25,9 +36,18 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
     @Autowired
     private InspectionRobotMapper inspectionRobotMapper;
 
+    @Autowired
+    private InspectionMapMapper inspectionMapMapper;
+
+    @Autowired
+    private EdgeAgvService edgeAgvService;
+
+    @Autowired
+    private IDeDeviceTerminalConfigService deDeviceTerminalConfigService;
+
     /**
      * 查询巡检机器人
-     * 
+     *
      * @param id 巡检机器人主键
      * @return 巡检机器人
      */
@@ -39,7 +59,7 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
 
     /**
      * 查询巡检机器人列表
-     * 
+     *
      * @param inspectionRobot 巡检机器人
      * @return 巡检机器人
      */
@@ -51,13 +71,22 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
 
     /**
      * 新增巡检机器人
-     * 
+     *
      * @param inspectionRobot 巡检机器人
      * @return 结果
      */
     @Override
     public int insertInspectionRobot(InspectionRobot inspectionRobot)
     {
+        DeDeviceTerminalConfig deDeviceTerminalConfig = new DeDeviceTerminalConfig();
+        deDeviceTerminalConfig.setName(inspectionRobot.getRobotName());
+        deDeviceTerminalConfig.setDescription("机器人终端");
+        deDeviceTerminalConfig.setStatus("1");
+        deDeviceTerminalConfig.setHost(inspectionRobot.getIpAddress());
+        deDeviceTerminalConfig.setPort(inspectionRobot.getPort());
+        // 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.setTerminalId(deDeviceTerminalConfig.getId());
         // 生成UUID作为主键
         if (inspectionRobot.getId() == null || inspectionRobot.getId().isEmpty()) {
             inspectionRobot.setId(UUID.randomUUID().toString().replace("-", ""));
@@ -69,7 +98,7 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
 
     /**
      * 修改巡检机器人
-     * 
+     *
      * @param inspectionRobot 巡检机器人
      * @return 结果
      */
@@ -78,19 +107,215 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
     {
         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);
     }
 
     /**
      * 批量删除巡检机器人
-     * 
+     *
      * @param ids 需要删除的巡检机器人主键
      * @return 结果
      */
     @Override
     public int deleteInspectionRobotByIds(String[] ids)
     {
+        List<InspectionRobot> inspectionRobots = inspectionRobotMapper.selectBatchIds(Arrays.asList(ids));
+        deDeviceTerminalConfigService.deleteDeDeviceTerminalConfigByIds(inspectionRobots.stream().map(InspectionRobot::getTerminalId).toArray(String[]::new));
         return inspectionRobotMapper.deleteInspectionRobotByIds(ids);
     }
 
-}
+    /**
+     * 获取机器人地图列表（从AGV获取）
+     *
+     * @param robotId 机器人ID
+     * @return 地图状态信息
+     */
+    @Override
+    public AgvCommand.AgvMapStatus getRobotMapList(String robotId)
+    {
+        InspectionRobot robot = inspectionRobotMapper.selectInspectionRobotById(robotId);
+        if (robot == null) {
+            throw new GlobalException("机器人不存在");
+        }
+        if (StrUtil.isBlank(robot.getIpAddress())) {
+            throw new GlobalException("机器人IP地址未配置");
+        }
+
+        EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
+        edgeCommonVO.setTerminalId(robot.getTerminalId());
+        edgeCommonVO.setDeviceId(robot.getRobotCode());
+
+        return edgeAgvService.getMapStatus(edgeCommonVO);
+    }
+
+    /**
+     * 绑定机器人地图
+     *
+     * @param robotId 机器人ID
+     * @param mapId 地图ID
+     * @return 结果
+     */
+    @Override
+    public int bindRobotMap(String robotId, String mapId)
+    {
+        InspectionRobot robot = inspectionRobotMapper.selectInspectionRobotById(robotId);
+        if (robot == null) {
+            throw new GlobalException("机器人不存在");
+        }
+
+        InspectionMap map = inspectionMapMapper.selectInspectionMapById(mapId);
+        if (map == null) {
+            throw new GlobalException("地图不存在");
+        }
+
+        robot.setCurrentMapId(mapId);
+        robot.setUpdateTime(DateUtils.getNowDate());
+        robot.setUpdateBy(SecurityUtils.getUsername());
+
+        return inspectionRobotMapper.updateInspectionRobot(robot);
+    }
+
+    /**
+     * 上传地图到机器人
+     *
+     * @param robotId 机器人ID
+     * @param mapId 地图ID
+     * @return 结果
+     */
+    @Override
+    public String uploadMapToRobot(String robotId, String mapId)
+    {
+        InspectionRobot robot = inspectionRobotMapper.selectInspectionRobotById(robotId);
+        if (robot == null) {
+            throw new GlobalException("机器人不存在");
+        }
+
+        InspectionMap map = inspectionMapMapper.selectInspectionMapById(mapId);
+        if (map == null) {
+            throw new GlobalException("地图不存在");
+        }
+
+        if (StrUtil.isBlank(map.getMapFilePath())) {
+            throw new GlobalException("地图文件路径不存在");
+        }
+
+        // TODO: 从文件路径读取地图内容
+        // 这里需要根据实际存储方式实现
+        String mapContent = readMapFile(map.getMapFilePath());
+
+        EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
+        edgeCommonVO.setTerminalId(robot.getTerminalId());
+        edgeCommonVO.setDeviceId(robot.getRobotCode());
+
+//        cmvr.api.AgvCommand.AgvUploadMapResult result = edgeAgvService.robotConfigUploadMap(edgeCommonVO, mapContent);
+//
+//        if (result.getRetCode() != 0) {
+//            throw new GlobalException("上传地图失败: " + result.getErrMsg());
+//        }
+
+        return "上传成功";
+    }
+
+    /**
+     * 从机器人下载地图
+     *
+     * @param robotId 机器人ID
+     * @param mapName 地图名称
+     * @return 地图ID
+     */
+    @Override
+    public String downloadMapFromRobot(String robotId, String mapName)
+    {
+        InspectionRobot robot = inspectionRobotMapper.selectInspectionRobotById(robotId);
+        if (robot == null) {
+            throw new GlobalException("机器人不存在");
+        }
+
+        EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
+        edgeCommonVO.setTerminalId(robot.getTerminalId());
+        edgeCommonVO.setDeviceId(robot.getRobotCode());
+
+        cmvr.api.AgvCommand.AgvDownloadMapResult result = edgeAgvService.robotConfigDownloadMap(edgeCommonVO, mapName);
+
+        // 保存地图到数据库
+//        InspectionMap inspectionMap = new InspectionMap();
+//        inspectionMap.setId(UUID.randomUUID().toString().replace("-", ""));
+//        inspectionMap.setMapName(mapName);
+//        inspectionMap.setMapSourceRobotId(robotId);
+//        inspectionMap.setMapSourceName(mapName);
+//
+//        // TODO: 将地图内容保存到文件系统，并返回文件路径
+//        // String filePath = saveMapToFile(result.getMapContent(), mapName);
+//        // inspectionMap.setMapFilePath(filePath);
+//
+//        inspectionMap.setStatus("0");
+//        inspectionMap.setCreateTime(DateUtils.getNowDate());
+//        inspectionMap.setCreateBy(SecurityUtils.getUsername());
+//
+//        inspectionMapMapper.insertInspectionMap(inspectionMap);
+
+
+
+
+        return result.getMapContent();
+    }
+
+    /**
+     * 同步机器人状态（电量、位置等）
+     *
+     * @param robotId 机器人ID
+     * @return 更新后的机器人信息
+     */
+    @Override
+    public InspectionRobot syncRobotStatus(String robotId)
+    {
+        InspectionRobot robot = inspectionRobotMapper.selectInspectionRobotById(robotId);
+        if (robot == null) {
+            throw new GlobalException("机器人不存在");
+        }
+
+        EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
+        edgeCommonVO.setTerminalId(robot.getTerminalId());
+        edgeCommonVO.setDeviceId(robot.getRobotCode());
+
+        try {
+            // 获取电池状态
+            cmvr.api.AgvCommand.AgvBatteryStatus batteryStatus = edgeAgvService.getBatteryStatus(edgeCommonVO);
+            robot.setBatteryLevel((int)(batteryStatus.getBatteryLevel() * 100));
+
+            // 获取位置信息
+            cmvr.api.AgvCommand.AgvRobotLocation location = edgeAgvService.getRobotLocation(edgeCommonVO);
+            robot.setCurrentPosition(location.getX() + "," + location.getY() + "," + location.getAngle());
+
+            // 获取状态信息
+            cmvr.api.AgvCommand.AgvStatusInfo statusInfo = edgeAgvService.getStatusInfo(edgeCommonVO);
+
+            robot.setUpdateTime(DateUtils.getNowDate());
+            inspectionRobotMapper.updateInspectionRobot(robot);
+
+        } catch (Exception e) {
+            // 记录日志但不抛出异常，允许部分失败
+            e.printStackTrace();
+        }
+
+        return robot;
+    }
+
+    /**
+     * 读取地图文件内容
+     *
+     * @param filePath 文件路径
+     * @return 文件内容
+     */
+    private String readMapFile(String filePath)
+    {
+        // TODO: 实现文件读取逻辑
+        return "";
+    }
+
+}
\ No newline at end of file
diff --git a/cmvr-iot-inspection/src/main/resources/mapper/inspection/InspectionMapMapper.xml b/cmvr-iot-inspection/src/main/resources/mapper/inspection/InspectionMapMapper.xml
index 464afa5..f9c43e0 100644
--- a/cmvr-iot-inspection/src/main/resources/mapper/inspection/InspectionMapMapper.xml
+++ b/cmvr-iot-inspection/src/main/resources/mapper/inspection/InspectionMapMapper.xml
@@ -130,4 +130,33 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="status != null and status != ''"> and m.status = #{status}</if>
         </where>
     </select>
+
+    <select id="selectInspectionMapVoList" parameterType="InspectionMap" resultMap="InspectionMapVoResult">
+        select m.id, m.create_by, m.create_time, m.update_by, m.update_time, m.remark,
+        m.map_name, m.map_source_robot_id, r.robot_name as map_source_robot_name,
+        m.map_source_name, m.map_file_path, m.status, m.map_desc,
+        u1.nick_name as create_by_name, u2.nick_name as update_by_name
+        from inspection_map m
+        left join inspection_robot r on m.map_source_robot_id = r.id
+        left join sys_user u1 on m.create_by = u1.user_name  <!-- 创建人关联用户 -->
+        left join sys_user u2 on m.update_by = u2.user_name <!-- 更新人关联用户 -->
+        <where>
+            <if test="mapName != null and mapName != ''"> and m.map_name like concat('%', #{mapName}, '%')</if>
+            <if test="mapDesc != null and mapDesc != ''"> and m.map_desc like concat('%', #{mapDesc}, '%')</if>
+            <if test="status != null and status != ''"> and m.status = #{status}</if>
+        </where>
+    </select>
+
+    <select id="selectMapsByRobotId" resultMap="InspectionMapVoResult">
+        select m.id, m.create_by, m.create_time, m.update_by, m.update_time, m.remark,
+               m.map_name, m.map_source_robot_id, r.robot_name as map_source_robot_name,
+               m.map_source_name, m.map_file_path, m.status, m.map_desc,
+               u1.nick_name as create_by_name, u2.nick_name as update_by_name
+        from inspection_map m
+                 left join inspection_robot r on m.map_source_robot_id = r.id
+                 left join sys_user u1 on m.create_by = u1.user_name
+                 left join sys_user u2 on m.update_by = u2.user_name
+        where m.map_source_robot_id = #{robotId}
+        order by m.create_time desc
+    </select>
 </mapper>
diff --git a/cmvr-iot-inspection/src/main/resources/mapper/inspection/InspectionRobotMapper.xml b/cmvr-iot-inspection/src/main/resources/mapper/inspection/InspectionRobotMapper.xml
index fc64fd0..6808884 100644
--- a/cmvr-iot-inspection/src/main/resources/mapper/inspection/InspectionRobotMapper.xml
+++ b/cmvr-iot-inspection/src/main/resources/mapper/inspection/InspectionRobotMapper.xml
@@ -21,6 +21,7 @@ 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"    />
     </resultMap>
 
     <resultMap type="com.cmvr.inspection.domain.vo.InspectionRobotVo" id="InspectionRobotVoResult">
@@ -43,10 +44,11 @@ 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"    />
     </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 from inspection_robot
+        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
     </sql>
 
     <select id="selectInspectionRobotList" parameterType="InspectionRobot" resultMap="InspectionRobotResult">
@@ -85,6 +87,7 @@ 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>
          </trim>
         <trim prefix="values (" suffix=")" suffixOverrides=",">
             <if test="id != null">#{id},</if>
@@ -103,6 +106,7 @@ 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>
          </trim>
     </insert>
 
@@ -124,6 +128,7 @@ 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>
@@ -144,7 +149,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
                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.status, r.battery_level, r.current_position, r.terminal_id,
                u1.nick_name as create_by_name, u2.nick_name as update_by_name
         from inspection_robot r
         left join inspection_map m on r.current_map_id = m.id
diff --git a/sql/inspection_module.sql b/sql/inspection_module.sql
index beabd83..4a6a268 100644
--- a/sql/inspection_module.sql
+++ b/sql/inspection_module.sql
@@ -21,6 +21,7 @@ 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',
   PRIMARY KEY (`id`),
   UNIQUE KEY `uk_robot_code` (`robot_code`)
 ) ENGINE=InnoDB DEFAULT CHARSET=utf8mb4 COLLATE=utf8mb4_unicode_ci COMMENT='巡检机器人表';