feat(model): 更新AI评估结果模型并重构AGV协议定义

- 在AeIResultDTO中新增结构化执行步骤、界面路径和执行证据截图字段
- 在AeViEvaluationVO中新增执行过程相关的结构化步骤字段
- 将agv_utils.proto中的消息定义整合到agv.proto中
- 从arm_command.proto中补充完整的机械臂控制命令定义
- 更新arm_service.proto中机械臂服务接口定义
- 移除废弃的arm_teleop_v1.proto文件
- 修改AgvNavigationWaiter类中引用的消息类型包名
- 更新应用配置文件中的激活环境设置

.github/FUNDING.yml

@@ -0,0 +1 @@
+custom: http://doc.ruoyi.vip/ruoyi-vue/other/donate.html

.gitignore

@@ -46,11 +46,7 @@ nbdist/
 !*/build/*.html
 !*/build/*.xml
 
-bin/
+# Local verification tests
-ry.bat
+/cmvr-iot-test/src/test/java/com/cmvr/test/flow/runtime/operator/edge/EdgeAgvOperateServiceTest.java
-ry.sh
+/cmvr-iot-test/src/test/java/com/cmvr/test/flow/runtime/operator/edge/EdgeArmOperateServiceTest.java
-run.sh
+/cmvr-iot-test/src/test/java/com/cmvr/test/vision/math/VisionCalibrationMathTest.java
-package.bat
-sql/quartz.sql
-
-**/application-local.yml

DirectoryV3.xml

@@ -1,26 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?> 
- <trees>
-    <tree path="/cmvr-iot-system" title="系统模块"/>
-     <tree path="/cmvr-iot-admin" title="后台服务"/>
-     <tree path="/cmvr-iot-common" title="工具类"/>
-     <tree path="/cmvr-iot-framework" title="框架核心组件"/>
-     <tree path="/cmvr-iot-generator" title="代码生成"/>
-     <tree path="/cmvr-iot-quartz" title="定时任务"/>
-     <tree path="/cmvr-iot-common/src/main/java/com/cmvr/common/annotation" title="自定义注解"/>
-     <tree path="/cmvr-iot-common/src/main/java/com/cmvr/common/config" title="全局配置"/>
-     <tree path="/cmvr-iot-common/src/main/java/com/cmvr/common/constant" title="通用常量"/>
-     <tree path="/cmvr-iot-common/src/main/java/com/cmvr/common/core" title="核心控制"/>
-    <tree path="/cmvr-iot-common/src/main/java/com/cmvr/common/enums" title="通用枚举"/>
-    <tree path="/cmvr-iot-common/src/main/java/com/cmvr/common/exception" title="通用异常"/>
-    <tree path="/cmvr-iot-common/src/main/java/com/cmvr/common/filter" title="过滤器处理"/>
-    <tree path="/cmvr-iot-common/src/main/java/com/cmvr/common/utils" title="通用类处理"/>
-    <tree path="/cmvr-iot-common/src/main/java/com/cmvr/common/xss" title="自定义xss校验注解"/>
-    <tree path="/cmvr-iot-framework/src/main/java/com/cmvr/framework/aspectj" title="注解实现"/>
-    <tree path="/cmvr-iot-framework/src/main/java/com/cmvr/framework/config" title="系统配置"/>
-    <tree path="/cmvr-iot-framework/src/main/java/com/cmvr/framework/datasource" title="数据权限"/>
-    <tree path="/cmvr-iot-framework/src/main/java/com/cmvr/framework/interceptor" title="拦截器"/>
-    <tree path="/cmvr-iot-framework/src/main/java/com/cmvr/framework/manager" title="异步处理"/>
-    <tree path="/cmvr-iot-framework/src/main/java/com/cmvr/framework/security" title="权限控制"/>
-    <tree path="/cmvr-iot-framework/src/main/java/com/cmvr/framework/web" title="前端控制"/>
-    <tree path="/cmvr-iot-device" title="设备管理"/>
-</trees>

Dockerfile

@@ -1,50 +0,0 @@
-# ====================== 构建阶段 ======================
-FROM maven:3.9.9-eclipse-temurin-8 AS builder
-WORKDIR /app
-
-# 缓存pom
-COPY pom.xml .
-COPY cmvr-iot-admin/pom.xml    cmvr-iot-admin/
-COPY cmvr-iot-framework/pom.xml cmvr-iot-framework/
-COPY cmvr-iot-system/pom.xml   cmvr-iot-system/
-COPY cmvr-iot-quartz/pom.xml   cmvr-iot-quartz/
-COPY cmvr-iot-generator/pom.xml cmvr-iot-generator/
-COPY cmvr-iot-common/pom.xml   cmvr-iot-common/
-COPY cmvr-iot-device/pom.xml   cmvr-iot-device/
-COPY cmvr-iot-test/pom.xml     cmvr-iot-test/
-COPY cmvr-iot-api/pom.xml      cmvr-iot-api/
-COPY cmvr-iot-vi/pom.xml       cmvr-iot-vi/
-COPY cmvr-iot-ti/pom.xml       cmvr-iot-ti/
-COPY cmvr-iot-evaluation/pom.xml cmvr-iot-evaluation/
-COPY cmvr-iot-api/cmvr-iot-llm/pom.xml cmvr-iot-api/cmvr-iot-llm/
-COPY cmvr-iot-api/cmvr-iot-edge/pom.xml cmvr-iot-api/cmvr-iot-edge/
-COPY cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/pom.xml cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/
-COPY cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/pom.xml cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/
-
-RUN mvn dependency:go-offline -B --no-transfer-progress
-
-COPY . .
-
-RUN mvn clean package -DskipTests -pl cmvr-iot-admin -am --no-transfer-progress
-
-# ====================== 运行阶段 ======================
-FROM openjdk:8-jdk-alpine
-
-WORKDIR /app
-
-# -------------------------- 【唯一正确写法】 --------------------------
-# 1. 先把所有jar复制进来
-COPY --from=builder /app/cmvr-iot-admin/target/*.jar ./
-
-# 2. 自动删除不能运行的小jar（只保留可执行jar）
-RUN find . -name "*.jar" -type f -size -20000k -delete
-
-# 3. 重命名为app.jar
-RUN mv *.jar app.jar
-
-ENTRYPOINT ["java", "-jar", \
-"-Dspring.profiles.active=dev", \
-"-Djava.security.egd=file:/dev/./urandom", \
-"-XX:+UseG1GC", \
-"-Xms512m", "-Xmx1024m", \
-"app.jar"]

Jenkinsfile

@@ -1,43 +0,0 @@
-pipeline {
-    agent any
-
-    stages {
-        stage('Build') {
-            steps {
-                sh 'mvn clean install -Dmaven.test.skip=true'
-            }
-        }
-
-        stage('Deploy') {
-            parallel {
-                stage('Deploy to DEV') {
-                    steps {
-                        sh './ry.sh start dev'
-                    }
-                }
-                stage('Deploy to TEST') {
-                    steps {
-                        sh './ry.sh start test'
-                    }
-                }
-                stage('Deploy to PROD') {
-                    steps {
-                        sh './ry.sh start prod'
-                    }
-                }
-            }
-        }
-    }
-
-    post {
-        always {
-            archiveArtifacts artifacts: '**/*.jar', allowEmptyArchive: true
-        }
-        success {
-            echo 'Pipeline completed successfully.'
-        }
-        failure {
-            echo 'Pipeline failed.'
-        }
-    }
-}

README.md

@@ -1,249 +1,156 @@
-# cmvr-iot
+# CMVR IoT 物联网平台
 
-cmvr-iot 是一个基于 Java 8 和 Spring Boot 2.5 的多模块后端工程，提供设备管理、边缘机器人控制、测试编排、巡检、TTS、AIMA、VI/TI 等业务能力。工程入口在 `cmvr-iot-admin`，其余模块按业务和基础能力拆分。
+CMVR IoT 是招商车研机器人及智能设备管理平台。本项目以 RuoYi-Vue 3.9.2 为基础升级到 Spring Boot 4，保留原有 REST、前端和 gRPC 对外接口，并将 QUIC Gateway 集成到主应用进程中。
+
+Java 包名、Maven 坐标统一使用 `com.cmvr`。旧项目 `cmvr-iot` 仅作为迁移来源，不参与本项目构建。
+
+## 主要功能
+
+- 系统管理：用户、角色、部门、菜单、字典、参数、日志和通知。
+- 机器人设备：以边缘端上报的永久 `robotId` 作为唯一业务身份，自动同步机器人地址、在线状态和设备清单。
+- 测试业务：任务配置、任务编排、任务实例、检测项、语音唤醒、Flowise 和 AI 评估。
+- 智能巡检：机器人、地图、点位、任务、执行实例、巡检结果和告警。
+- 智能座舱：语音交互、触控交互、TTS、语料库和车机操作配置。
+- 专项业务：爱玛电动车测试、评价指标库和大模型服务。
+- 边缘控制：通过 gRPC 调用 AGV、相机、机械臂、灵巧手、机器人头部、麦克风和扬声器。
+- QUIC 接入：节点注册、心跳、设备快照、媒体 DATAGRAM 和 gRPC 地址同步。
+- 平台能力：Quartz 定时任务、代码生成、WebSocket、MinIO 文件服务和 Knife4j 接口文档。
 
 ## 技术栈
 
-- Java 8
+| 组件 | 版本或实现 |
-- Spring Boot 2.5.15
+| --- | --- |
-- Spring Security
+| Java | 17 |
-- MyBatis Plus / MyBatis Plus Join
+| Spring Boot | 4.0.6 |
-- MySQL / Redis
+| Spring Security | JWT 认证 |
-- Druid
+| MyBatis | MyBatis-Plus 3.5.17、MPJ 1.5.9 |
-- Quartz
+| 数据库 | MySQL |
-- Knife4j / Swagger
+| 缓存 | Redis |
-- gRPC Java 1.58.0
+| RPC | gRPC 1.58.0、Protobuf 3.25.5 |
-- Protobuf / protoc-maven-plugin
+| QUIC | Netty QUIC 4.2.16.Final |
-- MinIO
+| API 文档 | Springdoc 3.0.3、Knife4j 4.5.0 |
+| 前端 | Vue 3.4、Element Plus 2.9、Vite 5.3 |
 
-## 模块说明
+## 工程结构
 
 | 模块 | 说明 |
 | --- | --- |
-| `cmvr-iot-admin` | Web 启动模块，包含 REST Controller、启动类和运行配置 |
+| `cmvr-iot-admin` | Spring Boot 启动入口、REST 控制器和运行配置 |
-| `cmvr-iot-framework` | Web、安全、配置、通用框架能力 |
+| `cmvr-iot-framework` | 安全、Web、MyBatis、WebSocket 等框架配置 |
-| `cmvr-iot-common` | 公共工具、通用响应、基础常量和通用能力 |
+| `cmvr-iot-common` | 公共模型、注解、异常和工具类 |
-| `cmvr-iot-system` | 系统管理、用户、角色、菜单、字典等基础业务 |
+| `cmvr-iot-system` | 用户、角色、菜单、字典、参数和通用分组 |
-| `cmvr-iot-quartz` | 定时任务模块 |
+| `cmvr-iot-quartz` | Quartz 任务调度和任务日志 |
-| `cmvr-iot-generator` | 代码生成模块 |
+| `cmvr-iot-generator` | 代码生成 |
-| `cmvr-iot-device` | 设备领域模型与设备相关能力 |
+| `cmvr-iot-device` | 设备协议模型、机器人配置和巡检告警监听 |
-| `cmvr-iot-test` | 测试任务、编排、执行实例等业务 |
+| `cmvr-iot-test` | 测试任务、流程、检测项和执行实例 |
-| `cmvr-iot-vi` | VI 相关业务 |
+| `cmvr-iot-vi` | 语音交互业务 |
-| `cmvr-iot-ti` | TI 相关业务 |
+| `cmvr-iot-ti` | 触控交互业务 |
-| `cmvr-iot-evaluation` | 评测相关业务 |
+| `cmvr-iot-evaluation` | 评价指标业务 |
-| `cmvr-iot-inspection` | 巡检机器人、地图、任务、告警等业务 |
+| `cmvr-iot-inspection` | 智能巡检业务 |
-| `cmvr-iot-aima` | AIMA 相关业务 |
+| `cmvr-iot-aima` | 爱玛电动车专项业务 |
-| `cmvr-iot-tts` | TTS 语音合成相关业务 |
+| `cmvr-iot-tts` | TTS 任务和车载语料 |
-| `cmvr-iot-api` | API 聚合模块 |
+| `cmvr-iot-api` | 边缘服务和大模型 API 聚合模块 |
-| `cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib` | gRPC proto 与生成代码模块 |
+| `cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib` | 原有 gRPC 协议及生成代码 |
-| `cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client` | 边缘设备 gRPC 客户端、设备控制服务和请求 VO |
+| `cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client` | 原有机器人 gRPC 客户端 |
+| `cmvr-iot-quic-contract` | QUIC 控制、节点事件和媒体数据协议 |
+| `cmvr-iot-quic` | 与主应用同进程运行的 QUIC Gateway |
+| `cmvr-iot-ui-lxl-dev-worktree` | Vue 3 管理控制台（同级独立前端仓库） |
 
-## 目录结构
+## 环境准备
 
-```text
+- JDK 17
-cmvr-iot
+- Maven 3.6.3 或更高版本
-├── cmvr-iot-admin                 # Spring Boot 启动模块
+- MySQL 5.7/8.0
-├── cmvr-iot-common                # 公共模块
-├── cmvr-iot-framework             # 框架模块
-├── cmvr-iot-system                # 系统管理模块
-├── cmvr-iot-device                # 设备模块
-├── cmvr-iot-test                  # 测试业务模块
-├── cmvr-iot-api
-│   └── cmvr-iot-edge
-│       ├── cmvr-iot-grpc-lib      # proto 与 gRPC 生成代码
-│       └── cmvr-iot-grpc-client   # gRPC 客户端与边缘控制服务
-├── sql                            # 增量 SQL
-├── Dockerfile
-├── Jenkinsfile
-└── pom.xml                        # Maven 父工程
-```
-
-## 环境要求
-
-- JDK 1.8
-- Maven 3.6+
-- MySQL 5.7+/8.x
 - Redis
-- 可访问的 gRPC 机器人/边缘终端服务
+- Node.js 18/20 LTS 和 pnpm 9
-- 可选：MinIO、外部大模型/TTS/评测服务
+- MinIO，仅使用文件、语料或媒体存储功能时需要
 
-注意：`application-*.yml` 中包含环境相关地址、账号和密钥配置。实际部署或本地开发时，应使用本机配置、环境变量或配置中心覆盖，不要直接复用生产/测试环境敏感配置。
+默认激活 `test` profile，后端端口为 `13080`。运行前检查以下配置：
 
-## 配置文件
+- `cmvr-iot-admin/src/main/resources/application-test.yml`：MySQL、Redis、MinIO、gRPC 和第三方服务。
+- `cmvr-iot-admin/src/main/resources/application.yml`：上传目录、JWT、MyBatis、Knife4j 和 QUIC。
+- 不要把生产密码、访问密钥或 TLS 私钥提交到仓库。
 
-主配置文件位于：
+## 数据库初始化
 
-```text
+新数据库以 `sql/ry_20260417.sql` 为基础脚本。按实际启用模块检查并执行以下补充脚本：
-cmvr-iot-admin/src/main/resources/application.yml
-```
 
-环境配置文件位于：
+- `sql/quartz.sql`：Quartz 表结构。
+- `sql/aima_module.sql`：爱玛业务。
+- `sql/inspection_module.sql`、`inspection_result.sql`、`inspection_detection_alert.sql`：巡检业务。
+- `sql/tts_corpus_module.sql`：TTS 和语料业务。
+- `sql/robot_quic_identity_migration.sql`：机器人 QUIC 身份、运行状态和设备快照表。
+- `sql/robot_id_only_migration.sql`：移除巡检机器人和任务实例中的历史终端 ID 字段。
 
-```text
+补充脚本可能面向不同历史库版本。已有数据库升级前应先备份，并确认字段或索引尚未存在。
-cmvr-iot-admin/src/main/resources/application-dev.yml
-cmvr-iot-admin/src/main/resources/application-test.yml
-cmvr-iot-admin/src/main/resources/application-prod.yml
-```
 
-当前 `application.yml` 默认激活：
+## 后端运行
-
-```yaml
-spring:
-  profiles:
-    active: test
-```
-
-如需切换环境，可以修改 `spring.profiles.active`，或启动时指定：
-
-```bash
-java -jar cmvr-iot-admin-dev.jar --spring.profiles.active=dev
-```
-
-## 构建
 
 在项目根目录执行：
 
 ```bash
 mvn clean package -DskipTests
+java -jar cmvr-iot-admin/target/cmvr-iot-admin.jar
 ```
 
-只编译启动模块及其依赖：
+也可以在 IDEA 中直接运行：
+
+```text
+com.cmvr.CmvrIotApplication
+```
+
+DevTools 自动重启已关闭。修改代码后需要完整停止并重新启动应用，避免 MPJ 保留已经关闭的 Spring 上下文。
+
+常用地址：
+
+- 后端 API：`http://localhost:13080`
+- Knife4j 文档：`http://localhost:13080/doc.html`
+- OpenAPI JSON：`http://localhost:13080/v3/api-docs/00-all`
+
+Knife4j 只展示带原有 `@ApiOperation` 注解的正式接口，并沿用中文 `@Api(tags=...)` 业务分类。
+
+## 前端运行
 
 ```bash
-mvn -pl cmvr-iot-admin -am compile -DskipTests
+cd ../cmvr-iot-ui-lxl-dev-worktree
+pnpm install
+pnpm dev
 ```
 
-只重新生成并编译 gRPC 代码：
+默认开发端口为 `80`。`.env.development` 中的 `VITE_API_URL` 必须与后端地址一致；本项目后端默认是 `http://localhost:13080`。更多说明见 [ruoyi-ui/README.md](ruoyi-ui/README.md)。
+
+## gRPC 与 QUIC
+
+原有机器人 gRPC 客户端与 proto 均保留，但业务调用只传永久 `robotId`。平台根据 `iot_robot.robot_id` 查找 QUIC 最近同步的 `ip_address` 和 `port`，不再使用终端 ID 或终端配置解析 gRPC 地址。
+
+边缘端通过 QUIC 上报设备快照后，平台按 `robotId + deviceId` 写入 `iot_device`。前端选择机器人后只展示该机器人当前在线且启用的设备；单一匹配设备会自动选中并锁定。
+
+QUIC 不是独立服务，`cmvr-iot-quic` 已作为 `cmvr-iot-admin` 的运行时依赖。启用时主应用同时启动：
+
+- QUIC：默认 `0.0.0.0:4433/udp`
+- 节点和媒体事件：通过 Spring 单例 `NodeEventBroker` 在进程内直接分发，不占用内部端口
+
+设置 `cmvr.quic.enabled=true` 前必须配置有效的 TLS 证书和私钥，否则应用会拒绝启动。详细配置见 [cmvr-iot-quic/README.md](cmvr-iot-quic/README.md)。
+
+## 构建与验证
 
 ```bash
-mvn -pl cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib -am compile -DskipTests
+# 运行测试
-```
+mvn test
 
-## 启动
+# 构建全部后端模块
-
-启动类：
-
-```text
-cmvr-iot-admin/src/main/java/com/cmvr/CmvrIotApplication.java
-```
-
-IDE 中直接运行 `CmvrIotApplication` 即可。
-
-打包后运行：
-
-```bash
-java -jar cmvr-iot-admin/target/cmvr-iot-admin-dev.jar --spring.profiles.active=dev
-```
-
-默认开发端口以当前 profile 配置为准，例如 `application-dev.yml` 中为：
-
-```yaml
-server:
-  port: 13080
-```
-
-## 接口文档
-
-项目集成 Knife4j / Swagger。服务启动后可访问：
-
-```text
-http://localhost:13080/doc.html
-```
-
-如果端口或上下文路径被 profile 覆盖，请以实际配置为准。
-
-## 数据库脚本
-
-增量脚本位于：
-
-```text
-sql/
-```
-
-当前包含：
-
-- `aima_module.sql`
-- `inspection_module.sql`
-- `tts_corpus_module.sql`
-
-初始化数据库时，需要结合目标环境的基础库结构和增量脚本执行。
-
-## gRPC 与边缘设备
-
-边缘设备相关代码集中在：
-
-```text
-cmvr-iot-api/cmvr-iot-edge/
-```
-
-proto 文件位于：
-
-```text
-cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/
-```
-
-gRPC 客户端服务位于：
-
-```text
-cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/
-```
-
-边缘控制器位于：
-
-```text
-cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/
-```
-
-新增或修改 proto 后，执行 Maven compile 会触发 `protoc-maven-plugin` 生成 Java 和 gRPC Stub 代码。业务代码应复用现有 gRPC 客户端管理工具获取 Stub，避免在业务层重复创建底层 `ManagedChannel`。
-
-## 实时语音对讲
-
-当前实时语音对讲链路为：
-
-```text
-浏览器 WebSocket Binary PCM <-> Java 后端 <-> gRPC 双向流 <-> 机器人终端
-```
-
-约定音频格式：
-
-- PCM_S16LE
-- 48000 Hz
-- 单声道
-- 16 bit
-- 10 ms 一帧
-- 960 bytes/帧
-
-相关文件：
-
-- WebSocket 控制器：`cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/WebRtcSignalingController.java`
-- 业务会话管理：`cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/AudioService.java`
-- gRPC 音频适配：`cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/adapter/RobotAudioGrpcAdapter.java`
-- proto：`cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/robot_audio.proto`
-
-说明：历史 WebRTC 相关类可能仍保留在源码中，但当前浏览器音频传输链路使用 WebSocket 二进制 PCM。
-
-## 开发约定
-
-- Controller 层只做参数接收、基础校验和响应封装。
-- POST 控制类接口优先使用单个 `@RequestBody VO` 承载完整请求参数。
-- GET 查询类接口可以使用 query 参数绑定 VO。
-- 不建议在同一个接口中同时声明通用 VO 和零散业务参数。
-- gRPC 调用统一通过现有客户端管理类获取 Stub。
-- proto 修改后必须重新编译并确认生成代码已更新。
-- 不要提交本地日志、崩溃 dump、临时音频文件和包含真实密钥的配置。
-
-## 常用命令
-
-```bash
-# 编译全部模块
-mvn clean compile -DskipTests
-
-# 编译启动模块及依赖
-mvn -pl cmvr-iot-admin -am compile -DskipTests
-
-# 打包
 mvn clean package -DskipTests
 
-# 运行指定 profile
+# 构建前端生产包
-java -jar cmvr-iot-admin/target/cmvr-iot-admin-dev.jar --spring.profiles.active=dev
+cd ../cmvr-iot-ui-lxl-dev-worktree
+pnpm build:prod
 ```
+
+Windows 下也可以使用 `bin/package.bat`、`bin/run.bat` 和 `bin/clean.bat`。
+
+## 排查提示
+
+- `ApplicationContext ... has been closed already`：彻底停止旧 Java 进程后重新启动，不要使用 DevTools 热重启。
+- 找不到机器人或机器人离线：确认资源中心已登记相同的永久 `robotId`，并检查 QUIC 注册日志、`iot_robot` 的地址和连接状态。
+- QUIC 启动失败：检查证书、私钥、ALPN、UDP 端口占用和 native library 对应的操作系统架构。
+- 数据库提示缺少字段：确认基础脚本版本及对应模块迁移脚本已经执行。

bin/clean.bat

@@ -0,0 +1,12 @@
+@echo off
+echo.
+echo [信息] 清理工程target生成路径。
+echo.
+
+%~d0
+cd %~dp0
+
+cd ..
+call mvn clean
+
+pause

bin/package.bat

@@ -0,0 +1,12 @@
+@echo off
+echo.
+echo [信息] 打包Web工程，生成war/jar包文件。
+echo.
+
+%~d0
+cd %~dp0
+
+cd ..
+call mvn clean package -Dmaven.test.skip=true
+
+pause

bin/run.bat

@@ -0,0 +1,14 @@
+@echo off
+echo.
+echo [<5B><>Ϣ] ʹ<><CAB9>Jar<61><72><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Web<65><62><EFBFBD>̡<EFBFBD>
+echo.
+
+cd %~dp0
+cd ../cmvr-iot-admin/target
+
+set JAVA_OPTS=-Xms256m -Xmx1024m -XX:MetaspaceSize=128m -XX:MaxMetaspaceSize=512m
+
+java -jar %JAVA_OPTS% cmvr-iot-admin.jar
+
+cd bin
+pause

bin/update-grpc-protos.bat

@@ -0,0 +1,12 @@
+@echo off
+setlocal
+
+powershell.exe -NoProfile -ExecutionPolicy Bypass -File "%~dp0update-grpc-protos.ps1" %*
+set "exitCode=%ERRORLEVEL%"
+
+if not "%exitCode%"=="0" (
+    echo.
+    echo CMVR-ES proto update failed.
+)
+
+exit /b %exitCode%

bin/update-grpc-protos.ps1

@@ -0,0 +1,194 @@
+param(
+    [string]$Revision,
+    [switch]$Force,
+    [switch]$SkipBuild
+)
+
+$ErrorActionPreference = 'Stop'
+Set-StrictMode -Version Latest
+
+function Invoke-CommandChecked {
+    param(
+        [Parameter(Mandatory = $true)]
+        [string]$Executable,
+        [Parameter(Mandatory = $true)]
+        [string[]]$Arguments
+    )
+
+    & $Executable @Arguments
+    if ($LASTEXITCODE -ne 0) {
+        throw "$Executable failed with exit code $LASTEXITCODE."
+    }
+}
+
+function Get-PomProperty {
+    param(
+        [Parameter(Mandatory = $true)]
+        [string]$PomText,
+        [Parameter(Mandatory = $true)]
+        [string]$Name
+    )
+
+    $escapedName = [Regex]::Escape($Name)
+    $match = [Regex]::Match($PomText, "<$escapedName>([^<]+)</$escapedName>")
+    if (-not $match.Success) {
+        throw "Cannot find Maven property '$Name'."
+    }
+
+    return $match.Groups[1].Value.Trim()
+}
+
+function Sync-ProtoDirectory {
+    param(
+        [Parameter(Mandatory = $true)]
+        [string]$Source,
+        [Parameter(Mandatory = $true)]
+        [string]$Destination
+    )
+
+    if (-not (Test-Path -LiteralPath $Source -PathType Container)) {
+        throw "Upstream proto directory does not exist: $Source"
+    }
+
+    New-Item -ItemType Directory -Path $Destination -Force | Out-Null
+
+    $sourceFiles = @{}
+    foreach ($sourceFile in Get-ChildItem -LiteralPath $Source -Filter '*.proto' -File -Recurse) {
+        $relativePath = $sourceFile.FullName.Substring($Source.Length).TrimStart('\', '/')
+        $sourceFiles[$relativePath] = $true
+
+        $destinationFile = Join-Path $Destination $relativePath
+        $destinationDirectory = Split-Path -Parent $destinationFile
+        New-Item -ItemType Directory -Path $destinationDirectory -Force | Out-Null
+        Copy-Item -LiteralPath $sourceFile.FullName -Destination $destinationFile -Force
+    }
+
+    foreach ($destinationFile in Get-ChildItem -LiteralPath $Destination -Filter '*.proto' -File -Recurse) {
+        $relativePath = $destinationFile.FullName.Substring($Destination.Length).TrimStart('\', '/')
+        if (-not $sourceFiles.ContainsKey($relativePath)) {
+            Remove-Item -LiteralPath $destinationFile.FullName -Force
+        }
+    }
+}
+
+if (-not (Get-Command git -ErrorAction SilentlyContinue)) {
+    throw 'Git was not found on PATH.'
+}
+
+$rootDirectory = Split-Path -Parent $PSScriptRoot
+$moduleRelativePath = 'cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib'
+$moduleDirectory = Join-Path $rootDirectory $moduleRelativePath
+$pomPath = Join-Path $moduleDirectory 'pom.xml'
+$protoRelativePath = "$moduleRelativePath/src/main/proto/cmvr"
+$protoDirectory = Join-Path $rootDirectory $protoRelativePath
+$checkoutDirectory = Join-Path $moduleDirectory 'target/cmvr-es'
+
+$pomText = [IO.File]::ReadAllText($pomPath)
+$repository = Get-PomProperty -PomText $pomText -Name 'cmvr.es.repository'
+$branch = Get-PomProperty -PomText $pomText -Name 'cmvr.es.proto.branch'
+
+$localProtoChanges = @(& git -C $rootDirectory status --porcelain -- $protoRelativePath)
+if ($LASTEXITCODE -ne 0) {
+    throw 'Unable to inspect local proto changes.'
+}
+if ($localProtoChanges.Count -gt 0 -and -not $Force) {
+    throw "Local proto files have uncommitted changes. Commit/stash them first, or rerun with -Force.`n$($localProtoChanges -join "`n")"
+}
+
+if ([string]::IsNullOrWhiteSpace($Revision)) {
+    Write-Host "Looking up the latest '$branch' revision..."
+    $remoteLine = @(& git ls-remote $repository "refs/heads/$branch")
+    if ($LASTEXITCODE -ne 0) {
+        throw 'Unable to read the upstream branch. Check the network and Git credentials.'
+    }
+    if ($remoteLine.Count -ne 1) {
+        throw "Upstream branch '$branch' was not found or was ambiguous."
+    }
+    $Revision = ($remoteLine[0] -split '\s+')[0]
+}
+
+if ($Revision -notmatch '^[0-9a-fA-F]{40}$') {
+    throw "Revision must be a full 40-character Git commit SHA: $Revision"
+}
+$Revision = $Revision.ToLowerInvariant()
+
+$checkoutParent = Split-Path -Parent $checkoutDirectory
+New-Item -ItemType Directory -Path $checkoutParent -Force | Out-Null
+
+if (Test-Path -LiteralPath (Join-Path $checkoutDirectory '.git') -PathType Container) {
+    Write-Host 'Refreshing the existing upstream checkout...'
+    Invoke-CommandChecked git @('-C', $checkoutDirectory, 'remote', 'set-url', 'origin', $repository)
+    Invoke-CommandChecked git @('-C', $checkoutDirectory, 'fetch', '--filter=blob:none', 'origin', $branch)
+} else {
+    if (Test-Path -LiteralPath $checkoutDirectory) {
+        $expectedPath = [IO.Path]::GetFullPath($checkoutDirectory).TrimEnd('\')
+        $actualPath = (Resolve-Path -LiteralPath $checkoutDirectory).Path.TrimEnd('\')
+        if ($actualPath -ne $expectedPath -or (Split-Path -Parent $actualPath) -ne [IO.Path]::GetFullPath($checkoutParent).TrimEnd('\')) {
+            throw "Refusing to replace unexpected checkout path: $actualPath"
+        }
+        Remove-Item -LiteralPath $checkoutDirectory -Recurse -Force
+    }
+
+    Write-Host 'Cloning the upstream proto repository...'
+    Invoke-CommandChecked git @(
+        'clone', '--filter=blob:none', '--sparse', '--single-branch',
+        '--branch', $branch, $repository, $checkoutDirectory
+    )
+}
+
+Invoke-CommandChecked git @(
+    '-C', $checkoutDirectory, 'sparse-checkout', 'set',
+    'protos/cmvr/api', 'protos/cmvr/msgs', 'protos/cmvr/common'
+)
+Invoke-CommandChecked git @('-C', $checkoutDirectory, 'checkout', '--detach', $Revision)
+
+$actualRevision = (& git -C $checkoutDirectory rev-parse HEAD).Trim()
+if ($LASTEXITCODE -ne 0 -or $actualRevision -ne $Revision) {
+    throw "Expected revision $Revision, but checked out $actualRevision."
+}
+
+Write-Host "Syncing proto files from revision $Revision..."
+foreach ($group in @('api', 'msgs', 'common')) {
+    Sync-ProtoDirectory `
+        -Source (Join-Path $checkoutDirectory "protos/cmvr/$group") `
+        -Destination (Join-Path $protoDirectory $group)
+}
+
+$revisionPattern = '(<cmvr\.es\.proto\.revision>)[^<]+(</cmvr\.es\.proto\.revision>)'
+$revisionRegex = [Regex]::new($revisionPattern)
+$updatedPomText = $revisionRegex.Replace($pomText, "`${1}$Revision`${2}", 1)
+if ($updatedPomText -eq $pomText -and (Get-PomProperty -PomText $pomText -Name 'cmvr.es.proto.revision') -ne $Revision) {
+    throw 'Unable to update cmvr.es.proto.revision in pom.xml.'
+}
+if ($updatedPomText -ne $pomText) {
+    [IO.File]::WriteAllText($pomPath, $updatedPomText, [Text.UTF8Encoding]::new($false))
+}
+
+Write-Host ''
+Write-Host 'Updated files:'
+& git -C $rootDirectory status --short -- $protoRelativePath "$moduleRelativePath/pom.xml"
+if ($LASTEXITCODE -ne 0) {
+    throw 'Unable to show the update summary.'
+}
+
+if (-not $SkipBuild) {
+    if (-not (Get-Command mvn -ErrorAction SilentlyContinue)) {
+        throw 'Maven was not found on PATH. Proto files were updated, but the verification build was not run.'
+    }
+
+    Write-Host ''
+    Write-Host 'Running the gRPC verification build...'
+    Push-Location $rootDirectory
+    try {
+        Invoke-CommandChecked mvn @(
+            '-pl', 'cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client',
+            '-am', 'clean', 'package', '-DskipTests'
+        )
+    } finally {
+        Pop-Location
+    }
+}
+
+Write-Host ''
+Write-Host "CMVR-ES proto update completed: $Revision"
+Write-Host 'Review and commit the proto files and pom.xml together.'

bin/update-grpc-protos.sh

@@ -0,0 +1,169 @@
+#!/usr/bin/env bash
+
+set -Eeuo pipefail
+
+revision=""
+force=false
+skip_build=false
+
+while (($# > 0)); do
+    case "$1" in
+        --revision)
+            if (($# < 2)); then
+                echo "--revision requires a full Git commit SHA." >&2
+                exit 2
+            fi
+            revision="$2"
+            shift 2
+            ;;
+        --force)
+            force=true
+            shift
+            ;;
+        --skip-build)
+            skip_build=true
+            shift
+            ;;
+        *)
+            echo "Unknown argument: $1" >&2
+            exit 2
+            ;;
+    esac
+done
+
+command -v git >/dev/null 2>&1 || {
+    echo "Git was not found on PATH." >&2
+    exit 1
+}
+
+script_directory="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd -P)"
+root_directory="$(cd -- "$script_directory/.." && pwd -P)"
+module_relative_path="cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib"
+module_directory="$root_directory/$module_relative_path"
+pom_path="$module_directory/pom.xml"
+proto_relative_path="$module_relative_path/src/main/proto/cmvr"
+proto_directory="$root_directory/$proto_relative_path"
+checkout_directory="$module_directory/target/cmvr-es"
+
+read_pom_property() {
+    local name="$1"
+    local escaped_name="${name//./\\.}"
+    local value
+    value="$(sed -n "s:.*<$escaped_name>\([^<]*\)</$escaped_name>.*:\1:p" "$pom_path" | head -n 1)"
+    if [[ -z "$value" ]]; then
+        echo "Cannot find Maven property '$name'." >&2
+        exit 1
+    fi
+    printf '%s' "$value"
+}
+
+repository="$(read_pom_property 'cmvr.es.repository')"
+branch="$(read_pom_property 'cmvr.es.proto.branch')"
+
+local_proto_changes="$(git -C "$root_directory" status --porcelain -- "$proto_relative_path")"
+if [[ -n "$local_proto_changes" && "$force" != true ]]; then
+    echo "Local proto files have uncommitted changes:" >&2
+    echo "$local_proto_changes" >&2
+    echo "Commit/stash them first, or rerun with --force." >&2
+    exit 1
+fi
+
+if [[ -z "$revision" ]]; then
+    echo "Looking up the latest '$branch' revision..."
+    remote_line="$(git ls-remote "$repository" "refs/heads/$branch")"
+    if [[ -z "$remote_line" || "$remote_line" == *$'\n'* ]]; then
+        echo "Upstream branch '$branch' was not found or was ambiguous." >&2
+        exit 1
+    fi
+    revision="${remote_line%%[[:space:]]*}"
+fi
+
+revision="${revision,,}"
+if [[ ! "$revision" =~ ^[0-9a-f]{40}$ ]]; then
+    echo "Revision must be a full 40-character Git commit SHA: $revision" >&2
+    exit 1
+fi
+
+mkdir -p -- "$(dirname -- "$checkout_directory")"
+if [[ -d "$checkout_directory/.git" ]]; then
+    echo "Refreshing the existing upstream checkout..."
+    git -C "$checkout_directory" remote set-url origin "$repository"
+    git -C "$checkout_directory" fetch --filter=blob:none origin "$branch"
+else
+    if [[ -e "$checkout_directory" ]]; then
+        checkout_parent="$(cd -- "$(dirname -- "$checkout_directory")" && pwd -P)"
+        expected_parent="$(cd -- "$module_directory/target" && pwd -P)"
+        if [[ "$checkout_parent" != "$expected_parent" || "$(basename -- "$checkout_directory")" != "cmvr-es" ]]; then
+            echo "Refusing to replace unexpected checkout path: $checkout_directory" >&2
+            exit 1
+        fi
+        rm -rf -- "$checkout_directory"
+    fi
+
+    echo "Cloning the upstream proto repository..."
+    git clone --filter=blob:none --sparse --single-branch \
+        --branch "$branch" "$repository" "$checkout_directory"
+fi
+
+git -C "$checkout_directory" sparse-checkout set \
+    protos/cmvr/api protos/cmvr/msgs protos/cmvr/common
+git -C "$checkout_directory" checkout --detach "$revision"
+
+actual_revision="$(git -C "$checkout_directory" rev-parse HEAD)"
+if [[ "$actual_revision" != "$revision" ]]; then
+    echo "Expected revision $revision, but checked out $actual_revision." >&2
+    exit 1
+fi
+
+echo "Syncing proto files from revision $revision..."
+for group in api msgs common; do
+    source_directory="$checkout_directory/protos/cmvr/$group"
+    destination_directory="$proto_directory/$group"
+    if [[ ! -d "$source_directory" ]]; then
+        echo "Upstream proto directory does not exist: $source_directory" >&2
+        exit 1
+    fi
+
+    mkdir -p -- "$destination_directory"
+    find "$destination_directory" -type f -name '*.proto' -delete
+    while IFS= read -r -d '' source_file; do
+        relative_path="${source_file#"$source_directory/"}"
+        destination_file="$destination_directory/$relative_path"
+        mkdir -p -- "$(dirname -- "$destination_file")"
+        cp -- "$source_file" "$destination_file"
+    done < <(find "$source_directory" -type f -name '*.proto' -print0)
+done
+
+sed -i \
+    "s#<cmvr\.es\.proto\.revision>[^<]*</cmvr\.es\.proto\.revision>#<cmvr.es.proto.revision>$revision</cmvr.es.proto.revision>#" \
+    "$pom_path"
+
+updated_revision="$(read_pom_property 'cmvr.es.proto.revision')"
+if [[ "$updated_revision" != "$revision" ]]; then
+    echo "Unable to update cmvr.es.proto.revision in pom.xml." >&2
+    exit 1
+fi
+
+echo
+echo "Updated files:"
+git -C "$root_directory" status --short -- \
+    "$proto_relative_path" "$module_relative_path/pom.xml"
+
+if [[ "$skip_build" != true ]]; then
+    command -v mvn >/dev/null 2>&1 || {
+        echo "Maven was not found on PATH. Proto files were updated, but the verification build was not run." >&2
+        exit 1
+    }
+
+    echo
+    echo "Running the gRPC verification build..."
+    (
+        cd -- "$root_directory"
+        mvn -pl cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client \
+            -am clean package -DskipTests
+    )
+fi
+
+echo
+echo "CMVR-ES proto update completed: $revision"
+echo "Review and commit the proto files and pom.xml together."

certs/cmvr-quic-ca.crt

@@ -0,0 +1,25 @@
+-----BEGIN CERTIFICATE-----
+MIIEKzCCApOgAwIBAgIUTtZCyKM8INYxZKkfwbKdpHKLjn4wDQYJKoZIhvcNAQEL
+BQAwHTEbMBkGA1UEAwwSQ01WUiBRVUlDIExvY2FsIENBMB4XDTI2MDcyNDA2NDQy
+MFoXDTM2MDcyMTA2NDQyMFowHTEbMBkGA1UEAwwSQ01WUiBRVUlDIExvY2FsIENB
+MIIBojANBgkqhkiG9w0BAQEFAAOCAY8AMIIBigKCAYEAmq2rHldOobaemqNfWggS
+OVj3inKy6AYjfgtcXUfKs48DDbpZ9gyEd/YPJXA8C2jGPXpxzgnc7a4UCUVQZ8ah
+ddoJtFcC+Q6BgjeMVqUdUubu5Y9HpkfU3lvnp4KhzvOeFnkKtrCzYIPa2nK3zLc7
+uCiuLlB+91KQSRXPFbc6N7H/EAfGmUHIwlZGysAkRN7b2TAoR4C7E96JLVtuUQsS
+VtlEGpunSfuefFzeeZCMS6avLbB+a8Q6yUzLt6pqnheNsDB+jCCXodlJs5XS1AOB
+W2GOpGFMj7dLoTD+eBIlAlrhWFcwKjzFmtp6LGl/Jy0O+E99X4TL72oNSOdTrO2O
+iavXABz9IvWR2BrAyo5AKlTJqO6tmZw77iVti8jYi+HsXIVGQKMYwvv5k0jdHeIZ
+FaDToUbFPP/zj0m8ZraMy+8eNAhScnx6Zs56fcncBuDti6pT+zKisjV1rH/sFvZY
+wO1UvJlOEbvXrfYLPp58Aqe/toG2nV45a2Q4+x6AETV1AgMBAAGjYzBhMB0GA1Ud
+DgQWBBRdHz+g2vVmqghDZi2kEHtZfoyHZzAfBgNVHSMEGDAWgBRdHz+g2vVmqghD
+Zi2kEHtZfoyHZzAPBgNVHRMBAf8EBTADAQH/MA4GA1UdDwEB/wQEAwIBBjANBgkq
+hkiG9w0BAQsFAAOCAYEASuEoMFiVcg4iTMxO2kshFTJ6LIrqqGXBn+1j+yQ1ennG
+mqPMo5fBOe/Kp3YWCnREQWu0+EEPEC9qWgIDOIm3v7ch4mZiW31GUOqae6bjprBe
+er7ySElKGZ5GefKAq++we19A6WHnNxtNAT9BE1VSKUmkxEsnIkuwd+QMmQ9eaIRm
+8RvzshWdUcyiBJg07sI3rPzPD/YpnfcYlAa2a0+oXJ3o3zlhdbs2S+9fIl+Y/zFN
+wBaUV6ZNk0RFzOCA+jUq2jU5Y1pODcot3Mp2jCHzp4uTFyVqsoqc5USRB2TUILCP
+acSbEjD9GnKaNU4miTcftnC85fnBAiZ5btZkXIs72ij+J3VW7QnbcFQG8bElngoR
+mWizh6ByPQrsvyT0evJjdjpuOzILsVTAn64m0cYpnlR4g5orcEkIJHv4DzMhpXc2
+CvpcWwk2vJrUuws/LGxDATTAcqtIUIxAkxffqUsdB/6j8fdykNCvXFwNh/uPcawd
+4kzh6dr+RFzHSMQ6oN16
+-----END CERTIFICATE-----

certs/cmvr-quic-ca.key

@@ -0,0 +1,40 @@
+-----BEGIN PRIVATE KEY-----
+MIIG/wIBADANBgkqhkiG9w0BAQEFAASCBukwggblAgEAAoIBgQCaraseV06htp6a
+o19aCBI5WPeKcrLoBiN+C1xdR8qzjwMNuln2DIR39g8lcDwLaMY9enHOCdztrhQJ
+RVBnxqF12gm0VwL5DoGCN4xWpR1S5u7lj0emR9TeW+engqHO854WeQq2sLNgg9ra
+crfMtzu4KK4uUH73UpBJFc8Vtzo3sf8QB8aZQcjCVkbKwCRE3tvZMChHgLsT3okt
+W25RCxJW2UQam6dJ+558XN55kIxLpq8tsH5rxDrJTMu3qmqeF42wMH6MIJeh2Umz
+ldLUA4FbYY6kYUyPt0uhMP54EiUCWuFYVzAqPMWa2nosaX8nLQ74T31fhMvvag1I
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+7Dm4Ay0kgxYi3DxFWbPLHTbFpVg2CyL08IQZSXJzokwz2V/HTd1a+OgzgB/dBNDc
+V+XnxJI89+SI3VhOQZJG625l//lhHWCy2u0ULE7ZlK3ao95L86bSXQHI4dZ2nWXl
+0f4ISJmm4qkEJAY+DkQeF3UZLumd1NRxy0LBdbYVM/wZIN+sGsRdQqQ9f+ik6+aX
+YrjhAoHBAL52dJzIPIN1Z/Y9qxUrVLPE7K8Mm8KLaFIl/ztl3TFqaUvErHi66nx3
+MTwEnrQIBI31OKxB6Or2JLxYMvDTSVRV1K2tY53+K6Q8giWU4x3zFc/svyl35gkd
+U1bLdfxXqKMLrvlmVWj6/RMoH7vd/aTcidYVvwOZgtL+6RahS4LfZ9qXAyREFAJa
+VSI0HW5LLiOBLTegztT1CBVe7xb78bWFMiUkxre4XsLZYwFPzXzVPh6HloDcACDL
+FPwLrfJrFQKBwQCvGDl90UzEnF4v0vsshLQLDvp1bS1VvTGOjPhB1WBq510o+e0P
+nM1Gyvr0keWo19elPTDCAjOr3kreCHFpEkcVQRyK9o7pvad6Vx0SNDF6wpKdfm7u
+sMknAC7prmnU0XkH8c3NTTkDiiqmSObXw2u+UK48ysL3ZLIXuvS+pkk8t6yp8Pa8
+hBNGOJQ/baFH4TXixx1pScWF/YfoBfB9+w4Rl4loxN9tu7QpSgfDd29GY3qUNIsC
+5EYzYqD7WIJpD6ECgcEAkdIfdenYas14yw5r7ck/EGO00lDU8B3LwRlWUCOtNihC
+dcAeTFDPNnwLNehTmYKJ+iXFPh04Nqw9c/YTCk651dfg/RfDLTNsNlIdUqirOkLi
+cE7SDO2/MTtCkzEzI//5HNvVGx0+RyHioMgXg75yc8ZlwYLku9zMTL7dtnXHWmux
+F6qGvT1iFGsUwxsjbU4iBQzhkbWMpX70sWf9pZs/c7qGqel+OyrtYkENi/ONYAXj
+iXxFvmKxtmnFpzNJ+lABAoHBAJjs8jfEXJnJP80t93Bxg6NmfKhxUEm4ovcIeR8U
+lEfb8Ind1ICrBWGVGOAkirTFZgFAAlEjne+lT1FYgf19oC+XbxFdl/e02M8KfflS
+01+0/t6lEpefiU0dfW0dWtXOPaAVvpNgMkeMgBzB2Yz7ZNUrMypfCGk289qveWxB
+8UbO+QLjTI+cFvPsmR95Eti/nAjd2fXGeqbR+z+DdQnz4BvXLSCQCw4on2+T+mpw
+BprrEQmcdeZA8LE1zgcKtkZR1w==
+-----END PRIVATE KEY-----

certs/cmvr-quic-ca.srl

@@ -0,0 +1 @@
+2C945D70B02014891B6E09D57E377CEFB6D18498

certs/quic-gateway.crt

@@ -0,0 +1,22 @@
+-----BEGIN CERTIFICATE-----
+MIIDuzCCAiOgAwIBAgIULJRdcLAgFIkbbgnVfjd877bRhJgwDQYJKoZIhvcNAQEL
+BQAwHTEbMBkGA1UEAwwSQ01WUiBRVUlDIExvY2FsIENBMB4XDTI2MDcyNDA2NDQz
+NloXDTI4MTAyNjA2NDQzNlowGDEWMBQGA1UEAwwNMTkyLjE2OC4wLjIyMjCCASIw
+DQYJKoZIhvcNAQEBBQADggEPADCCAQoCggEBAKdM3i1FYFKqNWJzhfhsD9nRUAuK
+pzilz5uqCKAt8lKYYC9WnLHOYdiEjcHGnGr02yd6sWFH/LBbxNhzx8M7h4S4izuO
+bhSlG1EIhkMiojzVD1e3P7YzXdEoVxTCfmMgBZQJG63GNOfzRawFYtEeGv7ndFVw
+kitCYlyTza5KlBNlWpiNOPmmx4dLTdGLUk8a5TUm0zJ+b/LyzVsWUtr9sxKmKeG8
+0/77AeiL0hQE3xUt5QROTZjRTVhNHowv410dFMJyIfY4sab8ndc4SIwE9PCKg068
+4705vbFInBS3eTvQur5VLSZLPatnXGKzCXjci1lIQX2p/QIqADMGFWIN9OECAwEA
+AaN4MHYwDwYDVR0RBAgwBocEwKgA3jAOBgNVHQ8BAf8EBAMCBaAwEwYDVR0lBAww
+CgYIKwYBBQUHAwEwHQYDVR0OBBYEFLmoEtsglxm3mXh4l8OF31bt2ZhnMB8GA1Ud
+IwQYMBaAFF0fP6Da9WaqCENmLaQQe1l+jIdnMA0GCSqGSIb3DQEBCwUAA4IBgQAR
+eK1mD9rJkzHe4OusimQfcuDQW+0J32e4T/34RHlW+lIj7botFaElXIzO9S80tDwq
+4d4ozNPKysqgJN9hv/BBMzJpZLwP2XozPaGLTNl1jRTCc9UhFUPrUeu0LbpQGBfC
+6Ghq42V94zPAw4lnMujnkq8botk21hclbJORQ9kblXP31IdWCgiKSFLy1NTBmQmc
+IxmR+SldMWYrWGWv/0I85AeMu6HR3+NKHmzDblm1HUHFekyC1f7sypNG+D1r8ab2
+GSijoCMKHSEOm81Vl/j5bgWQygnnIOhsLOUf2DZO6jC+VZmTKpMEJNHgwk23WBlu
+FYz/X9p5z9ZucL8aBxegj7G1fI5Ik2O05+LLeqJMfspAm6ZcnRDxCVZWQ+K/dAle
+fz+gTASzhHTsjEBeiX46LP0L2PVyBiPvNtD66e52LoM5ZigechZq91niLO+ipWdh
+xq7ryJzmaAEQKPuYaoswriWzJam07ywX9yupGHzBA6vVgGy0jPAsnGCuZXTfDyA=
+-----END CERTIFICATE-----

certs/quic-gateway.csr

@@ -0,0 +1,17 @@
+-----BEGIN CERTIFICATE REQUEST-----
+MIICpDCCAYwCAQAwGDEWMBQGA1UEAwwNMTkyLjE2OC4wLjIyMjCCASIwDQYJKoZI
+hvcNAQEBBQADggEPADCCAQoCggEBAKdM3i1FYFKqNWJzhfhsD9nRUAuKpzilz5uq
+CKAt8lKYYC9WnLHOYdiEjcHGnGr02yd6sWFH/LBbxNhzx8M7h4S4izuObhSlG1EI
+hkMiojzVD1e3P7YzXdEoVxTCfmMgBZQJG63GNOfzRawFYtEeGv7ndFVwkitCYlyT
+za5KlBNlWpiNOPmmx4dLTdGLUk8a5TUm0zJ+b/LyzVsWUtr9sxKmKeG80/77AeiL
+0hQE3xUt5QROTZjRTVhNHowv410dFMJyIfY4sab8ndc4SIwE9PCKg0684705vbFI
+nBS3eTvQur5VLSZLPatnXGKzCXjci1lIQX2p/QIqADMGFWIN9OECAwEAAaBHMEUG
+CSqGSIb3DQEJDjE4MDYwDwYDVR0RBAgwBocEwKgA3jAOBgNVHQ8BAf8EBAMCBaAw
+EwYDVR0lBAwwCgYIKwYBBQUHAwEwDQYJKoZIhvcNAQELBQADggEBAGIcLeCE344z
+PENI1/oONVHBzMMt5VN0P8jbkJOFgZ3a6AUhfqAmDNBr+8SBym+cX2Y9Q2BsaWAu
+TKOBN+fs+fh5/NqF0hTNvmXzp89NFK5SlsTjoC21HJvK1HTNuNW8drOxNfWgFW3/
+gSCutcsWS9hVtYrV2FHQzOvVXvXKfmuTkZE8g92P3BCkvRm+ORxI0QfVS81/Ibnv
+Yl+t/o2QCphdP+1OWzU6+Pccqi2xCyIc6jqCmh0b01zg265PTTOfICO6WQNtYcOn
+308avDDpTneGl5vWRVdmmiXPqkc+dCesoguIEDUlerFpDKKY81P2GTpfjki93K7Z
+2DJPs4P1cU0=
+-----END CERTIFICATE REQUEST-----

certs/quic-gateway.key

@@ -0,0 +1,28 @@
+-----BEGIN PRIVATE KEY-----
+MIIEvQIBADANBgkqhkiG9w0BAQEFAASCBKcwggSjAgEAAoIBAQCnTN4tRWBSqjVi
+c4X4bA/Z0VALiqc4pc+bqgigLfJSmGAvVpyxzmHYhI3Bxpxq9NsnerFhR/ywW8TY
+c8fDO4eEuIs7jm4UpRtRCIZDIqI81Q9Xtz+2M13RKFcUwn5jIAWUCRutxjTn80Ws
+BWLRHhr+53RVcJIrQmJck82uSpQTZVqYjTj5pseHS03Ri1JPGuU1JtMyfm/y8s1b
+FlLa/bMSpinhvNP++wHoi9IUBN8VLeUETk2Y0U1YTR6ML+NdHRTCciH2OLGm/J3X
+OEiMBPTwioNOvOO9Ob2xSJwUt3k70Lq+VS0mSz2rZ1xiswl43ItZSEF9qf0CKgAz
+BhViDfThAgMBAAECggEAC3+johwrdIcNFAMRZUuFE+EYZbCuEV1JHX90aBD8X5uo
+Obyz2J8xF6z1osjEMbA6W1ZqGF/2oMbv6robc+JUrEU0UZ+2lm3qKJnDw5u+55wz
+uaFHTF4vr6tcf9llzymRZJUzLTCLLJmKc3orymhtrdEp7GDoNPezM753Y6gt0P7Z
+AzePK3d7YmEAcRkIDVtqQXyma4CPziItJrcF4Lumww6PxRzqYNb6jB8wsmf0B91U
+iTtnJQoJfkOGTl5OyPp2s7A+qXqToIqAbIlzcF1Q7i0kohmhZHHIB8Qdk9O8IGb6
+kZuLbTIdIhTG2vyi8nqz+oMh6D+AJBy+GTLlK0LWCQKBgQDVIrGu9J76R7D3npRy
+3okc6mVHo2InZaOeai4ZAe/CFVPcHecq7+bx06MxTqge0XYJd5UbO8qfRL5mRc8g
+JwjUrnCzGvJHFavc3Xs221JgWAaNQ0+PtBKCLHQwbmu8V3NZHXcjyonMuQ2g2oOm
+TYY7Adedci0SgSFlUy9TjifH6QKBgQDI8lcoojzmYkj0O8oO3dr01XbAEl5pxjyB
+IsEpal6J8gdbbj8vzdWaGoHs/IoLPtwWbQGx7gUJfYtKp/DORw0WDFJmqrm/PGfh
+RrLKasjp3GC06BU3GmnoKZxQM8PzY0ELWZsQM0fa+ROC1vMrNcHx5nZvcBwrkKXu
+CEw2G4miOQKBgDMcUsfF2anjL0jyOl8hhnfsrcT0JUGVWhtPEybkE/7S5n1OnnTp
+etRbEDNuzVo2mLvEdXlGaVywO4iDDRyEv9Vgz53jxF3PkJsyca3CAosgENInZhjr
+8dRNnL9Qe3166ypfqoZmt4zkg6QjQpbK2HmmA3K6QpzBYqTNwfeji16hAoGBAKO3
+pkFp5TpC63NpXxe7s4/0dxrIHHoLU/JWcZAfpMS5Fztr2DlHd3dlj2OY4ZOF9GSl
+DVN9PEdeLOV3bJ9zjfrfsScKg+mF+pC1PCfk1qqKrZPW3qoVcCIB/OPvOQAMZssr
+h0Wssid69WWNYXNcChbfELF8Yscvw7Dqu8T9rKYpAoGAByn1Vfu95lAxQ36fxXnk
+3CC9FkGcdfKGTqkFZHJWiJqaLL6eAbCwO38kywYZLANoSz03Qu3MmD0Gt0wyeP6I
+a3o0goisV8s5W9q1P1i1K73xlbAPf54QsqoPNuXR8n67I9IzzL7EkPJiUsHuqNHW
+Ffn4lzHEAxaTksNIaC6oIlo=
+-----END PRIVATE KEY-----

cmvr-iot-admin/pom.xml

@@ -5,7 +5,7 @@
     <parent>
         <artifactId>cmvr-iot</artifactId>
         <groupId>com.cmvr</groupId>
-        <version>3.8.9</version>
+        <version>3.9.2</version>
     </parent>
     <modelVersion>4.0.0</modelVersion>
     <packaging>jar</packaging>
@@ -24,16 +24,20 @@
             <optional>true</optional> <!-- 表示依赖不会传递 -->
         </dependency>
 
-        <!-- Mysql驱动包 -->
+        <!-- spring-doc -->
         <dependency>
-            <groupId>mysql</groupId>
+            <groupId>org.springdoc</groupId>
-            <artifactId>mysql-connector-java</artifactId>
+            <artifactId>springdoc-openapi-starter-webmvc-ui</artifactId>
+        </dependency>
+        <dependency>
+            <groupId>com.github.xiaoymin</groupId>
+            <artifactId>knife4j-openapi3-ui</artifactId>
         </dependency>
 
-        <!-- 测试管理-->
+         <!-- Mysql驱动包 -->
         <dependency>
-            <groupId>com.cmvr</groupId>
+            <groupId>com.mysql</groupId>
-            <artifactId>cmvr-iot-test</artifactId>
+            <artifactId>mysql-connector-j</artifactId>
         </dependency>
 
         <!-- 核心模块-->
@@ -54,73 +58,76 @@
             <artifactId>cmvr-iot-generator</artifactId>
         </dependency>
 
-        <!-- 设备管理-->
+        <dependency>
+            <groupId>com.cmvr</groupId>
+            <artifactId>cmvr-iot-test</artifactId>
+        </dependency>
         <dependency>
             <groupId>com.cmvr</groupId>
             <artifactId>cmvr-iot-device</artifactId>
         </dependency>
-
-        <!-- 语音交互-->
         <dependency>
             <groupId>com.cmvr</groupId>
             <artifactId>cmvr-iot-vi</artifactId>
         </dependency>
-
-        <!-- 触控交互-->
         <dependency>
             <groupId>com.cmvr</groupId>
             <artifactId>cmvr-iot-ti</artifactId>
         </dependency>
-
-        <!-- AI评估-->
         <dependency>
             <groupId>com.cmvr</groupId>
             <artifactId>cmvr-iot-evaluation</artifactId>
         </dependency>
-
-        <!-- 智能巡检-->
         <dependency>
             <groupId>com.cmvr</groupId>
             <artifactId>cmvr-iot-inspection</artifactId>
         </dependency>
-
-        <!-- 爱玛电动车测试-->
         <dependency>
             <groupId>com.cmvr</groupId>
             <artifactId>cmvr-iot-aima</artifactId>
         </dependency>
-
+        <dependency>
-        <!-- 智能座舱语音语料采集-->
+            <groupId>com.cmvr</groupId>
+            <artifactId>cmvr-iot-resource</artifactId>
+        </dependency>
         <dependency>
             <groupId>com.cmvr</groupId>
             <artifactId>cmvr-iot-tts</artifactId>
         </dependency>
+        <dependency>
+            <groupId>com.cmvr</groupId>
+            <artifactId>cmvr-iot-quic</artifactId>
+        </dependency>
+
     </dependencies>
-    <properties>
+
-        <env>dev</env>
-    </properties>
     <build>
         <plugins>
-            <!-- Spring Boot Maven 插件 -->
             <plugin>
                 <groupId>org.springframework.boot</groupId>
                 <artifactId>spring-boot-maven-plugin</artifactId>
-                <version>2.5.15</version>
                 <configuration>
-                    <mainClass>com.cmvr.CmvrIotApplication</mainClass>
+                    <addResources>true</addResources>
-                    <fork>true</fork> <!-- 如果没有该配置, devtools 不会生效 -->
                 </configuration>
                 <executions>
                     <execution>
                         <goals>
                             <goal>repackage</goal>
                         </goals>
-                        <configuration>
-                            <finalName>${project.artifactId}-${spring.profiles.active}</finalName>
-                        </configuration>
                     </execution>
                 </executions>
             </plugin>
+            <plugin>   
+                <groupId>org.apache.maven.plugins</groupId>   
+                <artifactId>maven-war-plugin</artifactId>   
+                <version>3.1.0</version>   
+                <configuration>
+                    <failOnMissingWebXml>false</failOnMissingWebXml>
+                    <warName>${project.artifactId}</warName>
+                </configuration>   
+           </plugin>   
         </plugins>
+        <finalName>${project.artifactId}</finalName>
     </build>
+
 </project>

cmvr-iot-admin/src/main/java/com/cmvr/CmvrIotApplication.java

@@ -1,9 +1,8 @@
 package com.cmvr;
 
-import org.mybatis.spring.annotation.MapperScan;
 import org.springframework.boot.SpringApplication;
 import org.springframework.boot.autoconfigure.SpringBootApplication;
-import org.springframework.boot.autoconfigure.jdbc.DataSourceAutoConfiguration;
+import org.springframework.boot.jdbc.autoconfigure.DataSourceAutoConfiguration;
 import org.springframework.scheduling.annotation.EnableScheduling;
 
 /**
@@ -12,13 +11,13 @@ import org.springframework.scheduling.annotation.EnableScheduling;
  * @author cmvr-iot
  */
 @EnableScheduling
-@MapperScan("com.cmvr.**.mapper")
 @SpringBootApplication(exclude = { DataSourceAutoConfiguration.class })
 public class CmvrIotApplication
 {
     public static void main(String[] args)
     {
-        // System.setProperty("spring.devtools.restart.enabled", "false");
+        // MPJ keeps its Spring context in a static holder that is not refreshed by DevTools.
+        System.setProperty("spring.devtools.restart.enabled", "false");
         SpringApplication.run(CmvrIotApplication.class, args);
         System.out.println("招商车研物联网平台启动成功");
     }

cmvr-iot-admin/src/main/java/com/cmvr/web/config/FlowTaskStartupRecovery.java

@@ -0,0 +1,77 @@
+package com.cmvr.web.config;
+
+import com.cmvr.aima.domain.AimaTaskInstance;
+import com.cmvr.aima.enums.AimaTaskStatusEnum;
+import com.cmvr.aima.service.IAimaTaskInstanceService;
+import com.cmvr.inspection.domain.InspectionTaskInstance;
+import com.cmvr.inspection.service.IInspectionTaskInstanceService;
+import com.cmvr.test.enums.TaskStatusEnum;
+import com.cmvr.test.flow.control.FlowControlService;
+import com.cmvr.test.model.domain.TeTaskInst;
+import com.cmvr.test.service.ITeTaskInstService;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.boot.context.event.ApplicationReadyEvent;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+import org.springframework.transaction.annotation.Transactional;
+
+import java.util.Date;
+import java.util.List;
+
+@Slf4j
+@Component
+@RequiredArgsConstructor
+public class FlowTaskStartupRecovery {
+
+    private final ITeTaskInstService taskInstService;
+    private final FlowControlService flowControlService;
+    private final IAimaTaskInstanceService aimaTaskInstanceService;
+    private final IInspectionTaskInstanceService inspectionTaskInstanceService;
+    private final Date processStartedAt = new Date();
+
+    @EventListener(ApplicationReadyEvent.class)
+    @Transactional(rollbackFor = Exception.class)
+    public void stopOrphanedTasks() {
+        List<String> orphanedInstIds = taskInstService.lambdaQuery()
+                .in(TeTaskInst::getStatus,
+                        String.valueOf(TaskStatusEnum.RUNNING.getCode()),
+                        String.valueOf(TaskStatusEnum.PAUSED.getCode()))
+                .lt(TeTaskInst::getCreateTime, processStartedAt)
+                .list()
+                .stream()
+                .map(TeTaskInst::getId)
+                .toList();
+        if (orphanedInstIds.isEmpty()) {
+            return;
+        }
+
+        Date now = new Date();
+        for (String instId : orphanedInstIds) {
+            flowControlService.stopOrphaned(instId);
+        }
+
+        aimaTaskInstanceService.lambdaUpdate()
+                .in(AimaTaskInstance::getTaskInsId, orphanedInstIds)
+                .in(AimaTaskInstance::getStatus,
+                        AimaTaskStatusEnum.RUNNING.getCode(), AimaTaskStatusEnum.PAUSED.getCode())
+                .set(AimaTaskInstance::getStatus, AimaTaskStatusEnum.STOPPED.getCode())
+                .set(AimaTaskInstance::getEndTime, now)
+                .set(AimaTaskInstance::getUpdateTime, now)
+                .update();
+
+        inspectionTaskInstanceService.lambdaUpdate()
+                .in(InspectionTaskInstance::getTaskInsId, orphanedInstIds)
+                .in(InspectionTaskInstance::getStatus,
+                        com.cmvr.inspection.enums.TaskStatusEnum.RUNNING.getCode(),
+                        com.cmvr.inspection.enums.TaskStatusEnum.PAUSED.getCode())
+                .set(InspectionTaskInstance::getStatus,
+                        com.cmvr.inspection.enums.TaskStatusEnum.STOPPED.getCode())
+                .set(InspectionTaskInstance::getEndTime, now)
+                .set(InspectionTaskInstance::getUpdateTime, now)
+                .update();
+
+        log.warn("应用启动时自动终止遗留流程任务: count={}", orphanedInstIds.size());
+        log.debug("应用启动时自动终止遗留流程任务明细: instIds={}", orphanedInstIds);
+    }
+}

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/aima/AimaAlarmController.java

@@ -1,7 +1,7 @@
 package com.cmvr.web.controller.aima;
 
 import java.util.List;
-import javax.servlet.http.HttpServletResponse;
+import jakarta.servlet.http.HttpServletResponse;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import org.springframework.security.access.prepost.PreAuthorize;

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/aima/AimaPhoneController.java

@@ -1,7 +1,7 @@
 package com.cmvr.web.controller.aima;
 
 import java.util.List;
-import javax.servlet.http.HttpServletResponse;
+import jakarta.servlet.http.HttpServletResponse;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import org.springframework.security.access.prepost.PreAuthorize;

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/aima/AimaTaskController.java

@@ -1,7 +1,7 @@
 package com.cmvr.web.controller.aima;
 
 import java.util.List;
-import javax.servlet.http.HttpServletResponse;
+import jakarta.servlet.http.HttpServletResponse;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import org.springframework.security.access.prepost.PreAuthorize;
@@ -58,6 +58,14 @@ public class AimaTaskController extends BaseController {
         return toAjax(aimaTaskService.insertAimaTask(aimaTask));
     }
 
+    @ApiOperation("复制爱玛任务")
+    @PreAuthorize("@ss.hasPermi('aima:task:add')")
+    @Log(title = "爱玛任务管理", businessType = BusinessType.INSERT)
+    @PostMapping("/copy/{id}")
+    public AjaxResult copy(@PathVariable String id) {
+        return success(aimaTaskService.copyAimaTask(id));
+    }
+
     @ApiOperation("修改任务")
     @PreAuthorize("@ss.hasPermi('aima:task:edit')")
     @Log(title = "任务管理", businessType = BusinessType.UPDATE)

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/aima/AimaTaskInstanceController.java

@@ -1,7 +1,7 @@
 package com.cmvr.web.controller.aima;
 
 import java.util.List;
-import javax.servlet.http.HttpServletResponse;
+import jakarta.servlet.http.HttpServletResponse;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import org.springframework.security.access.prepost.PreAuthorize;
@@ -14,6 +14,7 @@ import com.cmvr.common.enums.BusinessType;
 import com.cmvr.aima.domain.AimaTaskInstance;
 import com.cmvr.aima.domain.dto.AimaTaskInstanceQuery;
 import com.cmvr.aima.domain.vo.AimaTaskInstanceVo;
+import com.cmvr.aima.domain.vo.AimaTaskStartVO;
 import com.cmvr.aima.service.IAimaTaskInstanceService;
 import com.cmvr.common.utils.poi.ExcelUtil;
 import com.cmvr.common.core.page.TableDataInfo;
@@ -82,8 +83,17 @@ public class AimaTaskInstanceController extends BaseController {
     @PreAuthorize("@ss.hasPermi('aima:taskinstance:edit')")
     @Log(title = "任务执行实例", businessType = BusinessType.UPDATE)
     @PutMapping("/start/{id}")
-    public AjaxResult start(@PathVariable("id") String id) {
+    public AjaxResult start(@PathVariable("id") String id,
-        return toAjax(aimaTaskInstanceService.startInstance(id));
+                            @RequestBody(required = false) AimaTaskStartVO startVO) {
+        return toAjax(aimaTaskInstanceService.startInstance(id, startVO));
+    }
+
+    @ApiOperation("再次执行已完成或失败的爱玛任务")
+    @PreAuthorize("@ss.hasPermi('aima:taskinstance:edit')")
+    @Log(title = "任务执行实例", businessType = BusinessType.INSERT)
+    @PostMapping("/rerun/{id}")
+    public AjaxResult rerun(@PathVariable("id") String id) {
+        return success(aimaTaskInstanceService.rerunInstance(id));
     }
 
     /**

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/aima/AimaTestCaseController.java

@@ -1,7 +1,7 @@
 package com.cmvr.web.controller.aima;
 
 import java.util.List;
-import javax.servlet.http.HttpServletResponse;
+import jakarta.servlet.http.HttpServletResponse;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import org.springframework.security.access.prepost.PreAuthorize;
@@ -58,6 +58,14 @@ public class AimaTestCaseController extends BaseController {
         return toAjax(aimaTestCaseService.insertAimaTestCase(aimaTestCase));
     }
 
+    @ApiOperation("复制测试用例")
+    @PreAuthorize("@ss.hasPermi('aima:testcase:add')")
+    @Log(title = "测试用例管理", businessType = BusinessType.INSERT)
+    @PostMapping("/copy/{id}")
+    public AjaxResult copy(@PathVariable String id) {
+        return success(aimaTestCaseService.copyAimaTestCase(id));
+    }
+
     @ApiOperation("修改测试用例")
     @PreAuthorize("@ss.hasPermi('aima:testcase:edit')")
     @Log(title = "测试用例管理", businessType = BusinessType.UPDATE)

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/aima/AimaTestLogController.java

@@ -1,12 +1,19 @@
 package com.cmvr.web.controller.aima;
 
+import com.alibaba.fastjson2.JSONObject;
+import com.cmvr.llm.analysis.AudioAnalysisCorrectionRequest;
+import com.cmvr.llm.analysis.AudioAnalysisCorrectionSupport;
+import com.cmvr.llm.analysis.MediaAnalysisClient;
+import org.apache.commons.lang3.StringUtils;
 import java.util.List;
-import javax.servlet.http.HttpServletResponse;
+import jakarta.servlet.http.HttpServletResponse;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import org.springframework.security.access.prepost.PreAuthorize;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.web.bind.annotation.*;
+import org.springframework.beans.factory.annotation.Qualifier;
+import org.springframework.scheduling.concurrent.ThreadPoolTaskExecutor;
 import com.cmvr.common.annotation.Log;
 import com.cmvr.common.core.controller.BaseController;
 import com.cmvr.common.core.domain.AjaxResult;
@@ -23,6 +30,13 @@ public class AimaTestLogController extends BaseController {
     @Autowired
     private IAimaTestLogService aimaTestLogService;
 
+    @Autowired
+    private MediaAnalysisClient mediaAnalysisClient;
+
+    @Autowired
+    @Qualifier("mediaAnalysisTaskExecutor")
+    private ThreadPoolTaskExecutor mediaAnalysisTaskExecutor;
+
     @ApiOperation("查询测试日志列表")
     @PreAuthorize("@ss.hasPermi('aima:testlog:list')")
     @GetMapping("/list")
@@ -65,6 +79,84 @@ public class AimaTestLogController extends BaseController {
         return toAjax(aimaTestLogService.updateAimaTestLog(aimaTestLog));
     }
 
+    /**
+     * Correct an Aima audio result and submit the stored audio as a training sample.
+     */
+    @ApiOperation("爱玛声音分析人工改判并重新训练")
+    @PreAuthorize("@ss.hasPermi('aima:testlog:edit')")
+    @Log(title = "声音分析人工改判", businessType = BusinessType.UPDATE)
+    @PostMapping("/audio-correction/{id}")
+    public AjaxResult correctAudio(@PathVariable("id") String id,
+                                   @jakarta.validation.Valid @RequestBody AudioAnalysisCorrectionRequest correction) {
+        AimaTestLog log = aimaTestLogService.selectAimaTestLogById(id);
+        if (log == null) {
+            return AjaxResult.error("爱玛日志不存在");
+        }
+        JSONObject output = AudioAnalysisCorrectionSupport.parse(log.getActualResult());
+        String mediaUrl = StringUtils.defaultIfBlank(correction.getMediaUrl(),
+                AudioAnalysisCorrectionSupport.mediaUrl(output, null));
+        String profileCode = StringUtils.defaultIfBlank(correction.getProfileCode(),
+                AudioAnalysisCorrectionSupport.profileCode(output, null));
+        if (StringUtils.isBlank(mediaUrl) || StringUtils.isBlank(profileCode)) {
+            return AjaxResult.error("日志缺少音频地址或分析档案");
+        }
+        String requestId = "aima-audio-correction-" + id + "-" + java.util.UUID.randomUUID();
+        JSONObject trainingRequest = AudioAnalysisCorrectionSupport.trainingRequest(
+                requestId, profileCode, mediaUrl, correction);
+        trainingRequest.put("context", new JSONObject()
+                .fluentPut("source", "AIMA_TEST_LOG")
+                .fluentPut("logId", id)
+                .fluentPut("taskInstanceId", log.getTaskInstanceId())
+                .fluentPut("taskId", log.getTaskId())
+                .fluentPut("testCaseId", log.getTestCaseId()));
+        AudioAnalysisCorrectionSupport.apply(output, correction, "RUNNING", null, null);
+        output.getJSONObject("manualCorrection").put("trainingRequestId", requestId);
+        log.setActualResult(output.toJSONString());
+        log.setTestStatus(Boolean.TRUE.equals(output.getBoolean("passed")) ? "1" : "2");
+        log.setLogContent(StringUtils.defaultIfBlank(log.getLogContent(), "") + "（声音分析已人工改判，训练已提交）");
+        aimaTestLogService.updateAimaTestLog(log);
+        try {
+            mediaAnalysisTaskExecutor.execute(() -> trainAimaAudio(id, requestId, trainingRequest));
+        } catch (RuntimeException exception) {
+            updateAimaTraining(id, requestId, "FAILED", null, exception.getMessage());
+        }
+        return AjaxResult.success(output);
+    }
+
+    private void trainAimaAudio(String logId, String requestId, JSONObject trainingRequest) {
+        try {
+            JSONObject training = mediaAnalysisClient.addAudioReference(trainingRequest);
+            updateAimaTraining(logId, requestId, "SUCCEEDED", training, null);
+        } catch (Exception exception) {
+            updateAimaTraining(logId, requestId, "FAILED", null, exception.getMessage());
+        }
+    }
+
+    private void updateAimaTraining(String logId, String requestId, String status,
+                                    JSONObject training, String error) {
+        AimaTestLog current = aimaTestLogService.selectAimaTestLogById(logId);
+        if (current == null) {
+            return;
+        }
+        JSONObject output = AudioAnalysisCorrectionSupport.parse(current.getActualResult());
+        JSONObject correction = output.getJSONObject("manualCorrection");
+        if (correction == null || !requestId.equals(correction.getString("trainingRequestId"))) {
+            return;
+        }
+        correction.put("trainingStatus", status);
+        if (training != null) {
+            correction.put("training", training);
+        }
+        if (StringUtils.isNotBlank(error)) {
+            correction.put("trainingError", error);
+        }
+        current.setActualResult(output.toJSONString());
+        current.setTestStatus(Boolean.TRUE.equals(output.getBoolean("passed")) ? "1" : "2");
+        current.setLogContent(StringUtils.defaultIfBlank(current.getLogContent(), "")
+                + "（训练" + ("SUCCEEDED".equals(status) ? "完成" : "失败") + "）");
+        aimaTestLogService.updateAimaTestLog(current);
+    }
+
     @ApiOperation("删除测试日志")
     @PreAuthorize("@ss.hasPermi('aima:testlog:remove')")
     @Log(title = "测试日志管理", businessType = BusinessType.DELETE)

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/aima/AimaVehicleController.java

@@ -1,7 +1,7 @@
 package com.cmvr.web.controller.aima;
 
 import java.util.List;
-import javax.servlet.http.HttpServletResponse;
+import jakarta.servlet.http.HttpServletResponse;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import org.springframework.security.access.prepost.PreAuthorize;

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

@@ -1,40 +0,0 @@
-package com.cmvr.web.controller.api;
-
-
-import com.cmvr.device.domain.DeDeviceRegistration;
-import com.cmvr.device.service.IDeDeviceRegistrationService;
-import com.cmvr.edge.client.service.EdgeSystemService;
-import io.swagger.annotations.Api;
-import io.swagger.annotations.ApiOperation;
-import lombok.RequiredArgsConstructor;
-import org.springframework.security.access.prepost.PreAuthorize;
-import org.springframework.web.bind.annotation.GetMapping;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.RequestParam;
-import org.springframework.web.bind.annotation.RestController;
-
-import java.util.List;
-
-@Api(tags = "边缘--设备信息获取")
-@RestController
-@RequestMapping("/api/deviceList")
-@RequiredArgsConstructor
-public class DeviceListController {
-
-    private final EdgeSystemService systemService;
-    private final IDeDeviceRegistrationService registrationService;
-
-
-    @PreAuthorize("@ss.hasPermi('device:profile:list')")
-    @GetMapping("/addList")
-    @ApiOperation("同步设备信息列表")
-    public int addDeviceList(@RequestParam String terminalId){
-
-        List<DeDeviceRegistration> list = systemService.deviceList(terminalId);
-
-        return registrationService.addDeviceList(list);
-    }
-
-
-
-}

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

@@ -6,18 +6,22 @@ import com.cmvr.edge.client.model.EdgeCommonVO;
 import com.cmvr.edge.client.model.agv.EdgeAgvMapNameVO;
 import com.cmvr.edge.client.model.agv.EdgeAgvNavigateToPoseVO;
 import com.cmvr.edge.client.model.agv.EdgeAgvNavigateToStationVO;
+import com.cmvr.edge.client.model.agv.EdgeAgvRelocalizeVO;
 import com.cmvr.edge.client.model.agv.EdgeAgvStartMappingVO;
 import com.cmvr.edge.client.model.agv.EdgeAgvUploadMapVO;
 import com.cmvr.edge.client.model.agv.EdgeAgvVelocityVO;
+import com.cmvr.edge.client.model.agv.EdgeAgvTranslateVO;
 import com.cmvr.edge.client.service.EdgeAgvService;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
+import io.swagger.annotations.ApiParam;
 import lombok.RequiredArgsConstructor;
 import org.springframework.validation.annotation.Validated;
 import org.springframework.web.bind.annotation.GetMapping;
 import org.springframework.web.bind.annotation.PostMapping;
 import org.springframework.web.bind.annotation.RequestBody;
 import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RequestParam;
 import org.springframework.web.bind.annotation.RestController;
 
 import java.util.ArrayList;
@@ -48,7 +52,12 @@ public class EdgeAgvController {
      */
     @ApiOperation("获取AGV运行时状态")
     @GetMapping("/getRuntimeState")
-    public AjaxResult getRuntimeState(@Validated EdgeCommonVO vo) {
+    public AjaxResult getRuntimeState(
+            @ApiParam(value = "机器人永久唯一ID", required = true)
+            @RequestParam("robotId") String robotId,
+            @ApiParam(value = "设备ID", required = true)
+            @RequestParam("deviceId") String deviceId) {
+        EdgeCommonVO vo = commonVo(robotId, deviceId);
         Agv.AgvRuntimeState state = edgeAgvService.getRuntimeState(vo);
         return AjaxResult.ok(toRuntimeStateMap(state));
     }
@@ -58,7 +67,12 @@ public class EdgeAgvController {
      */
     @ApiOperation("获取导航状态")
     @GetMapping("/getNavigationStatus")
-    public AjaxResult getNavigationStatus(@Validated EdgeCommonVO vo) {
+    public AjaxResult getNavigationStatus(
+            @ApiParam(value = "机器人永久唯一ID", required = true)
+            @RequestParam("robotId") String robotId,
+            @ApiParam(value = "设备ID", required = true)
+            @RequestParam("deviceId") String deviceId) {
+        EdgeCommonVO vo = commonVo(robotId, deviceId);
         Agv.AgvNavigationStatus status = edgeAgvService.getNavigationStatus(vo);
         Map<String, Object> resultMap = new HashMap<>();
         resultMap.put("state", status.getState());
@@ -88,6 +102,40 @@ public class EdgeAgvController {
         return AjaxResult.ok();
     }
 
+    /**
+     * 在当前活动地图中重新设置 AGV 定位位姿。
+     */
+    @ApiOperation("AGV重定位")
+    @PostMapping("/relocalize")
+    public AjaxResult relocalize(@RequestBody @Validated EdgeAgvRelocalizeVO vo) {
+        Agv.AgvPose2d pose = Agv.AgvPose2d.newBuilder()
+                .setX(vo.getX())
+                .setY(vo.getY())
+                .setTheta(vo.getTheta())
+                .build();
+        edgeAgvService.relocalize(vo, pose);
+        return AjaxResult.ok();
+    }
+
+    @ApiOperation("固定距离平移")
+    @PostMapping("/translate")
+    public AjaxResult translate(@RequestBody @Validated EdgeAgvTranslateVO vo) {
+        Agv.AgvTranslationMode mode = vo.getMode() == null
+                ? Agv.AgvTranslationMode.AGV_TRANSLATION_MODE_ODOMETRY
+                : Agv.AgvTranslationMode.forNumber(vo.getMode());
+        if (mode == null) {
+            return AjaxResult.error("距离参考模式不合法，允许值：0=里程，1=定位");
+        }
+        Agv.AgvTranslation translation = Agv.AgvTranslation.newBuilder()
+                .setDistance(vo.getDistance())
+                .setVx(vo.getVx())
+                .setVy(vo.getVy())
+                .setMode(mode)
+                .build();
+        edgeAgvService.translate(vo, translation);
+        return AjaxResult.ok();
+    }
+
     /**
      * 导航到指定坐标。
      */
@@ -99,7 +147,7 @@ public class EdgeAgvController {
                 .setY(vo.getY())
                 .setTheta(vo.getTheta())
                 .build();
-        edgeAgvService.navigateToPose(vo, pose);
+        edgeAgvService.navigateToPose(vo, pose, navigationOptions(vo.getBlockedTimeoutMs()));
         return AjaxResult.ok();
     }
 
@@ -109,7 +157,7 @@ public class EdgeAgvController {
     @ApiOperation("导航到站点")
     @PostMapping("/navigateToStation")
     public AjaxResult navigateToStation(@RequestBody @Validated EdgeAgvNavigateToStationVO vo) {
-        edgeAgvService.navigateToStation(vo, vo.getStationId());
+        edgeAgvService.navigateToStation(vo, vo.getStationId(), navigationOptions(vo.getBlockedTimeoutMs()));
         return AjaxResult.ok();
     }
 
@@ -173,7 +221,12 @@ public class EdgeAgvController {
      */
     @ApiOperation("列出所有地图")
     @GetMapping("/listMaps")
-    public AjaxResult listMaps(@Validated EdgeCommonVO vo) {
+    public AjaxResult listMaps(
+            @ApiParam(value = "机器人永久唯一ID", required = true)
+            @RequestParam("robotId") String robotId,
+            @ApiParam(value = "设备ID", required = true)
+            @RequestParam("deviceId") String deviceId) {
+        EdgeCommonVO vo = commonVo(robotId, deviceId);
         List<String> maps = edgeAgvService.listMaps(vo);
         return AjaxResult.ok(maps);
     }
@@ -183,7 +236,12 @@ public class EdgeAgvController {
      */
     @ApiOperation("列出所有站点")
     @GetMapping("/listStations")
-    public AjaxResult listStations(@Validated EdgeCommonVO vo) {
+    public AjaxResult listStations(
+            @ApiParam(value = "机器人永久ID", required = true)
+            @RequestParam("robotId") String robotId,
+            @ApiParam(value = "设备ID", required = true)
+            @RequestParam("deviceId") String deviceId) {
+        EdgeCommonVO vo = commonVo(robotId, deviceId);
         List<Agv.AgvStation> stations = edgeAgvService.listStations(vo);
         List<Map<String, Object>> stationList = new ArrayList<>();
         for (Agv.AgvStation station : stations) {
@@ -217,7 +275,17 @@ public class EdgeAgvController {
      */
     @ApiOperation("下载地图")
     @GetMapping("/downloadMap")
-    public AjaxResult downloadMap(@Validated EdgeAgvMapNameVO vo) {
+    public AjaxResult downloadMap(
+            @ApiParam(value = "机器人永久唯一ID", required = true)
+            @RequestParam("robotId") String robotId,
+            @ApiParam(value = "设备ID", required = true)
+            @RequestParam("deviceId") String deviceId,
+            @ApiParam(value = "地图名称", required = true)
+            @RequestParam("mapName") String mapName) {
+        EdgeAgvMapNameVO vo = new EdgeAgvMapNameVO();
+        vo.setRobotId(robotId);
+        vo.setDeviceId(deviceId);
+        vo.setMapName(mapName);
         String content = edgeAgvService.downloadMap(vo, vo.getMapName());
         return AjaxResult.ok(content);
     }
@@ -252,6 +320,22 @@ public class EdgeAgvController {
     /**
      * 将 protobuf 运行时状态转换为前端友好的 Map，避免直接暴露 protobuf 对象结构。
      */
+    private EdgeCommonVO commonVo(String robotId, String deviceId) {
+        EdgeCommonVO vo = new EdgeCommonVO();
+        vo.setRobotId(robotId);
+        vo.setDeviceId(deviceId);
+        return vo;
+    }
+
+    private Agv.AgvMotionOptions navigationOptions(Integer blockedTimeoutMs) {
+        int timeout = blockedTimeoutMs == null
+                ? EdgeAgvService.DEFAULT_BLOCKED_TIMEOUT_MS : blockedTimeoutMs;
+        return Agv.AgvMotionOptions.newBuilder()
+                .setAsynchronous(false)
+                .setBlockedTimeoutMs(timeout)
+                .build();
+    }
+
     private Map<String, Object> toRuntimeStateMap(Agv.AgvRuntimeState state) {
         Map<String, Object> resultMap = new HashMap<>();
         resultMap.put("timestamp", state.getTimestamp());

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

@@ -4,15 +4,18 @@ import cmvr.api.ArmCommand;
 import com.cmvr.common.core.domain.AjaxResult;
 import com.cmvr.edge.client.model.EdgeCommonVO;
 import com.cmvr.edge.client.model.arm.*;
+import com.cmvr.edge.client.model.system.EdgeSystemJsonCommandVO;
 import com.cmvr.edge.client.service.EdgeArmService;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
+import io.swagger.annotations.ApiParam;
 import lombok.RequiredArgsConstructor;
 import org.springframework.validation.annotation.Validated;
 import org.springframework.web.bind.annotation.GetMapping;
 import org.springframework.web.bind.annotation.PostMapping;
 import org.springframework.web.bind.annotation.RequestBody;
 import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RequestParam;
 import org.springframework.web.bind.annotation.RestController;
 
 /**
@@ -31,14 +34,20 @@ public class EdgeArmController {
 
     @ApiOperation("关闭力矩")
     @GetMapping("/torqueOff")
-    public AjaxResult torqueOff(EdgeCommonVO vo) {
+    public AjaxResult torqueOff(
+            @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
+            @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
+        EdgeCommonVO vo = commonVo(robotId, deviceId);
         edgeArmService.torqueOff(vo);
         return AjaxResult.ok();
     }
 
     @ApiOperation("开启力矩")
     @GetMapping("/torqueOn")
-    public AjaxResult torqueOn(EdgeCommonVO vo) {
+    public AjaxResult torqueOn(
+            @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
+            @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
+        EdgeCommonVO vo = commonVo(robotId, deviceId);
         edgeArmService.torqueOn(vo);
         return AjaxResult.ok();
     }
@@ -48,11 +57,50 @@ public class EdgeArmController {
      */
     @ApiOperation("清除故障")
     @GetMapping("/clearFault")
-    public AjaxResult clearFault(EdgeCommonVO vo) {
+    public AjaxResult clearFault(
+            @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
+            @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
+        EdgeCommonVO vo = commonVo(robotId, deviceId);
         edgeArmService.clearFault(vo);
         return AjaxResult.ok();
     }
 
+    @ApiOperation("执行机械臂厂商扩展JSON指令")
+    @PostMapping("/executeJsonCommand")
+    public AjaxResult executeJsonCommand(@RequestBody @Validated EdgeSystemJsonCommandVO request) {
+        return AjaxResult.ok(com.alibaba.fastjson2.JSON.toJSONString(
+                edgeArmService.executeJsonCommand(request)));
+    }
+
+    @ApiOperation("读取机械臂控制柜数字输入")
+    @GetMapping("/cabinet/digitalInput")
+    public AjaxResult getCabinetDigitalInput(
+            @RequestParam("robotId") String robotId,
+            @RequestParam("deviceId") String deviceId,
+            @RequestParam("index") int index) {
+        return AjaxResult.ok(edgeArmService.getCabinetDigitalInput(commonVo(robotId, deviceId), index));
+    }
+
+    @ApiOperation("读取机械臂控制柜数字输出")
+    @GetMapping("/cabinet/digitalOutput")
+    public AjaxResult getCabinetDigitalOutput(
+            @RequestParam("robotId") String robotId,
+            @RequestParam("deviceId") String deviceId,
+            @RequestParam("index") int index) {
+        return AjaxResult.ok(edgeArmService.getCabinetDigitalOutput(commonVo(robotId, deviceId), index));
+    }
+
+    @ApiOperation("设置机械臂控制柜数字输出")
+    @PostMapping("/cabinet/digitalOutput")
+    public AjaxResult setCabinetDigitalOutput(
+            @RequestParam("robotId") String robotId,
+            @RequestParam("deviceId") String deviceId,
+            @RequestParam("index") int index,
+            @RequestParam("value") boolean value) {
+        return AjaxResult.ok(edgeArmService.setCabinetDigitalOutput(
+                commonVo(robotId, deviceId), index, value));
+    }
+
     @ApiOperation("关节空间运动")
     @PostMapping("/moveJ")
     public AjaxResult moveJ(@RequestBody EdgeArmMoveJVO moveJVO) {
@@ -126,14 +174,20 @@ public class EdgeArmController {
 
     @ApiOperation("停止运动")
     @GetMapping("/stopMotion")
-    public AjaxResult stopMotion(EdgeCommonVO vo) {
+    public AjaxResult stopMotion(
+            @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
+            @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
+        EdgeCommonVO vo = commonVo(robotId, deviceId);
         edgeArmService.stopMotion(vo);
         return AjaxResult.ok();
     }
 
     @ApiOperation("获取关节状态")
     @GetMapping("/getJointState")
-    public AjaxResult getJointState(EdgeCommonVO vo) {
+    public AjaxResult getJointState(
+            @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
+            @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
+        EdgeCommonVO vo = commonVo(robotId, deviceId);
         ArmCommand.JointResponse result = edgeArmService.getJointState(vo);
         ArmCommand.JointState state = result.getState();
         
@@ -150,7 +204,12 @@ public class EdgeArmController {
 
     @ApiOperation("获取末端位姿")
     @GetMapping("/getPose")
-    public AjaxResult getPose(@Validated EdgeArmPoseQueryVO vo) {
+    public AjaxResult getPose(
+            @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
+            @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId,
+            @ApiParam("基座连杆名称") @RequestParam(value = "baseLink", required = false) String baseLink,
+            @ApiParam("末端执行器连杆名称") @RequestParam(value = "eeLink", required = false) String eeLink) {
+        EdgeArmPoseQueryVO vo = poseQueryVo(robotId, deviceId, baseLink, eeLink);
         ArmCommand.GetPose.Response result = edgeArmService.getPose(vo, vo.getBaseLink(), vo.getEeLink());
         ArmCommand.CartesianPose pose = result.getPose();
         
@@ -168,14 +227,26 @@ public class EdgeArmController {
 
     @ApiOperation("标定零点")
     @GetMapping("/calibrateZeroQ")
-    public AjaxResult calibrateZeroQ(@Validated EdgeArmCalibrateZeroQVO vo) {
+    public AjaxResult calibrateZeroQ(
+            @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
+            @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId,
+            @ApiParam(value = "关节名称", required = true) @RequestParam("jointName") String jointName) {
+        EdgeArmCalibrateZeroQVO vo = new EdgeArmCalibrateZeroQVO();
+        vo.setRobotId(robotId);
+        vo.setDeviceId(deviceId);
+        vo.setJointName(jointName);
         edgeArmService.calibrateZeroQ(vo, vo.getJointName());
         return AjaxResult.ok();
     }
 
     @ApiOperation("获取位姿矩阵")
     @GetMapping("/getPoseMatrix")
-    public AjaxResult getPoseMatrix(@Validated EdgeArmPoseQueryVO vo) {
+    public AjaxResult getPoseMatrix(
+            @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
+            @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId,
+            @ApiParam("基座连杆名称") @RequestParam(value = "baseLink", required = false) String baseLink,
+            @ApiParam("末端执行器连杆名称") @RequestParam(value = "eeLink", required = false) String eeLink) {
+        EdgeArmPoseQueryVO vo = poseQueryVo(robotId, deviceId, baseLink, eeLink);
         ArmCommand.GetPoseMatrix.Response result = edgeArmService.getPoseMatrix(vo, vo.getBaseLink(), vo.getEeLink());
         // 将TransformMatrix4x4转换为Map
         ArmCommand.TransformMatrix4x4 matrix = result.getMatrix();
@@ -229,4 +300,20 @@ public class EdgeArmController {
         matrixMap.put("m33", matrix.getM33());
         return AjaxResult.ok(matrixMap);
     }
+
+    private EdgeCommonVO commonVo(String robotId, String deviceId) {
+        EdgeCommonVO vo = new EdgeCommonVO();
+        vo.setRobotId(robotId);
+        vo.setDeviceId(deviceId);
+        return vo;
+    }
+
+    private EdgeArmPoseQueryVO poseQueryVo(String robotId, String deviceId, String baseLink, String eeLink) {
+        EdgeArmPoseQueryVO vo = new EdgeArmPoseQueryVO();
+        vo.setRobotId(robotId);
+        vo.setDeviceId(deviceId);
+        vo.setBaseLink(baseLink);
+        vo.setEeLink(eeLink);
+        return vo;
+    }
 }

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

@@ -0,0 +1,62 @@
+package com.cmvr.web.controller.api;
+
+import com.alibaba.fastjson2.JSON;
+import com.cmvr.common.core.controller.BaseController;
+import com.cmvr.common.core.domain.AjaxResult;
+import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopHeartbeatVO;
+import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopOpenVO;
+import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopSetpointVO;
+import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopStopVO;
+import com.cmvr.edge.client.service.EdgeArmTeleopService;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RequestParam;
+import org.springframework.web.bind.annotation.RestController;
+
+@Api(tags = "Edge - Arm teleoperation")
+@RestController
+@RequestMapping("/api/edge/armTeleop")
+@RequiredArgsConstructor
+public class EdgeArmTeleopController extends BaseController {
+
+    private final EdgeArmTeleopService edgeArmTeleopService;
+
+    @ApiOperation("Open an arm teleoperation session")
+    @PostMapping("/open")
+    public AjaxResult open(@RequestBody EdgeArmTeleopOpenVO request) {
+        return success(edgeArmTeleopService.open(request));
+    }
+
+    @ApiOperation("Send an arm joint setpoint")
+    @PostMapping("/setpoint")
+    public AjaxResult setpoint(@RequestBody EdgeArmTeleopSetpointVO request) {
+        edgeArmTeleopService.sendSetpoint(request);
+        return success();
+    }
+
+    @ApiOperation("Send a teleoperation heartbeat")
+    @PostMapping("/heartbeat")
+    public AjaxResult heartbeat(@RequestBody EdgeArmTeleopHeartbeatVO request) {
+        edgeArmTeleopService.heartbeat(request);
+        return success();
+    }
+
+    @ApiOperation("Get the latest teleoperation state")
+    @GetMapping("/status")
+    public AjaxResult status(@RequestParam("sessionId") String sessionId) {
+        Object status = edgeArmTeleopService.getStatus(sessionId);
+        return success(status == null ? null : JSON.toJSONString(status));
+    }
+
+    @ApiOperation("Stop an arm teleoperation session")
+    @PostMapping("/stop")
+    public AjaxResult stop(@RequestBody EdgeArmTeleopStopVO request) {
+        edgeArmTeleopService.stop(request);
+        return success();
+    }
+}

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

@@ -4,13 +4,24 @@ import com.alibaba.fastjson2.JSON;
 import com.cmvr.common.core.controller.BaseController;
 import com.cmvr.common.core.domain.AjaxResult;
 import com.cmvr.edge.client.model.EdgeCommonVO;
+import com.cmvr.edge.client.model.camera.EdgeCameraPtzVO;
 import com.cmvr.edge.client.service.EdgeCameraService;
+import com.cmvr.web.service.CameraStreamTicketService;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
+import io.swagger.annotations.ApiParam;
 import lombok.RequiredArgsConstructor;
+import org.springframework.http.CacheControl;
+import org.springframework.http.HttpStatus;
+import org.springframework.http.MediaType;
+import org.springframework.http.ResponseEntity;
 import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
 import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RequestParam;
 import org.springframework.web.bind.annotation.RestController;
+import org.springframework.web.servlet.mvc.method.annotation.StreamingResponseBody;
 
 @Api(tags = "边缘--相机")
 @RestController
@@ -19,46 +30,127 @@ import org.springframework.web.bind.annotation.RestController;
 public class EdgeCameraController extends BaseController {
 
     private final EdgeCameraService edgeCameraService;
+    private final CameraStreamTicketService cameraStreamTicketService;
 
     @ApiOperation("获取相机状态")
     @GetMapping("/status")
-    public AjaxResult status(EdgeCommonVO edgeCommonVO) {
+    public AjaxResult status(
+            @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
+            @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
+        EdgeCommonVO edgeCommonVO = commonVo(robotId, deviceId);
         return success(JSON.toJSONString(edgeCameraService.status(edgeCommonVO)));
     }
 
     @ApiOperation("开启相机")
     @GetMapping("/start")
-    public AjaxResult start(EdgeCommonVO edgeCommonVO) {
+    public AjaxResult start(
+            @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
+            @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
+        EdgeCommonVO edgeCommonVO = commonVo(robotId, deviceId);
         return success(edgeCameraService.start(edgeCommonVO));
     }
 
     @ApiOperation("关闭相机")
     @GetMapping("/stop")
-    public AjaxResult stop(EdgeCommonVO edgeCommonVO) {
+    public AjaxResult stop(
+            @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
+            @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
+        EdgeCommonVO edgeCommonVO = commonVo(robotId, deviceId);
         return success(edgeCameraService.stop(edgeCommonVO));
     }
 
     @ApiOperation("获取图片")
     @GetMapping("/getRGBImage")
-    public AjaxResult getRGBImage(EdgeCommonVO edgeCommonVO) {
+    public AjaxResult getRGBImage(
+            @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
+            @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
+        EdgeCommonVO edgeCommonVO = commonVo(robotId, deviceId);
         return success(edgeCameraService.getRGBImage(edgeCommonVO));
     }
 
+    @ApiOperation("Get one depth image")
+    @GetMapping("/getDepthImage")
+    public AjaxResult getDepthImage(
+            @RequestParam("robotId") String robotId,
+            @RequestParam("deviceId") String deviceId) {
+        return success(edgeCameraService.getDepthImage(commonVo(robotId, deviceId)));
+    }
+
+    @ApiOperation("Control camera PTZ")
+    @PostMapping("/controlPtz")
+    public AjaxResult controlPtz(@RequestBody EdgeCameraPtzVO request) {
+        return success(edgeCameraService.controlPtz(request));
+    }
+
+    @ApiOperation("Get a short-lived RGB video stream URL")
+    @GetMapping("/rgb-stream-url")
+    public AjaxResult rgbStreamUrl(
+            @RequestParam("robotId") String robotId,
+            @RequestParam("deviceId") String deviceId) {
+        String ticket = cameraStreamTicketService.issue(robotId, deviceId);
+        return success((Object) ("/api/edge/camera/rgb-stream?ticket=" + ticket));
+    }
+
+    @ApiOperation("RGB fragmented MP4 live stream")
+    @GetMapping(value = "/rgb-stream", produces = "video/mp4")
+    public ResponseEntity<StreamingResponseBody> rgbStream(@RequestParam("ticket") String ticket) {
+        CameraStreamTicketService.StreamTarget target = cameraStreamTicketService.consume(ticket);
+        if (target == null) {
+            return ResponseEntity.status(HttpStatus.UNAUTHORIZED).build();
+        }
+        return videoStreamResponse(target.robotId(), target.deviceId());
+    }
+
+    @ApiOperation("Public RGB fragmented MP4 live stream")
+    @GetMapping(value = "/rgb-stream/public", produces = "video/mp4")
+    public ResponseEntity<StreamingResponseBody> publicRgbStream(
+            @RequestParam("robotId") String robotId,
+            @RequestParam("deviceId") String deviceId) {
+        return videoStreamResponse(robotId, deviceId);
+    }
+
+    private ResponseEntity<StreamingResponseBody> videoStreamResponse(String robotId, String deviceId) {
+        StreamingResponseBody body = outputStream -> edgeCameraService.writeRGBVideoStream(
+                robotId, deviceId, outputStream);
+        return ResponseEntity.ok()
+                .contentType(MediaType.parseMediaType("video/mp4"))
+                .cacheControl(CacheControl.noStore())
+                .header("X-Accel-Buffering", "no")
+                .header("X-Content-Type-Options", "nosniff")
+                .body(body);
+    }
+
     @ApiOperation("开始录制视频")
     @GetMapping("/startRecording")
-    public AjaxResult startRecording(EdgeCommonVO edgeCommonVO) {
+    public AjaxResult startRecording(
+            @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
+            @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
+        EdgeCommonVO edgeCommonVO = commonVo(robotId, deviceId);
         return success(edgeCameraService.startRecording(edgeCommonVO));
     }
 
     @ApiOperation("停止录制视频")
     @GetMapping("/stopRecording")
-    public AjaxResult stopRecording(EdgeCommonVO edgeCommonVO) {
+    public AjaxResult stopRecording(
+            @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
+            @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
+        EdgeCommonVO edgeCommonVO = commonVo(robotId, deviceId);
         return success(edgeCameraService.stopRecording(edgeCommonVO));
     }
 
     @ApiOperation("获取图片和视频")
     @GetMapping("/getRGBDImages")
-    public AjaxResult getRGBDImages(EdgeCommonVO edgeCommonVO) {
+    public AjaxResult getRGBDImages(
+            @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId,
+            @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) {
+        EdgeCommonVO edgeCommonVO = commonVo(robotId, deviceId);
         return success(edgeCameraService.getRGBDImages(edgeCommonVO));
     }
+
+    private EdgeCommonVO commonVo(String robotId, String deviceId) {
+        EdgeCommonVO vo = new EdgeCommonVO();
+        vo.setRobotId(robotId);
+        vo.setDeviceId(deviceId);
+        return vo;
+    }
 }

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

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

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

@@ -25,9 +25,9 @@ public class EdgeMicrophoneController {
     @ApiOperation("获取麦克风状态")
     @PreAuthorize("@ss.hasPermi('system:microphone:query')")
     @GetMapping("/status")
-    public AjaxResult getStatus(@ApiParam(value = "终端设备ID", required = true) @RequestParam String terminalId, @ApiParam (value = "设备ID", required = true) @RequestParam String deviceId) {
+    public AjaxResult getStatus(@ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam String robotId, @ApiParam (value = "设备ID", required = true) @RequestParam String deviceId) {
         EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
-        edgeCommonVO.setTerminalId(terminalId);
+        edgeCommonVO.setRobotId(robotId);
         edgeCommonVO.setDeviceId(deviceId);
         return AjaxResult.success(microphoneService.getStatus(edgeCommonVO));
     }
@@ -44,8 +44,7 @@ public class EdgeMicrophoneController {
     @PreAuthorize("@ss.hasPermi('system:microphone:stop')")
     @PostMapping("/stop")
     public AjaxResult stopRecord(@RequestBody EdgeCommonVO edgeCommonVO) {
-        microphoneService.stopRecord(edgeCommonVO);
+        return AjaxResult.success(microphoneService.stopRecord(edgeCommonVO));
-        return AjaxResult.success();
     }
 
     @ApiOperation("暂停录音")
@@ -75,9 +74,9 @@ public class EdgeMicrophoneController {
     @ApiOperation("获取音量")
     @PreAuthorize("@ss.hasPermi('system:microphone:volume')")
     @GetMapping("/volume")
-    public AjaxResult getVolume(@ApiParam(value = "终端设备ID", required = true) @RequestParam String terminalId, @ApiParam (value = "设备ID", required = true) @RequestParam String deviceId) {
+    public AjaxResult getVolume(@ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam String robotId, @ApiParam (value = "设备ID", required = true) @RequestParam String deviceId) {
         EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
-        edgeCommonVO.setTerminalId(terminalId);
+        edgeCommonVO.setRobotId(robotId);
         edgeCommonVO.setDeviceId(deviceId);
         return AjaxResult.success(microphoneService.getVolume(edgeCommonVO));
     }

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

@@ -0,0 +1,114 @@
+package com.cmvr.web.controller.api;
+
+import com.alibaba.fastjson2.JSON;
+import com.cmvr.common.core.controller.BaseController;
+import com.cmvr.common.core.domain.AjaxResult;
+import com.cmvr.edge.client.model.motor.EdgeMotorCyclicOpenVO;
+import com.cmvr.edge.client.model.motor.EdgeMotorCyclicSetpointVO;
+import com.cmvr.edge.client.model.motor.EdgeMotorEnabledVO;
+import com.cmvr.edge.client.model.motor.EdgeMotorMotionVO;
+import com.cmvr.edge.client.model.motor.EdgeMotorTargetVO;
+import com.cmvr.edge.client.service.EdgeMotorService;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RequestParam;
+import org.springframework.web.bind.annotation.RestController;
+
+@Api(tags = "Edge - Motor")
+@RestController
+@RequestMapping("/api/edge/motor")
+@RequiredArgsConstructor
+public class EdgeMotorController extends BaseController {
+
+    private final EdgeMotorService edgeMotorService;
+
+    @ApiOperation("Set the current motor position as zero")
+    @PostMapping("/setZero")
+    public AjaxResult setZero(@RequestBody EdgeMotorTargetVO request) {
+        return protobuf(edgeMotorService.setZero(request));
+    }
+
+    @ApiOperation("Move motor to zero")
+    @PostMapping("/moveToZero")
+    public AjaxResult moveToZero(@RequestBody EdgeMotorMotionVO request) {
+        return protobuf(edgeMotorService.moveToZero(request));
+    }
+
+    @ApiOperation("Execute profile position control")
+    @PostMapping("/profilePosition")
+    public AjaxResult profilePosition(@RequestBody EdgeMotorMotionVO request) {
+        return protobuf(edgeMotorService.profilePosition(request));
+    }
+
+    @ApiOperation("Execute profile velocity control")
+    @PostMapping("/profileVelocity")
+    public AjaxResult profileVelocity(@RequestBody EdgeMotorMotionVO request) {
+        return protobuf(edgeMotorService.profileVelocity(request));
+    }
+
+    @ApiOperation("Emergency stop a motor")
+    @PostMapping("/emergencyStop")
+    public AjaxResult emergencyStop(@RequestBody EdgeMotorTargetVO request) {
+        return protobuf(edgeMotorService.emergencyStop(request));
+    }
+
+    @ApiOperation("Get motor status")
+    @PostMapping("/status")
+    public AjaxResult status(@RequestBody EdgeMotorTargetVO request) {
+        return protobuf(edgeMotorService.getStatus(request));
+    }
+
+    @ApiOperation("Enable or disable a motor")
+    @PostMapping("/enabled")
+    public AjaxResult enabled(@RequestBody EdgeMotorEnabledVO request) {
+        return protobuf(edgeMotorService.setEnabled(request));
+    }
+
+    @ApiOperation("Open cyclic position stream")
+    @PostMapping("/cyclicPosition/open")
+    public AjaxResult openCyclicPosition(@RequestBody EdgeMotorCyclicOpenVO request) {
+        return success(edgeMotorService.openCyclicPosition(request));
+    }
+
+    @ApiOperation("Send cyclic position setpoint")
+    @PostMapping("/cyclicPosition/setpoint")
+    public AjaxResult cyclicPosition(@RequestBody EdgeMotorCyclicSetpointVO request) {
+        edgeMotorService.sendCyclicPosition(request);
+        return success();
+    }
+
+    @ApiOperation("Open cyclic velocity stream")
+    @PostMapping("/cyclicVelocity/open")
+    public AjaxResult openCyclicVelocity(@RequestBody EdgeMotorCyclicOpenVO request) {
+        return success(edgeMotorService.openCyclicVelocity(request));
+    }
+
+    @ApiOperation("Send cyclic velocity setpoint")
+    @PostMapping("/cyclicVelocity/setpoint")
+    public AjaxResult cyclicVelocity(@RequestBody EdgeMotorCyclicSetpointVO request) {
+        edgeMotorService.sendCyclicVelocity(request);
+        return success();
+    }
+
+    @ApiOperation("Get the latest cyclic stream response")
+    @GetMapping("/stream/status")
+    public AjaxResult streamStatus(@RequestParam("sessionId") String sessionId) {
+        return protobuf(edgeMotorService.getStreamStatus(sessionId));
+    }
+
+    @ApiOperation("Close a cyclic stream")
+    @PostMapping("/stream/close")
+    public AjaxResult closeStream(@RequestParam("sessionId") String sessionId) {
+        edgeMotorService.closeStream(sessionId);
+        return success();
+    }
+
+    private AjaxResult protobuf(Object value) {
+        return success(value == null ? null : JSON.toJSONString(value));
+    }
+}

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

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

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

@@ -1,14 +1,23 @@
 package com.cmvr.web.controller.api;
 
+import com.alibaba.fastjson2.JSON;
 import com.cmvr.common.core.controller.BaseController;
 import com.cmvr.common.core.domain.AjaxResult;
+import com.cmvr.edge.client.model.system.EdgeSystemJsonCommandVO;
+import com.cmvr.edge.client.model.system.EdgeSystemUpdateParamsVO;
+import com.cmvr.edge.client.model.system.EdgeActionQueueVO;
+import com.cmvr.edge.client.model.system.EdgeSafetyRecoveryVO;
 import com.cmvr.edge.client.service.EdgeSystemService;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import lombok.RequiredArgsConstructor;
 import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestParam;
 import org.springframework.web.bind.annotation.RequestMapping;
 import org.springframework.web.bind.annotation.RestController;
+import org.springframework.validation.annotation.Validated;
 
 @Api(tags = "边缘--系统功能")
 @RestController
@@ -18,9 +27,63 @@ public class EdgeSystemController extends BaseController {
 
     private final EdgeSystemService edgeSystemService;
 
+    @ApiOperation("Get edge system information")
+    @GetMapping("/info")
+    public AjaxResult info(@RequestParam("robotId") String robotId) {
+        return success(JSON.toJSONString(edgeSystemService.getSystemInfo(robotId)));
+    }
+
+    @ApiOperation("Get edge system runtime status")
+    @GetMapping("/status")
+    public AjaxResult status(@RequestParam("robotId") String robotId) {
+        return success(JSON.toJSONString(edgeSystemService.getSystemStatus(robotId)));
+    }
+
+    @ApiOperation("Update edge device parameters")
+    @PostMapping("/params")
+    public AjaxResult updateParams(@RequestBody EdgeSystemUpdateParamsVO request) {
+        return success(JSON.toJSONString(edgeSystemService.updateParams(request)));
+    }
+
+    @ApiOperation("Execute a JSON device command")
+    @PostMapping("/executeJsonCommand")
+    public AjaxResult executeJsonCommand(@RequestBody EdgeSystemJsonCommandVO request) {
+        return success(JSON.toJSONString(edgeSystemService.executeJsonCommand(request)));
+    }
+
+    @ApiOperation("Execute an edge-local serial action queue")
+    @PostMapping("/actionQueue")
+    public AjaxResult executeActionQueue(@RequestBody EdgeActionQueueVO request) {
+        return success(JSON.toJSONString(edgeSystemService.executeActionQueue(request)));
+    }
+
+    @ApiOperation("Get edge safety state")
+    @GetMapping("/safetyState")
+    public AjaxResult safetyState(@RequestParam("robotId") String robotId) {
+        return success(JSON.toJSONString(edgeSystemService.getSafetyState(robotId)));
+    }
+
+    @ApiOperation("Restore edge operational state")
+    @PostMapping("/restoreOperationalState")
+    public AjaxResult restoreOperationalState(@RequestBody @Validated EdgeSafetyRecoveryVO request) {
+        return success(JSON.toJSONString(edgeSystemService.restoreOperationalState(
+                request.getRobotId(), request.getReason(), request.getTimeoutMs())));
+    }
+
+    /**
+     * @deprecated Use /restoreOperationalState.
+     */
+    @Deprecated
+    @ApiOperation("[Deprecated] Clear recoverable edge safety errors")
+    @PostMapping("/recoverSafetyState")
+    public AjaxResult recoverSafetyState(@RequestBody @Validated EdgeSafetyRecoveryVO request) {
+        return success(JSON.toJSONString(edgeSystemService.recoverSafetyState(
+                request.getRobotId(), request.getReason(), request.getTimeoutMs())));
+    }
+
     @ApiOperation("停止所有设备")
     @GetMapping("/stopAll")
-    public AjaxResult stopAll(String terminalId) {
+    public AjaxResult stopAll(@RequestParam("robotId") String robotId) {
-        return AjaxResult.ok(edgeSystemService.stopAll(terminalId));
+        return AjaxResult.ok(edgeSystemService.stopAll(robotId));
     }
 }

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

@@ -1,8 +1,8 @@
 package com.cmvr.web.controller.api;
 
 import com.cmvr.edge.client.service.AudioService;
-import com.fasterxml.jackson.databind.ObjectMapper;
+import tools.jackson.databind.ObjectMapper;
-import com.fasterxml.jackson.databind.node.ObjectNode;
+import tools.jackson.databind.node.ObjectNode;
 import lombok.RequiredArgsConstructor;
 import org.jetbrains.annotations.NotNull;
 import org.slf4j.Logger;

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/common/CaptchaController.java

@@ -3,9 +3,9 @@ package com.cmvr.web.controller.common;
 import java.awt.image.BufferedImage;
 import java.io.IOException;
 import java.util.concurrent.TimeUnit;
-import javax.annotation.Resource;
+import jakarta.annotation.Resource;
 import javax.imageio.ImageIO;
-import javax.servlet.http.HttpServletResponse;
+import jakarta.servlet.http.HttpServletResponse;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.util.FastByteArrayOutputStream;
 import org.springframework.web.bind.annotation.GetMapping;
@@ -23,7 +23,7 @@ import com.cmvr.system.service.ISysConfigService;
 /**
  * 验证码操作处理
  * 
- * @author cmvr-iot
+ * @author ruoyi
  */
 @RestController
 public class CaptchaController

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/common/CommonController.java

@@ -1,38 +1,40 @@
 package com.cmvr.web.controller.common;
 
-import com.cmvr.common.config.CmvrIotConfig;
+import java.util.ArrayList;
-import com.cmvr.common.constant.Constants;
+import java.util.List;
-import com.cmvr.common.core.domain.AjaxResult;
+import jakarta.servlet.http.HttpServletRequest;
-import com.cmvr.common.utils.StringUtils;
+import jakarta.servlet.http.HttpServletResponse;
-import com.cmvr.common.utils.file.FileUploadUtils;
-import com.cmvr.common.utils.file.FileUtils;
-import com.cmvr.framework.config.ServerConfig;
-import io.swagger.annotations.Api;
-import lombok.RequiredArgsConstructor;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
+import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.http.MediaType;
 import org.springframework.web.bind.annotation.GetMapping;
 import org.springframework.web.bind.annotation.PostMapping;
 import org.springframework.web.bind.annotation.RequestMapping;
 import org.springframework.web.bind.annotation.RestController;
 import org.springframework.web.multipart.MultipartFile;
+import com.cmvr.common.config.CmvrIotConfig;
+import com.cmvr.common.core.domain.AjaxResult;
+import com.cmvr.common.utils.StringUtils;
+import com.cmvr.common.utils.file.FileUploadUtils;
+import com.cmvr.common.utils.file.FileUtils;
+import com.cmvr.framework.config.ServerConfig;
 
-import javax.servlet.http.HttpServletRequest;
+/**
-import javax.servlet.http.HttpServletResponse;
+ * 通用请求处理
-import java.util.ArrayList;
+ * 
-import java.util.List;
+ * @author ruoyi
-
+ */
-@Api(tags = "通用请求处理")
 @RestController
 @RequestMapping("/common")
-@RequiredArgsConstructor
+public class CommonController
-public class CommonController {
+{
     private static final Logger log = LoggerFactory.getLogger(CommonController.class);
 
-    private final ServerConfig serverConfig;
+    @Autowired
+    private ServerConfig serverConfig;
 
-    private static final String FILE_DELIMETER = ",";
+    private static final String FILE_DELIMITER = ",";
 
     /**
      * 通用下载请求
@@ -41,9 +43,12 @@ public class CommonController {
      * @param delete 是否删除
      */
     @GetMapping("/download")
-    public void fileDownload(String fileName, Boolean delete, HttpServletResponse response, HttpServletRequest request) {
+    public void fileDownload(String fileName, Boolean delete, HttpServletResponse response, HttpServletRequest request)
-        try {
+    {
-            if (!FileUtils.checkAllowDownload(fileName)) {
+        try
+        {
+            if (!FileUtils.checkAllowDownload(fileName))
+            {
                 throw new Exception(StringUtils.format("文件名称({})非法，不允许下载。 ", fileName));
             }
             String realFileName = System.currentTimeMillis() + fileName.substring(fileName.indexOf("_") + 1);
@@ -52,10 +57,13 @@ public class CommonController {
             response.setContentType(MediaType.APPLICATION_OCTET_STREAM_VALUE);
             FileUtils.setAttachmentResponseHeader(response, realFileName);
             FileUtils.writeBytes(filePath, response.getOutputStream());
-            if (delete) {
+            if (delete)
+            {
                 FileUtils.deleteFile(filePath);
             }
-        } catch (Exception e) {
+        }
+        catch (Exception e)
+        {
             log.error("下载文件失败", e);
         }
     }
@@ -64,8 +72,10 @@ public class CommonController {
      * 通用上传请求（单个）
      */
     @PostMapping("/upload")
-    public AjaxResult uploadFile(MultipartFile file) throws Exception {
+    public AjaxResult uploadFile(MultipartFile file) throws Exception
-        try {
+    {
+        try
+        {
             // 上传文件路径
             String filePath = CmvrIotConfig.getUploadPath();
             // 上传并返回新文件名称
@@ -77,7 +87,9 @@ public class CommonController {
             ajax.put("newFileName", FileUtils.getName(fileName));
             ajax.put("originalFilename", file.getOriginalFilename());
             return ajax;
-        } catch (Exception e) {
+        }
+        catch (Exception e)
+        {
             return AjaxResult.error(e.getMessage());
         }
     }
@@ -86,15 +98,18 @@ public class CommonController {
      * 通用上传请求（多个）
      */
     @PostMapping("/uploads")
-    public AjaxResult uploadFiles(List<MultipartFile> files) throws Exception {
+    public AjaxResult uploadFiles(List<MultipartFile> files) throws Exception
-        try {
+    {
+        try
+        {
             // 上传文件路径
             String filePath = CmvrIotConfig.getUploadPath();
             List<String> urls = new ArrayList<String>();
             List<String> fileNames = new ArrayList<String>();
             List<String> newFileNames = new ArrayList<String>();
             List<String> originalFilenames = new ArrayList<String>();
-            for (MultipartFile file : files) {
+            for (MultipartFile file : files)
+            {
                 // 上传并返回新文件名称
                 String fileName = FileUploadUtils.upload(filePath, file);
                 String url = serverConfig.getUrl() + fileName;
@@ -104,12 +119,14 @@ public class CommonController {
                 originalFilenames.add(file.getOriginalFilename());
             }
             AjaxResult ajax = AjaxResult.success();
-            ajax.put("urls", StringUtils.join(urls, FILE_DELIMETER));
+            ajax.put("urls", StringUtils.join(urls, FILE_DELIMITER));
-            ajax.put("fileNames", StringUtils.join(fileNames, FILE_DELIMETER));
+            ajax.put("fileNames", StringUtils.join(fileNames, FILE_DELIMITER));
-            ajax.put("newFileNames", StringUtils.join(newFileNames, FILE_DELIMETER));
+            ajax.put("newFileNames", StringUtils.join(newFileNames, FILE_DELIMITER));
-            ajax.put("originalFilenames", StringUtils.join(originalFilenames, FILE_DELIMETER));
+            ajax.put("originalFilenames", StringUtils.join(originalFilenames, FILE_DELIMITER));
             return ajax;
-        } catch (Exception e) {
+        }
+        catch (Exception e)
+        {
             return AjaxResult.error(e.getMessage());
         }
     }
@@ -119,21 +136,26 @@ public class CommonController {
      */
     @GetMapping("/download/resource")
     public void resourceDownload(String resource, HttpServletRequest request, HttpServletResponse response)
-            throws Exception {
+            throws Exception
-        try {
+    {
-            if (!FileUtils.checkAllowDownload(resource)) {
+        try
+        {
+            if (!FileUtils.checkAllowDownload(resource))
+            {
                 throw new Exception(StringUtils.format("资源文件({})非法，不允许下载。 ", resource));
             }
             // 本地资源路径
             String localPath = CmvrIotConfig.getProfile();
             // 数据库资源地址
-            String downloadPath = localPath + StringUtils.substringAfter(resource, Constants.RESOURCE_PREFIX);
+            String downloadPath = localPath + FileUtils.stripPrefix(resource);
             // 下载名称
             String downloadName = StringUtils.substringAfterLast(downloadPath, "/");
             response.setContentType(MediaType.APPLICATION_OCTET_STREAM_VALUE);
             FileUtils.setAttachmentResponseHeader(response, downloadName);
             FileUtils.writeBytes(downloadPath, response.getOutputStream());
-        } catch (Exception e) {
+        }
+        catch (Exception e)
+        {
             log.error("下载文件失败", e);
         }
     }

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/device/DeDeviceProfileController.java

@@ -1,115 +0,0 @@
-package com.cmvr.web.controller.device;
-
-import java.util.List;
-
-import com.cmvr.device.domain.vo.ProfileVo;
-import com.cmvr.device.domain.vo.TeMechanicalArmVo;
-import com.cmvr.edge.client.service.EdgeSystemService;
-import io.swagger.annotations.Api;
-import io.swagger.annotations.ApiOperation;
-import lombok.RequiredArgsConstructor;
-import org.springframework.security.access.prepost.PreAuthorize;
-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;
-import com.cmvr.common.enums.BusinessType;
-import com.cmvr.device.domain.DeDeviceProfile;
-import com.cmvr.device.service.IDeDeviceProfileService;
-import com.cmvr.common.core.page.TableDataInfo;
-
-/**
- * 设备配置信息Controller
- * 
- * @author cmvr-iot
- * @date 2025-05-09
- */
-@RestController
-@RequestMapping("/device/profile")
-@RequiredArgsConstructor
-@Api(tags = "设备--配置信息")
-public class DeDeviceProfileController extends BaseController
-{
-
-    private final IDeDeviceProfileService deDeviceProfileService;
-
-    private final EdgeSystemService systemService;
-
-    /**
-     * 查询设备配置信息列表
-     */
-    @PreAuthorize("@ss.hasPermi('device:profile:list')")
-    @GetMapping("/list")
-    @ApiOperation("查询设备信息列表")
-    public TableDataInfo list(DeDeviceProfile deDeviceProfile)
-    {
-        startPage();
-        List<ProfileVo> list = deDeviceProfileService.selectDeDeviceProfileList(deDeviceProfile);
-        return getDataTable(list);
-    }
-
-
-    /**
-     * 根据设备id获取设备详细配置信息
-     */
-    @PreAuthorize("@ss.hasPermi('device:profile:query')")
-    @GetMapping("/{id}")
-    @ApiOperation("根据设备id获取当前设备配置信息")
-    public AjaxResult getInfo(@PathVariable String id)
-    {
-        return success(deDeviceProfileService.selectDeDeviceProfileById(id));
-    }
-
-    /**
-     * 根据设备id和备注获取设备详细配置信息
-     */
-    @PreAuthorize("@ss.hasPermi('device:profile:query')")
-    @GetMapping("/parameterInfo")
-    @ApiOperation("根据设备id获取当前设备配置信息")
-    public AjaxResult getParameterInfo(@RequestParam String id, @RequestParam String remark)
-    {
-        return success(deDeviceProfileService.selectProfileByIdAndRemark(id,remark));
-    }
-
-    /**
-     * 新增设备配置信息
-     */
-    @PreAuthorize("@ss.hasPermi('device:profile:add')")
-    @Log(title = "设备配置信息", businessType = BusinessType.INSERT)
-    @ApiOperation("新增设备信息")
-    @PostMapping
-    public AjaxResult add(@RequestBody List<DeDeviceProfile> deDeviceProfiles)
-    {
-
-        return toAjax(deDeviceProfileService.insertDeDeviceProfile(deDeviceProfiles));
-    }
-
-    /**
-     * 修改设备配置信息
-     */
-    @PreAuthorize("@ss.hasPermi('device:profile:edit')")
-    @Log(title = "设备配置信息", businessType = BusinessType.UPDATE)
-    @ApiOperation("修改设备信息")
-    @PutMapping
-    public AjaxResult edit(@RequestBody List<DeDeviceProfile> deDeviceProfiles)
-    {
-        return toAjax(deDeviceProfileService.updateDeDeviceProfile(deDeviceProfiles));
-    }
-
-    /**
-     * 删除设备配置信息
-     */
-    @PreAuthorize("@ss.hasPermi('device:profile:remove')")
-    @Log(title = "设备配置信息", businessType = BusinessType.DELETE)
-    @ApiOperation("删除设备配置信息")
-    @DeleteMapping("/{ids}")
-    public AjaxResult remove(@PathVariable String[] ids)
-    {
-        return toAjax(deDeviceProfileService.deleteDeDeviceProfileByIds(ids));
-    }
-
-
-
-
-
-}

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/device/DeDeviceRegistrationController.java

@@ -1,122 +0,0 @@
-package com.cmvr.web.controller.device;
-
-import java.util.List;
-import javax.servlet.http.HttpServletResponse;
-
-import com.cmvr.edge.client.service.EdgeSystemService;
-import io.swagger.annotations.Api;
-import io.swagger.annotations.ApiOperation;
-import lombok.RequiredArgsConstructor;
-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 com.cmvr.common.annotation.Log;
-import com.cmvr.common.core.controller.BaseController;
-import com.cmvr.common.core.domain.AjaxResult;
-import com.cmvr.common.enums.BusinessType;
-import com.cmvr.device.domain.DeDeviceRegistration;
-import com.cmvr.device.service.IDeDeviceRegistrationService;
-import com.cmvr.common.utils.poi.ExcelUtil;
-import com.cmvr.common.core.page.TableDataInfo;
-
-/**
- * 设备注册Controller
- * 
- * @author cmvr-iot
- * @date 2025-05-08
- */
-@RestController
-@RequestMapping("/device/register")
-@RequiredArgsConstructor
-@Api(tags = "设备--注册")
-public class DeDeviceRegistrationController extends BaseController
-{
-    @Autowired
-    private IDeDeviceRegistrationService deDeviceRegistrationService;
-
-    private final EdgeSystemService systemService;
-
-    /**
-     * 查询设备注册列表
-     */
-    @ApiOperation("查询设备注册列表")
-    @PreAuthorize("@ss.hasPermi('device:register:list')")
-    @GetMapping("/list")
-    public TableDataInfo list(DeDeviceRegistration deDeviceRegistration)
-    {
-        startPage();
-        List<DeDeviceRegistration> list = deDeviceRegistrationService.selectDeDeviceRegistrationList(deDeviceRegistration);
-        return getDataTable(list);
-    }
-
-    /**
-     * 导出设备注册列表
-     */
-    @ApiOperation("导出设备注册列表")
-    @PreAuthorize("@ss.hasPermi('device:register:export')")
-    @Log(title = "设备注册", businessType = BusinessType.EXPORT)
-    @PostMapping("/export")
-    public void export(HttpServletResponse response, DeDeviceRegistration deDeviceRegistration)
-    {
-        List<DeDeviceRegistration> list = deDeviceRegistrationService.selectDeDeviceRegistrationList(deDeviceRegistration);
-        ExcelUtil<DeDeviceRegistration> util = new ExcelUtil<DeDeviceRegistration>(DeDeviceRegistration.class);
-        util.exportExcel(response, list, "设备注册数据");
-    }
-
-    /**
-     * 获取设备注册详细信息
-     */
-    @ApiOperation("获取设备注册详细信息")
-    @PreAuthorize("@ss.hasPermi('device:register:query')")
-    @GetMapping(value = "/{id}")
-    public AjaxResult getInfo(@PathVariable("id") String id)
-    {
-        return success(deDeviceRegistrationService.selectDeDeviceRegistrationById(id));
-    }
-
-    /**
-     * 新增设备注册
-     */
-    @ApiOperation("新增设备注册")
-    @PreAuthorize("@ss.hasPermi('device:register:add')")
-    @Log(title = "设备注册", businessType = BusinessType.INSERT)
-    @PostMapping
-    public AjaxResult add(@RequestBody DeDeviceRegistration deDeviceRegistration)
-    {
-        return toAjax(deDeviceRegistrationService.insertDeDeviceRegistration(deDeviceRegistration));
-    }
-
-    /**
-     * 修改设备注册
-     */
-    @ApiOperation("修改设备注册")
-    @PreAuthorize("@ss.hasPermi('device:register:edit')")
-    @Log(title = "设备注册", businessType = BusinessType.UPDATE)
-    @PutMapping
-    public AjaxResult edit(@RequestBody DeDeviceRegistration deDeviceRegistration)
-    {
-        return toAjax(deDeviceRegistrationService.updateDeDeviceRegistration(deDeviceRegistration));
-    }
-
-
-
-
-    /**
-     * 删除设备注册
-     */
-    @ApiOperation("删除设备注册")
-    @PreAuthorize("@ss.hasPermi('device:register:remove')")
-    @Log(title = "设备注册", businessType = BusinessType.DELETE)
-	@DeleteMapping("/{ids}")
-    public AjaxResult remove(@PathVariable String[] ids)
-    {
-        return toAjax(deDeviceRegistrationService.deleteDeDeviceRegistrationByIds(ids));
-    }
-}

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/device/DeDeviceTerminalConfigController.java

@@ -1,102 +0,0 @@
-package com.cmvr.web.controller.device;
-
-import com.cmvr.common.annotation.Log;
-import com.cmvr.common.core.controller.BaseController;
-import com.cmvr.common.core.domain.AjaxResult;
-import com.cmvr.common.core.page.TableDataInfo;
-import com.cmvr.common.enums.BusinessType;
-import com.cmvr.common.utils.poi.ExcelUtil;
-import com.cmvr.device.domain.DeDeviceTerminalConfig;
-import com.cmvr.device.service.IDeDeviceTerminalConfigService;
-import io.swagger.annotations.Api;
-import io.swagger.annotations.ApiOperation;
-import lombok.RequiredArgsConstructor;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.security.access.prepost.PreAuthorize;
-import org.springframework.web.bind.annotation.*;
-
-import javax.servlet.http.HttpServletResponse;
-import java.util.List;
-
-/**
- * 设备终端配置Controller
- *
- * @author cmvr-iot
- * @date 2025-05-08
- */
-@RestController
-@RequestMapping("/device/terminal")
-@RequiredArgsConstructor
-@Api(tags = "设备--终端配置")
-public class DeDeviceTerminalConfigController extends BaseController {
-    @Autowired
-    private IDeDeviceTerminalConfigService deDeviceTerminalConfigService;
-
-    /**
-     * 查询设备终端配置列表
-     */
-    @ApiOperation("查询设备终端配置列表")
-    @PreAuthorize("@ss.hasPermi('device:terminal:list')")
-    @GetMapping("/list")
-    public TableDataInfo list(DeDeviceTerminalConfig deDeviceTerminalConfig) {
-        startPage();
-        List<DeDeviceTerminalConfig> list = deDeviceTerminalConfigService.selectDeDeviceTerminalConfigList(deDeviceTerminalConfig);
-        return getDataTable(list);
-    }
-
-    /**
-     * 导出设备终端配置列表
-     */
-    @ApiOperation("导出设备终端配置列表")
-    @PreAuthorize("@ss.hasPermi('device:terminal:export')")
-    @Log(title = "设备终端配置", businessType = BusinessType.EXPORT)
-    @PostMapping("/export")
-    public void export(HttpServletResponse response, DeDeviceTerminalConfig deDeviceTerminalConfig) {
-        List<DeDeviceTerminalConfig> list = deDeviceTerminalConfigService.selectDeDeviceTerminalConfigList(deDeviceTerminalConfig);
-        ExcelUtil<DeDeviceTerminalConfig> util = new ExcelUtil<DeDeviceTerminalConfig>(DeDeviceTerminalConfig.class);
-        util.exportExcel(response, list, "设备终端配置数据");
-    }
-
-    /**
-     * 获取设备终端配置详细信息
-     */
-    @ApiOperation("获取设备终端配置详细信息")
-    @PreAuthorize("@ss.hasPermi('device:terminal:query')")
-    @GetMapping(value = "/{id}")
-    public AjaxResult getInfo(@PathVariable("id") String id) {
-        return success(deDeviceTerminalConfigService.selectDeDeviceTerminalConfigById(id));
-    }
-
-    /**
-     * 新增设备终端配置
-     */
-    @ApiOperation("新增设备终端配置")
-    @PreAuthorize("@ss.hasPermi('device:terminal:add')")
-    @Log(title = "设备终端配置", businessType = BusinessType.INSERT)
-    @PostMapping
-    public AjaxResult add(@RequestBody DeDeviceTerminalConfig deDeviceTerminalConfig) {
-        return toAjax(deDeviceTerminalConfigService.insertDeDeviceTerminalConfig(deDeviceTerminalConfig));
-    }
-
-    /**
-     * 修改设备终端配置
-     */
-    @ApiOperation("修改设备终端数据")
-    @PreAuthorize("@ss.hasPermi('device:terminal:edit')")
-    @Log(title = "设备终端配置", businessType = BusinessType.UPDATE)
-    @PutMapping
-    public AjaxResult edit(@RequestBody DeDeviceTerminalConfig deDeviceTerminalConfig) {
-        return toAjax(deDeviceTerminalConfigService.updateDeDeviceTerminalConfig(deDeviceTerminalConfig));
-    }
-
-    /**
-     * 删除设备终端配置
-     */
-    @ApiOperation("删除设备终端配置")
-    @PreAuthorize("@ss.hasPermi('device:terminal:remove')")
-    @Log(title = "设备终端配置", businessType = BusinessType.DELETE)
-    @DeleteMapping("/{ids}")
-    public AjaxResult remove(@PathVariable String[] ids) {
-        return toAjax(deDeviceTerminalConfigService.deleteDeDeviceTerminalConfigByIds(ids));
-    }
-}

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/device/DeRobotConfigController.java

@@ -1,105 +0,0 @@
-package com.cmvr.web.controller.device;
-
-import java.util.List;
-import javax.servlet.http.HttpServletResponse;
-
-import com.cmvr.common.annotation.Log;
-import com.cmvr.common.core.controller.BaseController;
-import com.cmvr.common.core.domain.AjaxResult;
-import com.cmvr.common.enums.BusinessType;
-import com.cmvr.common.utils.poi.ExcelUtil;
-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 com.cmvr.device.domain.DeRobotConfig;
-import com.cmvr.device.service.IDeRobotConfigService;
-
-import static com.cmvr.common.core.domain.AjaxResult.success;
-
-/**
- * 机器人配置Controller
- * 
- * @author cmvr-iot
- * @date 2025-09-09
- */
-@RestController
-@RequestMapping("/device/robot")
-public class DeRobotConfigController extends BaseController
-{
-    @Autowired
-    private IDeRobotConfigService deRobotConfigService;
-
-    /**
-     * 查询机器人配置列表
-     */
-    @PreAuthorize("@ss.hasPermi('device:robot:list')")
-    @GetMapping("/list")
-    public AjaxResult list(DeRobotConfig deRobotConfig)
-    {
-        List<DeRobotConfig> list = deRobotConfigService.selectDeRobotConfigList(deRobotConfig);
-        return success(list);
-    }
-
-    /**
-     * 导出机器人配置列表
-     */
-    @PreAuthorize("@ss.hasPermi('device:robot:export')")
-    @Log(title = "机器人配置", businessType = BusinessType.EXPORT)
-    @PostMapping("/export")
-    public void export(HttpServletResponse response, DeRobotConfig deRobotConfig)
-    {
-        List<DeRobotConfig> list = deRobotConfigService.selectDeRobotConfigList(deRobotConfig);
-        ExcelUtil<DeRobotConfig> util = new ExcelUtil<DeRobotConfig>(DeRobotConfig.class);
-        util.exportExcel(response, list, "机器人配置数据");
-    }
-
-    /**
-     * 获取机器人配置详细信息
-     */
-    @PreAuthorize("@ss.hasPermi('device:robot:query')")
-    @GetMapping(value = "/{id}")
-    public AjaxResult getInfo(@PathVariable("id") String id)
-    {
-        return success(deRobotConfigService.selectDeRobotConfigById(id));
-    }
-
-    /**
-     * 新增机器人配置
-     */
-    @PreAuthorize("@ss.hasPermi('device:robot:add')")
-    @Log(title = "机器人配置", businessType = BusinessType.INSERT)
-    @PostMapping
-    public AjaxResult add(@RequestBody DeRobotConfig deRobotConfig)
-    {
-        return toAjax(deRobotConfigService.insertDeRobotConfig(deRobotConfig));
-    }
-
-    /**
-     * 修改机器人配置
-     */
-    @PreAuthorize("@ss.hasPermi('device:robot:edit')")
-    @Log(title = "机器人配置", businessType = BusinessType.UPDATE)
-    @PutMapping
-    public AjaxResult edit(@RequestBody DeRobotConfig deRobotConfig)
-    {
-        return toAjax(deRobotConfigService.updateDeRobotConfig(deRobotConfig));
-    }
-
-    /**
-     * 删除机器人配置
-     */
-    @PreAuthorize("@ss.hasPermi('device:robot:remove')")
-    @Log(title = "机器人配置", businessType = BusinessType.DELETE)
-	@DeleteMapping("/{ids}")
-    public AjaxResult remove(@PathVariable String[] ids)
-    {
-        return toAjax(deRobotConfigService.deleteDeRobotConfigByIds(ids));
-    }
-}

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/evaluation/AeIndicatorController.java

@@ -11,7 +11,7 @@ import io.swagger.annotations.ApiOperation;
 import lombok.RequiredArgsConstructor;
 import org.springframework.web.bind.annotation.*;
 
-import javax.validation.Valid;
+import jakarta.validation.Valid;
 
 @Api(tags = "评价管理--指标库")
 @RestController

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

@@ -1,7 +1,7 @@
 package com.cmvr.web.controller.inspection;
 
 import java.util.List;
-import javax.servlet.http.HttpServletResponse;
+import jakarta.servlet.http.HttpServletResponse;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import org.springframework.security.access.prepost.PreAuthorize;

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

@@ -5,7 +5,7 @@ import com.cmvr.inspection.domain.dto.alert.AlertEnvelope;
 import com.cmvr.inspection.exception.DetectionAlertBadRequestException;
 import com.cmvr.inspection.service.IInspectionDetectionAlertService;
 import com.fasterxml.jackson.core.JsonProcessingException;
-import com.fasterxml.jackson.databind.ObjectMapper;
+import tools.jackson.databind.ObjectMapper;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import lombok.RequiredArgsConstructor;
@@ -18,8 +18,8 @@ import org.springframework.web.bind.annotation.PostMapping;
 import org.springframework.web.bind.annotation.RequestHeader;
 import org.springframework.web.bind.annotation.RestController;
 
-import javax.servlet.ServletInputStream;
+import jakarta.servlet.ServletInputStream;
-import javax.servlet.http.HttpServletRequest;
+import jakarta.servlet.http.HttpServletRequest;
 import java.io.ByteArrayOutputStream;
 import java.io.IOException;
 import java.nio.charset.StandardCharsets;

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

@@ -1,114 +0,0 @@
-package com.cmvr.web.controller.inspection;
-
-import java.util.List;
-import javax.servlet.http.HttpServletResponse;
-import io.swagger.annotations.Api;
-import io.swagger.annotations.ApiOperation;
-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 com.cmvr.common.annotation.Log;
-import com.cmvr.common.core.controller.BaseController;
-import com.cmvr.common.core.domain.AjaxResult;
-import com.cmvr.common.enums.BusinessType;
-import com.cmvr.inspection.domain.InspectionMap;
-import com.cmvr.inspection.domain.vo.InspectionMapVo;
-import com.cmvr.inspection.service.IInspectionMapService;
-import com.cmvr.common.utils.poi.ExcelUtil;
-import com.cmvr.common.core.page.TableDataInfo;
-
-/**
- * 巡检地图Controller
- * 
- * @author cmvr-iot
- * @since 2026-05-29
- */
-@RestController
-@RequestMapping("/inspection/map")
-@Api(tags = "智能巡检--地图管理")
-public class InspectionMapController extends BaseController
-{
-    @Autowired
-    private IInspectionMapService inspectionMapService;
-
-    /**
-     * 查询巡检地图列表
-     */
-    @ApiOperation("查询巡检地图列表")
-    @PreAuthorize("@ss.hasPermi('inspection:map:list')")
-    @GetMapping("/list")
-    public TableDataInfo list(InspectionMap inspectionMap)
-    {
-        startPage();
-        List<InspectionMapVo> list = inspectionMapService.selectInspectionMapList(inspectionMap);
-        return getDataTable(list);
-    }
-
-    /**
-     * 导出巡检地图列表
-     */
-    @ApiOperation("导出巡检地图列表")
-    @PreAuthorize("@ss.hasPermi('inspection:map:export')")
-    @Log(title = "巡检地图", businessType = BusinessType.EXPORT)
-    @PostMapping("/export")
-    public void export(HttpServletResponse response, InspectionMap inspectionMap)
-    {
-        List<InspectionMapVo> list = inspectionMapService.selectInspectionMapList(inspectionMap);
-        ExcelUtil<InspectionMapVo> util = new ExcelUtil<>(InspectionMapVo.class);
-        util.exportExcel(response, list, "巡检地图数据");
-    }
-
-    /**
-     * 获取巡检地图详细信息
-     */
-    @ApiOperation("获取巡检地图详细信息")
-    @PreAuthorize("@ss.hasPermi('inspection:map:query')")
-    @GetMapping(value = "/{id}")
-    public AjaxResult getInfo(@PathVariable("id") String id)
-    {
-        return success(inspectionMapService.selectInspectionMapById(id));
-    }
-
-    /**
-     * 新增巡检地图
-     */
-    @ApiOperation("新增巡检地图")
-    @PreAuthorize("@ss.hasPermi('inspection:map:add')")
-    @Log(title = "巡检地图", businessType = BusinessType.INSERT)
-    @PostMapping
-    public AjaxResult add(@RequestBody InspectionMap inspectionMap)
-    {
-        return toAjax(inspectionMapService.insertInspectionMap(inspectionMap));
-    }
-
-    /**
-     * 修改巡检地图
-     */
-    @ApiOperation("修改巡检地图")
-    @PreAuthorize("@ss.hasPermi('inspection:map:edit')")
-    @Log(title = "巡检地图", businessType = BusinessType.UPDATE)
-    @PutMapping
-    public AjaxResult edit(@RequestBody InspectionMap inspectionMap)
-    {
-        return toAjax(inspectionMapService.updateInspectionMap(inspectionMap));
-    }
-
-    /**
-     * 删除巡检地图
-     */
-    @ApiOperation("删除巡检地图")
-    @PreAuthorize("@ss.hasPermi('inspection:map:remove')")
-    @Log(title = "巡检地图", businessType = BusinessType.DELETE)
-	@DeleteMapping("/{ids}")
-    public AjaxResult remove(@PathVariable String[] ids)
-    {
-        return toAjax(inspectionMapService.deleteInspectionMapByIds(ids));
-    }
-}

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

@@ -28,7 +28,7 @@ import org.springframework.web.bind.annotation.RequestBody;
 import org.springframework.web.bind.annotation.RequestMapping;
 import org.springframework.web.bind.annotation.RestController;
 
-import javax.servlet.http.HttpServletResponse;
+import jakarta.servlet.http.HttpServletResponse;
 import java.util.List;
 
 /**

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

@@ -1,241 +0,0 @@
-package com.cmvr.web.controller.inspection;
-
-import java.util.List;
-import javax.servlet.http.HttpServletResponse;
-
-import cmvr.msgs.Agv;
-import com.cmvr.inspection.domain.vo.InspectionRobotVo;
-import io.swagger.annotations.*;
-import org.springframework.security.access.prepost.PreAuthorize;
-import org.springframework.beans.factory.annotation.Autowired;
-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;
-import com.cmvr.common.enums.BusinessType;
-import com.cmvr.inspection.domain.InspectionRobot;
-import com.cmvr.inspection.service.IInspectionRobotService;
-import com.cmvr.common.utils.poi.ExcelUtil;
-import com.cmvr.common.core.page.TableDataInfo;
-
-/**
- * 巡检机器人Controller
- *
- * @author cmvr-iot
- * @since 2026-05-29
- */
-@RestController
-@RequestMapping("/inspection/robot")
-@Api(tags = "智能巡检--机器人管理")
-public class InspectionRobotController extends BaseController
-{
-    @Autowired
-    private IInspectionRobotService inspectionRobotService;
-
-    /**
-     * 查询巡检机器人列表
-     */
-    @ApiOperation("查询巡检机器人列表")
-    @PreAuthorize("@ss.hasPermi('inspection:robot:list')")
-    @GetMapping("/list")
-    public TableDataInfo list(InspectionRobot inspectionRobot)
-    {
-        startPage();
-        List<InspectionRobotVo> list = inspectionRobotService.selectInspectionRobotList(inspectionRobot);
-        return getDataTable(list);
-    }
-
-    /**
-     * 导出巡检机器人列表
-     */
-    @ApiOperation("导出巡检机器人列表")
-    @PreAuthorize("@ss.hasPermi('inspection:robot:export')")
-    @Log(title = "巡检机器人", businessType = BusinessType.EXPORT)
-    @PostMapping("/export")
-    public void export(HttpServletResponse response, InspectionRobot inspectionRobot)
-    {
-        List<InspectionRobotVo> list = inspectionRobotService.selectInspectionRobotList(inspectionRobot);
-        ExcelUtil<InspectionRobotVo> util = new ExcelUtil<>(InspectionRobotVo.class);
-        util.exportExcel(response, list, "巡检机器人数据");
-    }
-
-    /**
-     * 获取巡检机器人详细信息
-     */
-    @ApiOperation("获取巡检机器人详细信息")
-    @PreAuthorize("@ss.hasPermi('inspection:robot:query')")
-    @GetMapping(value = "/{id}")
-    public AjaxResult getInfo(@PathVariable("id") String id)
-    {
-        return success(inspectionRobotService.selectInspectionRobotById(id));
-    }
-
-    /**
-     * 新增巡检机器人
-     */
-    @ApiOperation("新增巡检机器人")
-    @PreAuthorize("@ss.hasPermi('inspection:robot:add')")
-    @Log(title = "巡检机器人", businessType = BusinessType.INSERT)
-    @PostMapping
-    public AjaxResult add(@RequestBody InspectionRobot inspectionRobot)
-    {
-        return toAjax(inspectionRobotService.insertInspectionRobot(inspectionRobot));
-    }
-
-    /**
-     * 修改巡检机器人
-     */
-    @ApiOperation("修改巡检机器人")
-    @PreAuthorize("@ss.hasPermi('inspection:robot:edit')")
-    @Log(title = "巡检机器人", businessType = BusinessType.UPDATE)
-    @PutMapping
-    public AjaxResult edit(@RequestBody InspectionRobot inspectionRobot)
-    {
-        return toAjax(inspectionRobotService.updateInspectionRobot(inspectionRobot));
-    }
-
-    /**
-     * 删除巡检机器人
-     */
-    @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}")
-    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 String robotId)
-    {
-        List<String> robotMapList = inspectionRobotService.getRobotMapList(robotId);
-        return success(robotMapList);
-    }
-
-    /**
-     * 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 String robotId,
-                                   @PathVariable String mapId)
-    {
-        return toAjax(inspectionRobotService.bindRobotMap(robotId, mapId));
-    }
-
-    /**
-     * 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 @ApiParam("机器人ID") String robotId,
-            @RequestParam(value = "mapName") @ApiParam("地图名称") String mapName
-    )
-    {
-        Object mapId = inspectionRobotService.downloadMapFromRobot(robotId, mapName);
-        return success(mapId);
-    }
-
-    /**
-     * 上传地图（从源机器人下载到目标机器人）
-     */
-    @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-from-source")
-    public AjaxResult uploadMapFromSource(@PathVariable String robotId)
-    {
-        String result = inspectionRobotService.uploadMapFromSource(robotId);
-        return success(result);
-    }
-
-    /**
-     * 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 String robotId)
-    {
-        return success(inspectionRobotService.syncRobotStatus(robotId));
-    }
-
-    /**
-     * 获取机器人实时位置
-     */
-    @ApiOperation("获取机器人实时位置")
-    @PreAuthorize("@ss.hasPermi('inspection:robot:query')")
-    @GetMapping("/{robotId}/location")
-    public AjaxResult getRobotRealtimeLocation(@PathVariable String robotId)
-    {
-        Agv.AgvPose2d location = inspectionRobotService.getRobotRealtimeLocation(robotId);
-        return success(location);
-    }
-
-    /**
-     * 导航到指定位置（坐标）
-     */
-    @ApiOperation("导航到指定位置")
-    @PreAuthorize("@ss.hasPermi('inspection:robot:edit')")
-    @Log(title = "导航到指定位置", businessType = BusinessType.OTHER)
-    @PostMapping("/{robotId}/navigate-to-position")
-    public AjaxResult navigateToPosition(
-            @PathVariable @ApiParam("机器人ID") String robotId,
-            @RequestParam @ApiParam("X坐标（米）") Double x,
-            @RequestParam @ApiParam("Y坐标（米）") Double y,
-            @RequestParam(required = false) @ApiParam("朝向角（弧度）") Double theta
-    )
-    {
-        inspectionRobotService.navigateToPosition(
-            robotId, x, y, theta
-        );
-        return success();
-    }
-
-    /**
-     * 开始建图
-     */
-    @ApiOperation("开始建图")
-    @PreAuthorize("@ss.hasPermi('inspection:robot:edit')")
-    @Log(title = "开始建图", businessType = BusinessType.OTHER)
-    @PostMapping("/{robotId}/start-mapping")
-    public AjaxResult startMapping(
-            @PathVariable @ApiParam("机器人ID") String robotId,
-            @RequestParam @ApiParam("建图维度（0:未指定 1:2D 2:3D 3:2D+3D）") int dimension,
-            @RequestParam(required = false) @ApiParam("地图名称（可选）") String mapName,
-            @RequestParam(defaultValue = "true") @ApiParam("是否实时建图") boolean realTime
-    )
-    {
-        String sessionId = inspectionRobotService.startMapping(robotId, dimension, mapName, realTime);
-        java.util.Map<String, Object> result = new java.util.HashMap<>();
-        result.put("sessionId", sessionId);
-        return success(result);
-    }
-
-    /**
-     * 停止建图
-     */
-    @ApiOperation("停止建图")
-    @PreAuthorize("@ss.hasPermi('inspection:robot:edit')")
-    @Log(title = "停止建图", businessType = BusinessType.OTHER)
-    @PostMapping("/{robotId}/stop-mapping")
-    public AjaxResult stopMapping(@PathVariable @ApiParam("机器人ID") String robotId)
-    {
-        inspectionRobotService.stopMapping(robotId);
-        return success();
-    }
-
-}
-

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

@@ -1,7 +1,7 @@
 package com.cmvr.web.controller.inspection;
 
 import java.util.List;
-import javax.servlet.http.HttpServletResponse;
+import jakarta.servlet.http.HttpServletResponse;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import org.springframework.security.access.prepost.PreAuthorize;
@@ -89,6 +89,15 @@ public class InspectionTaskController extends BaseController
         return toAjax(inspectionTaskService.insertInspectionTask(inspectionTask));
     }
 
+    @ApiOperation("复制巡检任务")
+    @PreAuthorize("@ss.hasPermi('inspection:task:add')")
+    @Log(title = "巡检任务", businessType = BusinessType.INSERT)
+    @PostMapping("/copy/{id}")
+    public AjaxResult copy(@PathVariable String id)
+    {
+        return success(inspectionTaskService.copyInspectionTask(id));
+    }
+
     /**
      * 修改巡检任务
      */

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

@@ -1,7 +1,7 @@
 package com.cmvr.web.controller.inspection;
 
 import java.util.List;
-import javax.servlet.http.HttpServletResponse;
+import jakarta.servlet.http.HttpServletResponse;
 
 import com.cmvr.inspection.domain.dto.InspectionTaskInstanceQuery;
 import io.swagger.annotations.Api;
@@ -21,6 +21,7 @@ import com.cmvr.common.core.controller.BaseController;
 import com.cmvr.common.core.domain.AjaxResult;
 import com.cmvr.common.enums.BusinessType;
 import com.cmvr.inspection.domain.InspectionTaskInstance;
+import com.cmvr.inspection.domain.vo.InspectionTaskStartVO;
 import com.cmvr.inspection.domain.vo.InspectionTaskInstanceVo;
 import com.cmvr.inspection.service.IInspectionTaskInstanceService;
 import com.cmvr.common.utils.poi.ExcelUtil;
@@ -121,9 +122,19 @@ public class InspectionTaskInstanceController extends BaseController
     @PreAuthorize("@ss.hasPermi('inspection:taskInstance:edit')")
     @Log(title = "巡检任务执行实例", businessType = BusinessType.UPDATE)
     @PutMapping("/start/{id}")
-    public AjaxResult start(@PathVariable("id") String id)
+    public AjaxResult start(@PathVariable("id") String id,
+                            @RequestBody(required = false) InspectionTaskStartVO startVO)
     {
-        return toAjax(inspectionTaskInstanceService.startInstance(id));
+        return toAjax(inspectionTaskInstanceService.startInstance(id, startVO));
+    }
+
+    @ApiOperation("再次执行已完成或失败的巡检任务")
+    @PreAuthorize("@ss.hasPermi('inspection:taskInstance:edit')")
+    @Log(title = "巡检任务执行实例", businessType = BusinessType.INSERT)
+    @PostMapping("/rerun/{id}")
+    public AjaxResult rerun(@PathVariable("id") String id)
+    {
+        return success(inspectionTaskInstanceService.rerunInstance(id));
     }
 
     /**

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

@@ -1,7 +1,7 @@
 package com.cmvr.web.controller.inspection;
 
 import java.util.List;
-import javax.servlet.http.HttpServletResponse;
+import jakarta.servlet.http.HttpServletResponse;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import org.springframework.security.access.prepost.PreAuthorize;
@@ -88,6 +88,15 @@ public class InspectionWaypointController extends BaseController
         return toAjax(inspectionWaypointService.insertInspectionWaypoint(inspectionWaypoint));
     }
 
+    @ApiOperation("复制巡检点位")
+    @PreAuthorize("@ss.hasPermi('inspection:waypoint:add')")
+    @Log(title = "巡检点位", businessType = BusinessType.INSERT)
+    @PostMapping("/copy/{id}")
+    public AjaxResult copy(@PathVariable String id)
+    {
+        return success(inspectionWaypointService.copyInspectionWaypoint(id));
+    }
+
     /**
      * 修改巡检点位
      */

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/monitor/CacheController.java

@@ -25,7 +25,7 @@ import com.cmvr.system.domain.SysCache;
 /**
  * 缓存监控
  * 
- * @author cmvr-iot
+ * @author ruoyi
  */
 @RestController
 @RequestMapping("/monitor/cache")
@@ -45,6 +45,7 @@ public class CacheController
         caches.add(new SysCache(CacheConstants.PWD_ERR_CNT_KEY, "密码错误次数"));
     }
 
+    @SuppressWarnings("deprecation")
     @PreAuthorize("@ss.hasPermi('monitor:cache:list')")
     @GetMapping()
     public AjaxResult getInfo() throws Exception

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/monitor/ServerController.java

@@ -10,7 +10,7 @@ import com.cmvr.framework.web.domain.Server;
 /**
  * 服务器监控
  * 
- * @author cmvr-iot
+ * @author ruoyi
  */
 @RestController
 @RequestMapping("/monitor/server")

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/monitor/SysLogininforController.java

@@ -1,7 +1,7 @@
 package com.cmvr.web.controller.monitor;
 
 import java.util.List;
-import javax.servlet.http.HttpServletResponse;
+import jakarta.servlet.http.HttpServletResponse;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.security.access.prepost.PreAuthorize;
 import org.springframework.web.bind.annotation.DeleteMapping;
@@ -23,7 +23,7 @@ import com.cmvr.system.service.ISysLogininforService;
 /**
  * 系统访问记录
  * 
- * @author cmvr-iot
+ * @author ruoyi
  */
 @RestController
 @RequestMapping("/monitor/logininfor")

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/monitor/SysOperlogController.java

@@ -1,7 +1,7 @@
 package com.cmvr.web.controller.monitor;
 
 import java.util.List;
-import javax.servlet.http.HttpServletResponse;
+import jakarta.servlet.http.HttpServletResponse;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.security.access.prepost.PreAuthorize;
 import org.springframework.web.bind.annotation.DeleteMapping;
@@ -22,7 +22,7 @@ import com.cmvr.system.service.ISysOperLogService;
 /**
  * 操作日志记录
  * 
- * @author cmvr-iot
+ * @author ruoyi
  */
 @RestController
 @RequestMapping("/monitor/operlog")

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/monitor/SysUserOnlineController.java

@@ -26,7 +26,7 @@ import com.cmvr.system.service.ISysUserOnlineService;
 /**
  * 在线用户监控
  * 
- * @author cmvr-iot
+ * @author ruoyi
  */
 @RestController
 @RequestMapping("/monitor/online")

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/resource/ResourceDeviceController.java

@@ -0,0 +1,52 @@
+package com.cmvr.web.controller.resource;
+
+import com.cmvr.common.core.controller.BaseController;
+import com.cmvr.common.core.domain.AjaxResult;
+import com.cmvr.common.core.page.TableDataInfo;
+import com.cmvr.resource.domain.ResourceDevice;
+import com.cmvr.resource.service.ResourceDeviceService;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import org.springframework.security.access.prepost.PreAuthorize;
+import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RequestParam;
+import org.springframework.web.bind.annotation.PathVariable;
+import org.springframework.web.bind.annotation.PutMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RestController;
+
+@RestController
+@RequestMapping("/resource/devices")
+@Api(tags = "资源中心-设备管理")
+public class ResourceDeviceController extends BaseController {
+    private final ResourceDeviceService deviceService;
+
+    public ResourceDeviceController(ResourceDeviceService deviceService) {
+        this.deviceService = deviceService;
+    }
+
+    @GetMapping
+    @ApiOperation("查询设备列表")
+    @PreAuthorize("@ss.hasPermi('resource:device:list')")
+    public TableDataInfo list(ResourceDevice query,
+                              @RequestParam(defaultValue = "true") boolean onlineOnly) {
+        startPage();
+        return getDataTable(deviceService.list(query, onlineOnly));
+    }
+
+    @GetMapping("/{id}")
+    @ApiOperation("查询设备详情")
+    @PreAuthorize("@ss.hasPermi('resource:device:list')")
+    public AjaxResult get(@PathVariable String id) {
+        return success(deviceService.get(id));
+    }
+
+    @PutMapping("/{id}")
+    @ApiOperation("修改设备名称、用途和启用状态")
+    @PreAuthorize("@ss.hasPermi('resource:device:edit')")
+    public AjaxResult update(@PathVariable String id, @RequestBody ResourceDevice device) {
+        device.setId(id);
+        return toAjax(deviceService.updateBusinessConfig(device));
+    }
+}

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/resource/ResourceMapController.java

@@ -0,0 +1,73 @@
+package com.cmvr.web.controller.resource;
+
+import com.cmvr.common.core.controller.BaseController;
+import com.cmvr.common.core.domain.AjaxResult;
+import com.cmvr.common.core.page.TableDataInfo;
+import com.cmvr.resource.domain.ResourceMap;
+import com.cmvr.resource.service.ResourceMapService;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import org.springframework.security.access.prepost.PreAuthorize;
+import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.PathVariable;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+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.RequestBody;
+import java.util.Arrays;
+
+@RestController
+@RequestMapping("/resource/maps")
+@Api(tags = "资源中心-地图管理")
+public class ResourceMapController extends BaseController {
+    private final ResourceMapService mapService;
+
+    public ResourceMapController(ResourceMapService mapService) {
+        this.mapService = mapService;
+    }
+
+    @GetMapping
+    @ApiOperation("查询地图列表")
+    @PreAuthorize("@ss.hasPermi('resource:map:list')")
+    public TableDataInfo list(ResourceMap query) {
+        startPage();
+        return getDataTable(mapService.list(query));
+    }
+
+    @GetMapping("/robot/{robotId}")
+    @ApiOperation("查询机器人可用地图")
+    @PreAuthorize("@ss.hasPermi('resource:map:list')")
+    public AjaxResult listByRobot(@PathVariable String robotId) {
+        return success(mapService.listByRobotId(robotId));
+    }
+
+    @GetMapping("/{id}")
+    @ApiOperation("查询地图详情")
+    @PreAuthorize("@ss.hasPermi('resource:map:query')")
+    public AjaxResult get(@PathVariable String id) {
+        return success(mapService.get(id));
+    }
+
+    @PostMapping
+    @ApiOperation("新增地图")
+    @PreAuthorize("@ss.hasPermi('resource:map:add')")
+    public AjaxResult create(@RequestBody ResourceMap map) {
+        return toAjax(mapService.create(map));
+    }
+
+    @PutMapping
+    @ApiOperation("修改地图")
+    @PreAuthorize("@ss.hasPermi('resource:map:edit')")
+    public AjaxResult update(@RequestBody ResourceMap map) {
+        return toAjax(mapService.update(map));
+    }
+
+    @DeleteMapping("/{ids}")
+    @ApiOperation("删除地图")
+    @PreAuthorize("@ss.hasPermi('resource:map:remove')")
+    public AjaxResult remove(@PathVariable String[] ids) {
+        return toAjax(mapService.remove(Arrays.asList(ids)));
+    }
+}

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/resource/ResourceRobotController.java

@@ -0,0 +1,188 @@
+package com.cmvr.web.controller.resource;
+
+import com.cmvr.common.core.controller.BaseController;
+import com.cmvr.common.core.domain.AjaxResult;
+import com.cmvr.common.core.page.TableDataInfo;
+import com.cmvr.resource.domain.ResourceRobot;
+import com.cmvr.resource.service.ResourceRobotService;
+import com.cmvr.resource.service.ResourceRobotMapService;
+import com.cmvr.resource.service.ResourceRobotControlService;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import io.swagger.annotations.ApiParam;
+import org.springframework.security.access.prepost.PreAuthorize;
+import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.PathVariable;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RequestParam;
+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.RequestBody;
+import org.springframework.web.bind.annotation.RestController;
+
+@RestController
+@RequestMapping("/resource/robots")
+@Api(tags = "资源中心-机器人管理")
+public class ResourceRobotController extends BaseController {
+    private final ResourceRobotService resourceRobotService;
+    private final ResourceRobotMapService robotMapService;
+    private final ResourceRobotControlService controlService;
+
+    public ResourceRobotController(ResourceRobotService resourceRobotService,
+                                   ResourceRobotMapService robotMapService,
+                                   ResourceRobotControlService controlService) {
+        this.resourceRobotService = resourceRobotService;
+        this.robotMapService = robotMapService;
+        this.controlService = controlService;
+    }
+
+    @GetMapping
+    @ApiOperation("查询机器人列表")
+    @PreAuthorize("@ss.hasPermi('resource:robot:list')")
+    public TableDataInfo list(ResourceRobot query) {
+        startPage();
+        return getDataTable(resourceRobotService.list(query));
+    }
+
+    @GetMapping("/{robotId}")
+    @ApiOperation("根据永久机器人ID查询机器人")
+    @PreAuthorize("@ss.hasPermi('resource:robot:query')")
+    public AjaxResult get(@PathVariable String robotId) {
+        ResourceRobot robot = resourceRobotService.getByRobotId(robotId);
+        return robot == null ? error("机器人不存在：" + robotId) : success(robot);
+    }
+
+    @GetMapping("/{robotId}/devices")
+    @ApiOperation("查询机器人设备")
+    @PreAuthorize("@ss.hasPermi('resource:device:list')")
+    public AjaxResult devices(@PathVariable String robotId,
+                              @RequestParam(required = false) Integer deviceKind,
+                              @RequestParam(defaultValue = "true") @ApiParam("是否只返回在线且启用的设备") boolean onlineOnly) {
+        return success(resourceRobotService.listDevices(robotId, deviceKind, onlineOnly));
+    }
+
+    @GetMapping("/id/{id}")
+    @ApiOperation("根据数据主键查询机器人")
+    @PreAuthorize("@ss.hasPermi('resource:robot:query')")
+    public AjaxResult getById(@PathVariable String id) {
+        return success(resourceRobotService.getById(id));
+    }
+
+    @GetMapping("/id/{id}/devices")
+    @ApiOperation("根据机器人数据主键查询设备")
+    @PreAuthorize("@ss.hasPermi('resource:device:list')")
+    public AjaxResult devicesById(@PathVariable String id,
+                                  @RequestParam(required = false) Integer deviceKind,
+                                  @RequestParam(defaultValue = "false") boolean onlineOnly) {
+        return success(resourceRobotService.listDevicesByRobotRecord(id, deviceKind, onlineOnly));
+    }
+
+    @PostMapping
+    @ApiOperation("登记机器人")
+    @PreAuthorize("@ss.hasPermi('resource:robot:add')")
+    public AjaxResult create(@RequestBody ResourceRobot robot) {
+        return toAjax(resourceRobotService.create(robot));
+    }
+
+    @PutMapping
+    @ApiOperation("修改机器人")
+    @PreAuthorize("@ss.hasPermi('resource:robot:edit')")
+    public AjaxResult update(@RequestBody ResourceRobot robot) {
+        return toAjax(resourceRobotService.update(robot));
+    }
+
+    @DeleteMapping("/{ids}")
+    @ApiOperation("归档机器人")
+    @PreAuthorize("@ss.hasPermi('resource:robot:remove')")
+    public AjaxResult archive(@PathVariable String[] ids) {
+        return toAjax(resourceRobotService.archive(ids));
+    }
+
+    @GetMapping("/{robotId}/maps")
+    @ApiOperation("查询机器人绑定的地图")
+    @PreAuthorize("@ss.hasPermi('resource:map:list')")
+    public AjaxResult maps(@PathVariable String robotId) {
+        return success(robotMapService.listMaps(robotId));
+    }
+
+    @PostMapping("/{robotId}/maps/{mapId}")
+    @ApiOperation("绑定机器人地图")
+    @PreAuthorize("@ss.hasPermi('resource:robot:edit')")
+    public AjaxResult bindMap(@PathVariable String robotId, @PathVariable String mapId,
+                              @RequestParam(defaultValue = "false") boolean makeDefault) {
+        return toAjax(robotMapService.bind(robotId, mapId, makeDefault));
+    }
+
+    @DeleteMapping("/{robotId}/maps/{mapId}")
+    @ApiOperation("解除机器人地图绑定")
+    @PreAuthorize("@ss.hasPermi('resource:robot:edit')")
+    public AjaxResult unbindMap(@PathVariable String robotId, @PathVariable String mapId) {
+        return toAjax(robotMapService.unbind(robotId, mapId));
+    }
+
+    @GetMapping("/{robotRef}/remote-maps")
+    @ApiOperation("查询边缘机器人地图列表")
+    @PreAuthorize("@ss.hasPermi('resource:map:list')")
+    public AjaxResult remoteMaps(@PathVariable String robotRef) {
+        return success(controlService.listRemoteMaps(robotRef));
+    }
+
+    @GetMapping("/{robotRef}/download-map")
+    @ApiOperation("下载边缘机器人地图")
+    @PreAuthorize("@ss.hasPermi('resource:map:add')")
+    public AjaxResult downloadMap(@PathVariable String robotRef, @RequestParam String mapName) {
+        return success(controlService.downloadMap(robotRef, mapName));
+    }
+
+    @PostMapping("/{robotRef}/upload-active-map")
+    @ApiOperation("上传当前地图到边缘机器人")
+    @PreAuthorize("@ss.hasPermi('resource:map:edit')")
+    public AjaxResult uploadActiveMap(@PathVariable String robotRef) {
+        return success(controlService.uploadActiveMap(robotRef));
+    }
+
+    @PostMapping("/{robotRef}/sync-runtime")
+    @ApiOperation("同步机器人实时状态")
+    @PreAuthorize("@ss.hasPermi('resource:robot:edit')")
+    public AjaxResult syncRuntime(@PathVariable String robotRef) {
+        return success(controlService.syncRuntimeState(robotRef));
+    }
+
+    @GetMapping("/{robotRef}/location")
+    @ApiOperation("查询机器人实时位置")
+    @PreAuthorize("@ss.hasPermi('resource:robot:query')")
+    public AjaxResult location(@PathVariable String robotRef) {
+        return success(controlService.getRealtimeLocation(robotRef));
+    }
+
+    @PostMapping("/{robotRef}/navigate-to-position")
+    @ApiOperation("控制机器人导航到坐标")
+    @PreAuthorize("@ss.hasPermi('resource:robot:edit')")
+    public AjaxResult navigateToPosition(@PathVariable String robotRef,
+                                         @RequestParam Double x,
+                                         @RequestParam Double y,
+                                         @RequestParam(required = false) Double theta) {
+        controlService.navigateToPosition(robotRef, x, y, theta);
+        return success();
+    }
+
+    @PostMapping("/{robotRef}/start-mapping")
+    @ApiOperation("控制机器人开始建图")
+    @PreAuthorize("@ss.hasPermi('resource:map:add')")
+    public AjaxResult startMapping(@PathVariable String robotRef,
+                                   @RequestParam int dimension,
+                                   @RequestParam(required = false) String mapName,
+                                   @RequestParam(defaultValue = "true") boolean realTime) {
+        return success(java.util.Map.of("sessionId",
+                controlService.startMapping(robotRef, dimension, mapName, realTime)));
+    }
+
+    @PostMapping("/{robotRef}/stop-mapping")
+    @ApiOperation("控制机器人结束建图")
+    @PreAuthorize("@ss.hasPermi('resource:map:edit')")
+    public AjaxResult stopMapping(@PathVariable String robotRef) {
+        controlService.stopMapping(robotRef);
+        return success();
+    }
+}

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/resource/ResourceTerminalController.java

@@ -0,0 +1,75 @@
+package com.cmvr.web.controller.resource;
+
+import com.cmvr.common.core.controller.BaseController;
+import com.cmvr.common.core.domain.AjaxResult;
+import com.cmvr.common.core.page.TableDataInfo;
+import com.cmvr.resource.domain.ResourceTerminal;
+import com.cmvr.resource.service.ResourceTerminalService;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import org.springframework.security.access.prepost.PreAuthorize;
+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.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+import org.springframework.web.bind.annotation.PathVariable;
+import org.springframework.web.bind.annotation.DeleteMapping;
+import java.util.List;
+
+@RestController
+@RequestMapping("/resource/terminals")
+@Api(tags = "资源中心-边缘终端")
+public class ResourceTerminalController extends BaseController {
+    private final ResourceTerminalService terminalService;
+
+    public ResourceTerminalController(ResourceTerminalService terminalService) {
+        this.terminalService = terminalService;
+    }
+
+    @GetMapping
+    @ApiOperation("查询边缘终端列表")
+    @PreAuthorize("@ss.hasPermi('resource:terminal:list')")
+    public TableDataInfo list(ResourceTerminal query) {
+        startPage();
+        return getDataTable(terminalService.list(query));
+    }
+
+    @GetMapping("/{id}")
+    @ApiOperation("查询边缘终端详情")
+    @PreAuthorize("@ss.hasPermi('resource:terminal:list')")
+    public AjaxResult get(@PathVariable String id) { return success(terminalService.get(id)); }
+
+    @PostMapping
+    @ApiOperation("新增边缘终端")
+    @PreAuthorize("@ss.hasPermi('resource:terminal:add')")
+    public AjaxResult create(@RequestBody ResourceTerminal terminal) {
+        return toAjax(terminalService.create(terminal));
+    }
+
+    @PutMapping
+    @ApiOperation("修改边缘终端")
+    @PreAuthorize("@ss.hasPermi('resource:terminal:edit')")
+    public AjaxResult update(@RequestBody ResourceTerminal terminal) {
+        return toAjax(terminalService.update(terminal));
+    }
+
+    @GetMapping("/{id}/robots")
+    @ApiOperation("查询边缘终端关联的机器人")
+    @PreAuthorize("@ss.hasPermi('resource:terminal:list')")
+    public AjaxResult robots(@PathVariable String id) { return success(terminalService.listRobotIds(id)); }
+
+    @PutMapping("/{id}/robots")
+    @ApiOperation("更新边缘终端关联的机器人")
+    @PreAuthorize("@ss.hasPermi('resource:terminal:edit')")
+    public AjaxResult replaceRobots(@PathVariable String id, @RequestBody List<String> robotIds) {
+        terminalService.replaceRobots(id, robotIds);
+        return success();
+    }
+
+    @DeleteMapping("/{ids}")
+    @ApiOperation("删除边缘终端")
+    @PreAuthorize("@ss.hasPermi('resource:terminal:remove')")
+    public AjaxResult remove(@PathVariable String[] ids) { return toAjax(terminalService.remove(ids)); }
+}

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/show/ShowIntelligentCockpitController.java

@@ -23,7 +23,7 @@ import org.springframework.web.bind.annotation.RequestPart;
 import org.springframework.web.bind.annotation.RestController;
 import org.springframework.web.multipart.MultipartFile;
 
-import javax.validation.Valid;
+import jakarta.validation.Valid;
 import java.io.IOException;
 
 @Api(tags = "演示--智能座舱")

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/system/SysConfigController.java

@@ -1,7 +1,7 @@
 package com.cmvr.web.controller.system;
 
 import java.util.List;
-import javax.servlet.http.HttpServletResponse;
+import jakarta.servlet.http.HttpServletResponse;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.security.access.prepost.PreAuthorize;
 import org.springframework.validation.annotation.Validated;
@@ -25,7 +25,7 @@ import com.cmvr.system.service.ISysConfigService;
 /**
  * 参数配置 信息操作处理
  * 
- * @author cmvr-iot
+ * @author ruoyi
  */
 @RestController
 @RequestMapping("/system/config")

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/system/SysDeptController.java

@@ -1,6 +1,7 @@
 package com.cmvr.web.controller.system;
 
 import java.util.List;
+import java.util.Map;
 import org.apache.commons.lang3.ArrayUtils;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.security.access.prepost.PreAuthorize;
@@ -25,7 +26,7 @@ import com.cmvr.system.service.ISysDeptService;
 /**
  * 部门信息
  * 
- * @author cmvr-iot
+ * @author ruoyi
  */
 @RestController
 @RequestMapping("/system/dept")
@@ -110,6 +111,20 @@ public class SysDeptController extends BaseController
         return toAjax(deptService.updateDept(dept));
     }
 
+    /**
+     * 保存部门排序
+     */
+    @PreAuthorize("@ss.hasPermi('system:dept:edit')")
+    @Log(title = "保存部门排序", businessType = BusinessType.UPDATE)
+    @PutMapping("/updateSort")
+    public AjaxResult updateSort(@RequestBody Map<String, String> params)
+    {
+        String[] deptIds = params.get("deptIds").split(",");
+        String[] orderNums = params.get("orderNums").split(",");
+        deptService.updateDeptSort(deptIds, orderNums);
+        return success();
+    }
+
     /**
      * 删除部门
      */

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/system/SysDictDataController.java

@@ -2,7 +2,7 @@ package com.cmvr.web.controller.system;
 
 import java.util.ArrayList;
 import java.util.List;
-import javax.servlet.http.HttpServletResponse;
+import jakarta.servlet.http.HttpServletResponse;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.security.access.prepost.PreAuthorize;
 import org.springframework.validation.annotation.Validated;
@@ -28,7 +28,7 @@ import com.cmvr.system.service.ISysDictTypeService;
 /**
  * 数据字典信息
  * 
- * @author cmvr-iot
+ * @author ruoyi
  */
 @RestController
 @RequestMapping("/system/dict/data")

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/system/SysDictTypeController.java

@@ -1,7 +1,7 @@
 package com.cmvr.web.controller.system;
 
 import java.util.List;
-import javax.servlet.http.HttpServletResponse;
+import jakarta.servlet.http.HttpServletResponse;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.security.access.prepost.PreAuthorize;
 import org.springframework.validation.annotation.Validated;
@@ -25,7 +25,7 @@ import com.cmvr.system.service.ISysDictTypeService;
 /**
  * 数据字典信息
  * 
- * @author cmvr-iot
+ * @author ruoyi
  */
 @RestController
 @RequestMapping("/system/dict/type")

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/system/SysIndexController.java

@@ -1,22 +1,32 @@
 package com.cmvr.web.controller.system;
 
+import java.util.Map;
 import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
 import org.springframework.web.bind.annotation.RequestMapping;
 import org.springframework.web.bind.annotation.RestController;
 import com.cmvr.common.config.CmvrIotConfig;
+import com.cmvr.common.core.domain.AjaxResult;
+import com.cmvr.common.core.domain.entity.SysUser;
+import com.cmvr.common.utils.SecurityUtils;
 import com.cmvr.common.utils.StringUtils;
+import com.cmvr.system.service.ISysUserService;
 
 /**
  * 首页
  *
- * @author cmvr-iot
+ * @author ruoyi
  */
 @RestController
 public class SysIndexController
 {
     /** 系统基础配置 */
     @Autowired
-    private CmvrIotConfig cmvrIotConfig;
+    private CmvrIotConfig ruoyiConfig;
+
+    @Autowired
+    private ISysUserService userService;
 
     /**
      * 访问首页，提示语
@@ -24,6 +34,31 @@ public class SysIndexController
     @RequestMapping("/")
     public String index()
     {
-        return StringUtils.format("欢迎使用{}后台管理框架，当前版本：v{}，请通过前端地址访问。", cmvrIotConfig.getName(), cmvrIotConfig.getVersion());
+        return StringUtils.format("欢迎使用{}后台管理框架，当前版本：v{}，请通过前端地址访问。", ruoyiConfig.getName(), ruoyiConfig.getVersion());
+    }
+
+    /**
+     * 解锁屏幕
+     */
+    @PostMapping("/unlockscreen")
+    public AjaxResult unlockScreen(@RequestBody Map<String, String> body)
+    {
+        String password = body.get("password");
+        if (StringUtils.isEmpty(password))
+        {
+            return AjaxResult.error("密码不能为空");
+        }
+        String username = SecurityUtils.getUsername();
+        SysUser user = userService.selectUserByUserName(username);
+        if (user == null)
+        {
+            return AjaxResult.error("服务器超时，请重新登录");
+        }
+        if (!SecurityUtils.matchesPassword(password, user.getPassword()))
+        {
+            return AjaxResult.error("密码错误，请重新输入");
+        }
+
+        return AjaxResult.success("解锁成功");
     }
 }

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/system/SysLoginController.java

@@ -1,10 +1,8 @@
 package com.cmvr.web.controller.system;
 
+import java.util.Date;
 import java.util.List;
 import java.util.Set;
-
-import io.swagger.annotations.Api;
-import io.swagger.annotations.ApiOperation;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.web.bind.annotation.GetMapping;
 import org.springframework.web.bind.annotation.PostMapping;
@@ -16,18 +14,21 @@ import com.cmvr.common.core.domain.entity.SysMenu;
 import com.cmvr.common.core.domain.entity.SysUser;
 import com.cmvr.common.core.domain.model.LoginBody;
 import com.cmvr.common.core.domain.model.LoginUser;
+import com.cmvr.common.core.text.Convert;
+import com.cmvr.common.utils.DateUtils;
 import com.cmvr.common.utils.SecurityUtils;
+import com.cmvr.common.utils.StringUtils;
 import com.cmvr.framework.web.service.SysLoginService;
 import com.cmvr.framework.web.service.SysPermissionService;
 import com.cmvr.framework.web.service.TokenService;
+import com.cmvr.system.service.ISysConfigService;
 import com.cmvr.system.service.ISysMenuService;
 
 /**
  * 登录验证
  * 
- * @author cmvr-iot
+ * @author ruoyi
  */
-@Api(tags = "通用--登录验证")
 @RestController
 public class SysLoginController
 {
@@ -43,13 +44,15 @@ public class SysLoginController
     @Autowired
     private TokenService tokenService;
 
+    @Autowired
+    private ISysConfigService configService;
+
     /**
      * 登录方法
      * 
      * @param loginBody 登录信息
      * @return 结果
      */
-    @ApiOperation("登录")
     @PostMapping("/login")
     public AjaxResult login(@RequestBody LoginBody loginBody)
     {
@@ -84,6 +87,9 @@ public class SysLoginController
         ajax.put("user", user);
         ajax.put("roles", roles);
         ajax.put("permissions", permissions);
+        ajax.put("pwdChrtype", getSysAccountChrtype());
+        ajax.put("isDefaultModifyPwd", initPasswordIsModify(user.getPwdUpdateDate()));
+        ajax.put("isPasswordExpired", passwordIsExpiration(user.getPwdUpdateDate()));
         return ajax;
     }
 
@@ -99,4 +105,34 @@ public class SysLoginController
         List<SysMenu> menus = menuService.selectMenuTreeByUserId(userId);
         return AjaxResult.success(menuService.buildMenus(menus));
     }
+
+    // 获取用户密码自定义配置规则
+    public String getSysAccountChrtype()
+    {
+        return Convert.toStr(configService.selectConfigByKey("sys.account.chrtype"), "0");
+    }
+
+    // 检查初始密码是否提醒修改
+    public boolean initPasswordIsModify(Date pwdUpdateDate)
+    {
+        Integer initPasswordModify = Convert.toInt(configService.selectConfigByKey("sys.account.initPasswordModify"));
+        return initPasswordModify != null && initPasswordModify == 1 && pwdUpdateDate == null;
+    }
+
+    // 检查密码是否过期
+    public boolean passwordIsExpiration(Date pwdUpdateDate)
+    {
+        Integer passwordValidateDays = Convert.toInt(configService.selectConfigByKey("sys.account.passwordValidateDays"));
+        if (passwordValidateDays != null && passwordValidateDays > 0)
+        {
+            if (StringUtils.isNull(pwdUpdateDate))
+            {
+                // 如果从未修改过初始密码，直接提醒过期
+                return true;
+            }
+            Date nowDate = DateUtils.getNowDate();
+            return DateUtils.differentDaysByMillisecond(nowDate, pwdUpdateDate) > passwordValidateDays;
+        }
+        return false;
+    }
 }

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/system/SysMenuController.java

@@ -1,6 +1,7 @@
 package com.cmvr.web.controller.system;
 
 import java.util.List;
+import java.util.Map;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.security.access.prepost.PreAuthorize;
 import org.springframework.validation.annotation.Validated;
@@ -24,7 +25,7 @@ import com.cmvr.system.service.ISysMenuService;
 /**
  * 菜单信息
  * 
- * @author cmvr-iot
+ * @author ruoyi
  */
 @RestController
 @RequestMapping("/system/menu")
@@ -93,6 +94,10 @@ public class SysMenuController extends BaseController
         {
             return error("新增菜单'" + menu.getMenuName() + "'失败，地址必须以http(s)://开头");
         }
+        else if (!menuService.checkRouteConfigUnique(menu))
+        {
+            return error("新增菜单'" + menu.getMenuName() + "'失败，路由名称或地址已存在");
+        }
         menu.setCreateBy(getUsername());
         return toAjax(menuService.insertMenu(menu));
     }
@@ -117,10 +122,28 @@ public class SysMenuController extends BaseController
         {
             return error("修改菜单'" + menu.getMenuName() + "'失败，上级菜单不能选择自己");
         }
+        else if (!menuService.checkRouteConfigUnique(menu))
+        {
+            return error("修改菜单'" + menu.getMenuName() + "'失败，路由名称或地址已存在");
+        }
         menu.setUpdateBy(getUsername());
         return toAjax(menuService.updateMenu(menu));
     }
 
+    /**
+     * 保存菜单排序
+     */
+    @PreAuthorize("@ss.hasPermi('system:menu:edit')")
+    @Log(title = "保存菜单排序", businessType = BusinessType.UPDATE)
+    @PutMapping("/updateSort")
+    public AjaxResult updateSort(@RequestBody Map<String, String> params)
+    {
+        String[] menuIds = params.get("menuIds").split(",");
+        String[] orderNums = params.get("orderNums").split(",");
+        menuService.updateMenuSort(menuIds, orderNums);
+        return success();
+    }
+
     /**
      * 删除菜单
      */

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/system/SysNoticeController.java

@@ -11,6 +11,7 @@ import org.springframework.web.bind.annotation.PostMapping;
 import org.springframework.web.bind.annotation.PutMapping;
 import org.springframework.web.bind.annotation.RequestBody;
 import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RequestParam;
 import org.springframework.web.bind.annotation.RestController;
 import com.cmvr.common.annotation.Log;
 import com.cmvr.common.core.controller.BaseController;
@@ -18,12 +19,11 @@ import com.cmvr.common.core.domain.AjaxResult;
 import com.cmvr.common.core.page.TableDataInfo;
 import com.cmvr.common.enums.BusinessType;
 import com.cmvr.system.domain.SysNotice;
+import com.cmvr.system.domain.SysNoticeRead;
 import com.cmvr.system.service.ISysNoticeService;
 
 /**
- * 公告 信息操作处理
+ * 公告信息操作处理。
- * 
- * @author cmvr-iot
  */
 @RestController
 @RequestMapping("/system/notice")
@@ -32,9 +32,6 @@ public class SysNoticeController extends BaseController
     @Autowired
     private ISysNoticeService noticeService;
 
-    /**
-     * 获取通知公告列表
-     */
     @PreAuthorize("@ss.hasPermi('system:notice:list')")
     @GetMapping("/list")
     public TableDataInfo list(SysNotice notice)
@@ -44,9 +41,37 @@ public class SysNoticeController extends BaseController
         return getDataTable(list);
     }
 
-    /**
+    @GetMapping("/listTop")
-     * 根据通知公告编号获取详细信息
+    public AjaxResult listTop()
-     */
+    {
+        Long userId = getUserId();
+        AjaxResult result = success(noticeService.selectNoticeTop(userId));
+        result.put("unreadCount", noticeService.countUnreadNotice(userId));
+        return result;
+    }
+
+    @PostMapping("/markRead")
+    public AjaxResult markRead(@RequestParam Long noticeId)
+    {
+        noticeService.markNoticeRead(noticeId, getUserId());
+        return success();
+    }
+
+    @PostMapping("/markReadAll")
+    public AjaxResult markReadAll(@RequestParam Long[] ids)
+    {
+        noticeService.markNoticeReadAll(ids, getUserId());
+        return success();
+    }
+
+    @PreAuthorize("@ss.hasPermi('system:notice:list')")
+    @GetMapping("/readUsers/list")
+    public TableDataInfo readUsers(SysNoticeRead noticeRead)
+    {
+        startPage();
+        return getDataTable(noticeService.selectNoticeReadUsers(noticeRead));
+    }
+
     @PreAuthorize("@ss.hasPermi('system:notice:query')")
     @GetMapping(value = "/{noticeId}")
     public AjaxResult getInfo(@PathVariable Long noticeId)
@@ -54,9 +79,6 @@ public class SysNoticeController extends BaseController
         return success(noticeService.selectNoticeById(noticeId));
     }
 
-    /**
-     * 新增通知公告
-     */
     @PreAuthorize("@ss.hasPermi('system:notice:add')")
     @Log(title = "通知公告", businessType = BusinessType.INSERT)
     @PostMapping
@@ -66,9 +88,6 @@ public class SysNoticeController extends BaseController
         return toAjax(noticeService.insertNotice(notice));
     }
 
-    /**
-     * 修改通知公告
-     */
     @PreAuthorize("@ss.hasPermi('system:notice:edit')")
     @Log(title = "通知公告", businessType = BusinessType.UPDATE)
     @PutMapping
@@ -78,9 +97,6 @@ public class SysNoticeController extends BaseController
         return toAjax(noticeService.updateNotice(notice));
     }
 
-    /**
-     * 删除通知公告
-     */
     @PreAuthorize("@ss.hasPermi('system:notice:remove')")
     @Log(title = "通知公告", businessType = BusinessType.DELETE)
     @DeleteMapping("/{noticeIds}")

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/system/SysPostController.java

@@ -1,7 +1,7 @@
 package com.cmvr.web.controller.system;
 
 import java.util.List;
-import javax.servlet.http.HttpServletResponse;
+import jakarta.servlet.http.HttpServletResponse;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.security.access.prepost.PreAuthorize;
 import org.springframework.validation.annotation.Validated;
@@ -25,7 +25,7 @@ import com.cmvr.system.service.ISysPostService;
 /**
  * 岗位信息操作处理
  * 
- * @author cmvr-iot
+ * @author ruoyi
  */
 @RestController
 @RequestMapping("/system/post")

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/system/SysProfileController.java

@@ -17,9 +17,11 @@ import com.cmvr.common.core.domain.AjaxResult;
 import com.cmvr.common.core.domain.entity.SysUser;
 import com.cmvr.common.core.domain.model.LoginUser;
 import com.cmvr.common.enums.BusinessType;
+import com.cmvr.common.utils.DateUtils;
 import com.cmvr.common.utils.SecurityUtils;
 import com.cmvr.common.utils.StringUtils;
 import com.cmvr.common.utils.file.FileUploadUtils;
+import com.cmvr.common.utils.file.FileUtils;
 import com.cmvr.common.utils.file.MimeTypeUtils;
 import com.cmvr.framework.web.service.TokenService;
 import com.cmvr.system.service.ISysUserService;
@@ -27,7 +29,7 @@ import com.cmvr.system.service.ISysUserService;
 /**
  * 个人信息 业务处理
  * 
- * @author cmvr-iot
+ * @author ruoyi
  */
 @RestController
 @RequestMapping("/system/user/profile")
@@ -93,8 +95,9 @@ public class SysProfileController extends BaseController
         String oldPassword = params.get("oldPassword");
         String newPassword = params.get("newPassword");
         LoginUser loginUser = getLoginUser();
-        String userName = loginUser.getUsername();
+        Long userId = loginUser.getUserId();
-        String password = loginUser.getPassword();
+        SysUser user = userService.selectUserById(userId);
+        String password = user.getPassword();
         if (!SecurityUtils.matchesPassword(oldPassword, password))
         {
             return error("修改密码失败，旧密码错误");
@@ -104,9 +107,10 @@ public class SysProfileController extends BaseController
             return error("新密码不能与旧密码相同");
         }
         newPassword = SecurityUtils.encryptPassword(newPassword);
-        if (userService.resetUserPwd(userName, newPassword) > 0)
+        if (userService.resetUserPwd(userId, newPassword) > 0)
         {
-            // 更新缓存用户密码
+            // 更新缓存用户密码&密码最后更新时间
+            loginUser.getUser().setPwdUpdateDate(DateUtils.getNowDate());
             loginUser.getUser().setPassword(newPassword);
             tokenService.setLoginUser(loginUser);
             return success();
@@ -124,9 +128,14 @@ public class SysProfileController extends BaseController
         if (!file.isEmpty())
         {
             LoginUser loginUser = getLoginUser();
-            String avatar = FileUploadUtils.upload(CmvrIotConfig.getAvatarPath(), file, MimeTypeUtils.IMAGE_EXTENSION);
+            String avatar = FileUploadUtils.upload(CmvrIotConfig.getAvatarPath(), file, MimeTypeUtils.IMAGE_EXTENSION, true);
-            if (userService.updateUserAvatar(loginUser.getUsername(), avatar))
+            if (userService.updateUserAvatar(loginUser.getUserId(), avatar))
             {
+                String oldAvatar = loginUser.getUser().getAvatar();
+                if (StringUtils.isNotEmpty(oldAvatar))
+                {
+                    FileUtils.deleteFile(CmvrIotConfig.getProfile() + FileUtils.stripPrefix(oldAvatar));
+                }
                 AjaxResult ajax = AjaxResult.success();
                 ajax.put("imgUrl", avatar);
                 // 更新缓存用户头像

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/system/SysRegisterController.java

@@ -14,7 +14,7 @@ import com.cmvr.system.service.ISysConfigService;
 /**
  * 注册验证
  * 
- * @author cmvr-iot
+ * @author ruoyi
  */
 @RestController
 public class SysRegisterController extends BaseController

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/system/SysRoleController.java

@@ -1,7 +1,7 @@
 package com.cmvr.web.controller.system;
 
 import java.util.List;
-import javax.servlet.http.HttpServletResponse;
+import jakarta.servlet.http.HttpServletResponse;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.security.access.prepost.PreAuthorize;
 import org.springframework.validation.annotation.Validated;
@@ -19,10 +19,8 @@ import com.cmvr.common.core.domain.AjaxResult;
 import com.cmvr.common.core.domain.entity.SysDept;
 import com.cmvr.common.core.domain.entity.SysRole;
 import com.cmvr.common.core.domain.entity.SysUser;
-import com.cmvr.common.core.domain.model.LoginUser;
 import com.cmvr.common.core.page.TableDataInfo;
 import com.cmvr.common.enums.BusinessType;
-import com.cmvr.common.utils.StringUtils;
 import com.cmvr.common.utils.poi.ExcelUtil;
 import com.cmvr.framework.web.service.SysPermissionService;
 import com.cmvr.framework.web.service.TokenService;
@@ -34,7 +32,7 @@ import com.cmvr.system.service.ISysUserService;
 /**
  * 角色信息
  * 
- * @author cmvr-iot
+ * @author ruoyi
  */
 @RestController
 @RequestMapping("/system/role")
@@ -128,14 +126,8 @@ public class SysRoleController extends BaseController
         
         if (roleService.updateRole(role) > 0)
         {
-            // 更新缓存用户权限
+            // 刷新所有持有该角色的在线用户权限
-            LoginUser loginUser = getLoginUser();
+            tokenService.refreshPermissionByRoleId(role.getRoleId(), permissionService);
-            if (StringUtils.isNotNull(loginUser.getUser()) && !loginUser.getUser().isAdmin())
-            {
-                loginUser.setUser(userService.selectUserByUserName(loginUser.getUser().getUserName()));
-                loginUser.setPermissions(permissionService.getMenuPermission(loginUser.getUser()));
-                tokenService.setLoginUser(loginUser);
-            }
             return success();
         }
         return error("修改角色'" + role.getRoleName() + "'失败，请联系管理员");

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/system/SysUserController.java

@@ -2,7 +2,7 @@ package com.cmvr.web.controller.system;
 
 import java.util.List;
 import java.util.stream.Collectors;
-import javax.servlet.http.HttpServletResponse;
+import jakarta.servlet.http.HttpServletResponse;
 import org.apache.commons.lang3.ArrayUtils;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.security.access.prepost.PreAuthorize;
@@ -35,7 +35,7 @@ import com.cmvr.system.service.ISysUserService;
 /**
  * 用户信息
  * 
- * @author cmvr-iot
+ * @author ruoyi
  */
 @RestController
 @RequestMapping("/system/user")
@@ -111,7 +111,7 @@ public class SysUserController extends BaseController
             ajax.put("roleIds", sysUser.getRoles().stream().map(SysRole::getRoleId).collect(Collectors.toList()));
         }
         List<SysRole> roles = roleService.selectRoleAll();
-        ajax.put("roles", SysUser.isAdmin(userId) ? roles : roles.stream().filter(r -> !r.isAdmin()).collect(Collectors.toList()));
+        ajax.put("roles", SecurityUtils.isAdmin(userId) ? roles : roles.stream().filter(r -> !r.isAdmin()).collect(Collectors.toList()));
         ajax.put("posts", postService.selectPostAll());
         return ajax;
     }
@@ -226,7 +226,7 @@ public class SysUserController extends BaseController
         SysUser user = userService.selectUserById(userId);
         List<SysRole> roles = roleService.selectRolesByUserId(userId);
         ajax.put("user", user);
-        ajax.put("roles", SysUser.isAdmin(userId) ? roles : roles.stream().filter(r -> !r.isAdmin()).collect(Collectors.toList()));
+        ajax.put("roles", SecurityUtils.isAdmin(userId) ? roles : roles.stream().filter(r -> !r.isAdmin()).collect(Collectors.toList()));
         return ajax;
     }
 

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

@@ -15,7 +15,7 @@ import lombok.RequiredArgsConstructor;
 import org.springframework.security.access.prepost.PreAuthorize;
 import org.springframework.web.bind.annotation.*;
 
-import javax.servlet.http.HttpServletResponse;
+import jakarta.servlet.http.HttpServletResponse;
 import java.util.List;
 
 @Api(tags = "测试--检测项配置")
@@ -60,6 +60,14 @@ public class TeDetectionItemController extends BaseController {
         return toAjax(rows);
     }
 
+    @ApiOperation("复制检测项配置")
+    @PreAuthorize("@ss.hasPermi('test:detect:add')")
+    @Log(title = "检测项配置", businessType = BusinessType.INSERT)
+    @PostMapping("/copy/{id}")
+    public AjaxResult copy(@PathVariable String id) {
+        return success(teDetectionItemService.copyTeDetectionItem(id));
+    }
+
     @ApiOperation("修改检测项配置")
     @PreAuthorize("@ss.hasPermi('test:detect:edit')")
     @Log(title = "检测项配置", businessType = BusinessType.UPDATE)

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

@@ -2,26 +2,37 @@ package com.cmvr.web.controller.test;
 
 import cn.hutool.http.HttpRequest;
 import cn.hutool.http.HttpResponse;
+import org.apache.commons.lang3.StringUtils;
 import com.alibaba.fastjson2.JSONObject;
 import com.cmvr.common.annotation.Anonymous;
 import com.cmvr.common.core.controller.BaseController;
 import com.cmvr.common.core.domain.AjaxResult;
 import com.cmvr.llm.service.LLMAiAgentPlatformService;
+import com.cmvr.llm.analysis.AudioAnalysisCorrectionRequest;
+import com.cmvr.llm.analysis.AudioAnalysisCorrectionSupport;
+import com.cmvr.llm.analysis.MediaAnalysisClient;
 import com.cmvr.test.flow.context.TaskContextManager;
 import com.cmvr.test.flow.control.FlowControlService;
 import com.cmvr.test.flow.runtime.engine.FlowTaskRuntimeService;
+import com.cmvr.test.flow.runtime.subflow.FlowSubFlowDefinitionService;
 import com.cmvr.test.flow.runtime.operator.edge.ti.TiTouchOperateService;
-import com.cmvr.test.model.domain.TeDetectionItem;
 import com.cmvr.test.model.vo.FlowActionRequestVO;
+import com.cmvr.test.constant.LLMChatConstants;
+import com.cmvr.test.model.vo.TeDetectItemDeployFlowVO;
+import com.cmvr.test.model.vo.TeFlowPublishVO;
+import com.cmvr.test.model.vo.TeFlowVersionActionVO;
 import com.cmvr.test.model.vo.TeFlowViewVO;
 import com.cmvr.test.model.vo.TeTaskExecuteNormalVO;
 import com.cmvr.test.model.vo.TeTaskExecuteTrailVO;
+import com.cmvr.test.model.domain.TeNodeInst;
 import com.cmvr.test.service.FlowActionExecutorService;
 import com.cmvr.test.service.ITeDetectionItemService;
+import com.cmvr.test.service.ITeDetectionItemVersionService;
 import com.cmvr.test.service.ITeNodeInstService;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import lombok.RequiredArgsConstructor;
+import org.springframework.security.access.prepost.PreAuthorize;
 import org.springframework.web.bind.annotation.GetMapping;
 import org.springframework.web.bind.annotation.PathVariable;
 import org.springframework.web.bind.annotation.PostMapping;
@@ -29,11 +40,16 @@ import org.springframework.web.bind.annotation.RequestBody;
 import org.springframework.web.bind.annotation.RequestMapping;
 import org.springframework.web.bind.annotation.RequestParam;
 import org.springframework.web.bind.annotation.RestController;
+import org.springframework.web.bind.annotation.PutMapping;
+import org.springframework.beans.factory.annotation.Qualifier;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.scheduling.concurrent.ThreadPoolTaskExecutor;
 
-import javax.annotation.PreDestroy;
+import jakarta.annotation.PreDestroy;
-import javax.validation.Valid;
+import jakarta.validation.Valid;
 import java.util.ArrayList;
 import java.util.List;
+import java.util.UUID;
 import java.util.concurrent.CancellationException;
 import java.util.concurrent.ExecutionException;
 import java.util.concurrent.ExecutorService;
@@ -62,6 +78,8 @@ public class TeFlowController extends BaseController {
     private static final String AI_AGENT_API_KEY = "d9etum54shheenol3apg";
 
     private final ITeDetectionItemService teDetectionItemService;
+    private final ITeDetectionItemVersionService detectionItemVersionService;
+    private final FlowSubFlowDefinitionService subFlowDefinitionService;
     private final ITeNodeInstService nodeInstService;
     private final FlowTaskRuntimeService flowTaskRuntimeService;
     private final TaskContextManager taskContextManager;
@@ -69,6 +87,9 @@ public class TeFlowController extends BaseController {
     private final FlowActionExecutorService flowActionExecutorService;
     private final TiTouchOperateService tiTouchOperateService;
     private final LLMAiAgentPlatformService llmAiAgentPlatformService;
+    private final MediaAnalysisClient mediaAnalysisClient;
+    @Qualifier("mediaAnalysisTaskExecutor")
+    private final ThreadPoolTaskExecutor mediaAnalysisTaskExecutor;
     private final List<String> taskInstIdList = new ArrayList<>();
 
     /**
@@ -85,10 +106,62 @@ public class TeFlowController extends BaseController {
      */
     private volatile Future<JSONObject> currentAiAgentFuture;
 
+    /** 闲聊接口使用独立任务，避免影响原商道智能体接口。 */
+    private final ExecutorService chatExecutor = Executors.newSingleThreadExecutor(runnable -> {
+        Thread thread = new Thread(runnable, "flow-llm-chat-query");
+        thread.setDaemon(true);
+        return thread;
+    });
+
+    private volatile Future<String> currentChatFuture;
+
+    @Value("${CMVR_CHAT_TTS_STOP_URL:http://192.168.0.148:8080/tts/stop}")
+    private String chatTtsStopUrl;
+
     @ApiOperation("流程发布")
     @PostMapping("/publish")
-    public AjaxResult publish(@RequestBody TeDetectionItem detectionItem) {
+    public AjaxResult publish(@Valid @RequestBody TeFlowPublishVO request) {
-        return toAjax(teDetectionItemService.publish(detectionItem.getId()));
+        return success(detectionItemVersionService.publish(request, getUsername()));
+    }
+
+    @ApiOperation("保存工作流草稿")
+    @PutMapping("/draft")
+    public AjaxResult saveDraft(@Valid @RequestBody TeDetectItemDeployFlowVO request) {
+        return success(teDetectionItemService.saveDraft(request, getUsername()));
+    }
+
+    @ApiOperation("查询工作流发布记录")
+    @GetMapping("/versions/{itemId}")
+    public AjaxResult versions(@PathVariable String itemId) {
+        return success(detectionItemVersionService.listVersions(itemId));
+    }
+
+    @ApiOperation("查询当前项目可用的已发布子流程")
+    @GetMapping("/subflows")
+    public AjaxResult subFlows(@RequestParam String currentItemId) {
+        return success(subFlowDefinitionService.listOptions(currentItemId));
+    }
+
+    @ApiOperation("查看工作流发布版本")
+    @GetMapping("/version/{versionId}")
+    public AjaxResult version(@PathVariable String versionId) {
+        return success(detectionItemVersionService.getVersion(versionId));
+    }
+
+    @ApiOperation("将发布版本恢复为草稿")
+    @PostMapping("/version/{versionId}/restore-draft")
+    public AjaxResult restoreDraft(@PathVariable String versionId,
+                                   @RequestBody(required = false) TeFlowVersionActionVO request) {
+        Integer revision = request == null ? null : request.getDraftRevision();
+        return success(detectionItemVersionService.restoreDraft(versionId, revision, getUsername()));
+    }
+
+    @ApiOperation("回退到指定发布版本")
+    @PostMapping("/version/{versionId}/rollback")
+    public AjaxResult rollback(@PathVariable String versionId,
+                               @RequestBody(required = false) TeFlowVersionActionVO request) {
+        String note = request == null ? null : request.getPublishNote();
+        return success(detectionItemVersionService.rollback(versionId, note, getUsername()));
     }
 
     @ApiOperation("演示任务执行入口")
@@ -127,6 +200,85 @@ public class TeFlowController extends BaseController {
         return AjaxResult.success(nodeInstService.view(flowViewVO));
     }
 
+    /**
+     * Correct a trial audio result and submit the confirmed sample for retraining.
+     * The media URL and profile are read from the persisted node log by default.
+     */
+    @ApiOperation("试运行声音分析人工改判并重新训练")
+    @PreAuthorize("@ss.hasPermi('test:config:execute')")
+    @PostMapping("/audio-correction/{nodeInstId}")
+    public AjaxResult correctTrialAudio(@PathVariable Long nodeInstId,
+                                        @Valid @RequestBody AudioAnalysisCorrectionRequest correction) {
+        TeNodeInst node = nodeInstService.getById(nodeInstId);
+        if (node == null) {
+            return AjaxResult.error("试运行日志不存在");
+        }
+        if (!"AUDIO_EVENT_CLASSIFY".equalsIgnoreCase(node.getAction())) {
+            return AjaxResult.error("该日志不是声音分析节点");
+        }
+        JSONObject output = AudioAnalysisCorrectionSupport.parse(node.getParamsOut());
+        JSONObject input = AudioAnalysisCorrectionSupport.parse(node.getParamsIn());
+        String mediaUrl = StringUtils.defaultIfBlank(correction.getMediaUrl(),
+                AudioAnalysisCorrectionSupport.mediaUrl(output, input));
+        String profileCode = StringUtils.defaultIfBlank(correction.getProfileCode(),
+                AudioAnalysisCorrectionSupport.profileCode(output, input));
+        if (StringUtils.isBlank(mediaUrl) || StringUtils.isBlank(profileCode)) {
+            return AjaxResult.error("日志缺少音频地址或分析档案");
+        }
+        String requestId = "trial-audio-correction-" + nodeInstId + "-" + UUID.randomUUID();
+        JSONObject trainingRequest = AudioAnalysisCorrectionSupport.trainingRequest(
+                requestId, profileCode, mediaUrl, correction);
+        trainingRequest.put("context", new JSONObject()
+                .fluentPut("source", "TRIAL_NODE_LOG")
+                .fluentPut("nodeInstId", nodeInstId)
+                .fluentPut("instId", node.getInstId())
+                .fluentPut("nodeId", node.getNodeId()));
+        AudioAnalysisCorrectionSupport.apply(output, correction, "RUNNING", null, null);
+        output.getJSONObject("manualCorrection").put("trainingRequestId", requestId);
+        node.setParamsOut(output.toJSONString());
+        node.setMessage("声音分析已人工改判，训练任务已提交");
+        nodeInstService.updateById(node);
+        try {
+            mediaAnalysisTaskExecutor.execute(() -> trainTrialAudio(
+                    nodeInstId, requestId, trainingRequest));
+        } catch (RuntimeException exception) {
+            updateTrialTraining(nodeInstId, requestId, "FAILED", null, exception.getMessage());
+        }
+        return AjaxResult.success(output);
+    }
+
+    private void trainTrialAudio(Long nodeInstId, String requestId, JSONObject trainingRequest) {
+        try {
+            JSONObject training = mediaAnalysisClient.addAudioReference(trainingRequest);
+            updateTrialTraining(nodeInstId, requestId, "SUCCEEDED", training, null);
+        } catch (Exception exception) {
+            updateTrialTraining(nodeInstId, requestId, "FAILED", null, exception.getMessage());
+        }
+    }
+
+    private void updateTrialTraining(Long nodeInstId, String requestId, String status,
+                                     JSONObject training, String error) {
+        TeNodeInst current = nodeInstService.getById(nodeInstId);
+        if (current == null) {
+            return;
+        }
+        JSONObject output = AudioAnalysisCorrectionSupport.parse(current.getParamsOut());
+        JSONObject correction = output.getJSONObject("manualCorrection");
+        if (correction == null || !requestId.equals(correction.getString("trainingRequestId"))) {
+            return;
+        }
+        correction.put("trainingStatus", status);
+        if (training != null) {
+            correction.put("training", training);
+        }
+        if (StringUtils.isNotBlank(error)) {
+            correction.put("trainingError", error);
+        }
+        current.setParamsOut(output.toJSONString());
+        current.setMessage("声音分析已人工改判，训练" + ("SUCCEEDED".equals(status) ? "完成" : "失败"));
+        nodeInstService.updateById(current);
+    }
+
     @ApiOperation("清理终端")
     @GetMapping("/clear")
     public AjaxResult clear() {
@@ -157,7 +309,9 @@ public class TeFlowController extends BaseController {
 
     @PostMapping("/action")
     @ApiOperation(value = "单个节点执行",
-            notes = "巡检仪表节点action=INSPECTION_METER_RECOGNIZE，payload使用InspectionMeterRecognizeConfigVO；"
+            notes = "设备通用指令action=DEVICE_EXECUTE_JSON_COMMAND，payload需要robotId、deviceId、requestJson；"
+                    + "巡检仪表节点action=INSPECTION_METER_RECOGNIZE，payload使用InspectionMeterRecognizeConfigVO；"
+                    + "点位语料节点action=INSPECTION_WAYPOINT_CORPUS，payload需要detectItemId、type；"
                     + "人工判断节点action=INSPECTION_MANUAL_REVIEW_CREATE，payload使用InspectionManualReviewConfigVO。"
                     + "该接口用于试调节点，不会生成正式巡检任务结果")
     public AjaxResult actionExecute(
@@ -228,6 +382,56 @@ public class TeFlowController extends BaseController {
         return AjaxResult.ok("ok");
     }
 
+    /**
+     * 调用工作流闲聊组件。模型响应由组件流式接收，开启 TTS 后按句即时播放，
+     * HTTP 接口在组件完成后返回完整文本。
+     */
+    @GetMapping("/llm/chat/query")
+    @ApiOperation("调用闲聊组件")
+    public AjaxResult queryChat(String text,
+                                @RequestParam(defaultValue = "true") boolean invokeTts) {
+        if (StringUtils.isBlank(text)) {
+            return AjaxResult.error("text不能为空");
+        }
+
+        stopCurrentChatFuture(true);
+        JSONObject payload = new JSONObject();
+        payload.put("text", text.trim());
+        payload.put("promptMode", "CUSTOM");
+        payload.put("prompt", LLMChatConstants.DEFAULT_SYSTEM_PROMPT);
+        payload.put("invokeTts", invokeTts);
+
+        FlowActionRequestVO request = new FlowActionRequestVO();
+        request.setAction("LLM_CHAT");
+        request.setPayload(payload);
+
+        Future<String> future = chatExecutor.submit(() -> flowActionExecutorService.actionExecute(request));
+        currentChatFuture = future;
+        try {
+            return AjaxResult.ok(com.alibaba.fastjson2.JSON.parseObject(future.get()));
+        } catch (CancellationException e) {
+            return AjaxResult.error("闲聊调用已停止");
+        } catch (InterruptedException e) {
+            future.cancel(true);
+            Thread.currentThread().interrupt();
+            return AjaxResult.error("闲聊调用被中断");
+        } catch (ExecutionException e) {
+            Throwable cause = e.getCause() == null ? e : e.getCause();
+            return AjaxResult.error("闲聊调用失败：" + cause.getMessage());
+        } finally {
+            if (currentChatFuture == future) {
+                currentChatFuture = null;
+            }
+        }
+    }
+
+    @PostMapping("/llm/chat/stop")
+    @ApiOperation("停止闲聊组件和TTS")
+    public AjaxResult stopChat() {
+        stopCurrentChatFuture(true);
+        return AjaxResult.ok("ok");
+    }
+
     @GetMapping("/testrun")
     @ApiOperation("测试接口")
     public AjaxResult testrun(@RequestParam("imageUrl") String imageUrl,
@@ -251,6 +455,27 @@ public class TeFlowController extends BaseController {
         }
     }
 
+    private void stopCurrentChatFuture(boolean stopTts) {
+        Future<String> future = currentChatFuture;
+        if (future != null && !future.isDone()) {
+            future.cancel(true);
+        }
+        currentChatFuture = null;
+        if (stopTts) {
+            stopChatTts();
+        }
+    }
+
+    private String stopChatTts() {
+        try (HttpResponse response = HttpRequest.post(chatTtsStopUrl)
+                .timeout(3000)
+                .execute()) {
+            return response.body();
+        } catch (Exception e) {
+            return "调用闲聊TTS停止接口失败：" + e.getMessage();
+        }
+    }
+
     /**
      * 调用本地 TTS 停止接口。
      */
@@ -270,6 +495,8 @@ public class TeFlowController extends BaseController {
     @PreDestroy
     public void destroy() {
         stopCurrentAiAgentFuture(true);
+        stopCurrentChatFuture(true);
         aiAgentExecutor.shutdownNow();
+        chatExecutor.shutdownNow();
     }
 }

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

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

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

@@ -48,6 +48,14 @@ public class TeTaskConfigInfoController extends BaseController {
         return toAjax(teTaskConfigInfoService.insertTeTaskConfigInfo(teTaskConfigInfo));
     }
 
+    @ApiOperation("复制任务配置")
+    @PreAuthorize("@ss.hasPermi('test:config:add')")
+    @Log(title = "任务配置", businessType = BusinessType.INSERT)
+    @PostMapping("/copy/{id}")
+    public AjaxResult copy(@PathVariable String id) {
+        return success(teTaskConfigInfoService.copyTeTaskConfigInfo(id));
+    }
+
     @ApiOperation("修改任务配置信息")
     @PreAuthorize("@ss.hasPermi('test:config:edit')")
     @Log(title = "任务配置信息", businessType = BusinessType.UPDATE)

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

@@ -6,6 +6,7 @@ import com.cmvr.test.model.domain.TeNodeInst;
 import com.cmvr.test.model.vo.TeQueryTaskInstVO;
 import com.cmvr.test.model.vo.TeTaskInstVO;
 import com.cmvr.test.service.ITeTaskInstService;
+import com.cmvr.test.flow.runtime.engine.FlowTaskRuntimeService;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import lombok.RequiredArgsConstructor;
@@ -14,6 +15,9 @@ import org.springframework.web.bind.annotation.GetMapping;
 import org.springframework.web.bind.annotation.RequestMapping;
 import org.springframework.web.bind.annotation.RequestParam;
 import org.springframework.web.bind.annotation.RestController;
+import org.springframework.web.bind.annotation.PathVariable;
+import org.springframework.web.bind.annotation.PostMapping;
+import com.cmvr.common.core.domain.AjaxResult;
 
 import java.util.List;
 
@@ -24,6 +28,7 @@ import java.util.List;
 public class TeTaskInstController extends BaseController {
 
     private final ITeTaskInstService teTaskInstService;
+    private final FlowTaskRuntimeService flowTaskRuntimeService;
 
     @ApiOperation("查询任务实例列表")
     @PreAuthorize("@ss.hasPermi('test:inst:list')")
@@ -42,4 +47,11 @@ public class TeTaskInstController extends BaseController {
         return getDataTable(list);
     }
 
+    @ApiOperation("再次执行已完成或失败的任务实例")
+    @PreAuthorize("@ss.hasPermi('test:config:execute')")
+    @PostMapping("/rerun/{id}")
+    public AjaxResult rerun(@PathVariable("id") String id) {
+        return success(flowTaskRuntimeService.rerunTask(id));
+    }
+
 }

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

@@ -14,8 +14,8 @@ import lombok.RequiredArgsConstructor;
 import org.springframework.security.access.prepost.PreAuthorize;
 import org.springframework.web.bind.annotation.*;
 
-import javax.validation.Valid;
+import jakarta.validation.Valid;
-import javax.validation.constraints.NotEmpty;
+import jakarta.validation.constraints.NotEmpty;
 import java.util.List;
 
 @Api(tags = "测试--任务编排")
@@ -33,7 +33,6 @@ class TeTaskOrchestrationController extends BaseController {
             @NotEmpty(message = "任务ID不能为空")
             @RequestParam("taskId") String taskId
     ) {
-        startPage();
         List<TeQueryTaskOrchestraItemVO> list = teTaskOrchestrationService.queryByTaskId(taskId);
         return getDataTable(list);
     }

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

@@ -0,0 +1,133 @@
+package com.cmvr.web.controller.test;
+
+import com.cmvr.common.core.controller.BaseController;
+import com.cmvr.common.core.domain.AjaxResult;
+import com.cmvr.test.vision.domain.VisionCalibrationProfile;
+import com.cmvr.test.vision.model.VisionCalibrationRequests;
+import com.cmvr.test.vision.service.VisionCalibrationProfileService;
+import com.cmvr.test.vision.service.VisionCalibrationRecordService;
+import com.cmvr.test.vision.service.VisionCalibrationSessionService;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import org.springframework.web.bind.annotation.DeleteMapping;
+import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.PathVariable;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.PutMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RequestParam;
+import org.springframework.web.bind.annotation.RestController;
+
+@Api(tags = "视觉标定管理")
+@RestController
+@RequestMapping("/vision/calibration")
+@RequiredArgsConstructor
+public class VisionCalibrationController extends BaseController {
+    private final VisionCalibrationProfileService profileService;
+    private final VisionCalibrationRecordService recordService;
+    private final VisionCalibrationSessionService sessionService;
+
+    @ApiOperation("查询标定方案")
+    @GetMapping("/profiles")
+    public AjaxResult profiles(@RequestParam(required = false) String profileType,
+                               @RequestParam(required = false) String robotId,
+                               @RequestParam(required = false) String keyword) {
+        return AjaxResult.ok(profileService.list(profileType, robotId, keyword));
+    }
+
+    @ApiOperation("查询标定方案详情")
+    @GetMapping("/profiles/{id}")
+    public AjaxResult profile(@PathVariable String id) {
+        return AjaxResult.ok(profileService.require(id));
+    }
+
+    @ApiOperation("获取当前启用的手眼标定")
+    @GetMapping("/profiles/active/hand-eye")
+    public AjaxResult activeHandEye(String robotId, String armDeviceId, String cameraDeviceId) {
+        return AjaxResult.ok(profileService.activeHandEye(robotId, armDeviceId, cameraDeviceId));
+    }
+
+    @ApiOperation("获取当前启用的工具TCP")
+    @GetMapping("/profiles/active/tool")
+    public AjaxResult activeTool(String robotId, String armDeviceId, String toolCode) {
+        return AjaxResult.ok(profileService.activeTool(robotId, armDeviceId, toolCode));
+    }
+
+    @ApiOperation("保存六自由度人工修正")
+    @PutMapping("/profiles/{id}/correction")
+    public AjaxResult correction(@PathVariable String id,
+                                 @RequestBody VisionCalibrationRequests.Correction request) {
+        return AjaxResult.ok(profileService.updateCorrection(id, request, getUsername()));
+    }
+
+    @ApiOperation("启用已验证方案")
+    @PutMapping("/profiles/{id}/activate")
+    public AjaxResult activate(@PathVariable String id,
+                               @RequestBody(required = false) VisionCalibrationRequests.Activate request) {
+        boolean forced = request != null && Boolean.TRUE.equals(request.getForced());
+        return AjaxResult.ok(profileService.activate(id, forced, getUsername()));
+    }
+
+    @ApiOperation("将方案标记为失效")
+    @DeleteMapping("/profiles/{id}")
+    public AjaxResult invalidate(@PathVariable String id) {
+        profileService.invalidate(id, getUsername());
+        return AjaxResult.success();
+    }
+
+    @ApiOperation("查询标定执行记录")
+    @GetMapping("/records")
+    public AjaxResult records() {
+        return AjaxResult.ok(recordService.list());
+    }
+
+    @ApiOperation("开始全自动手眼标定")
+    @PostMapping("/sessions/hand-eye")
+    public AjaxResult startHandEye(@RequestBody VisionCalibrationRequests.HandEyeStart request) {
+        return AjaxResult.ok(sessionService.startHandEye(request, getUsername()));
+    }
+
+    @ApiOperation("开始工具TCP标定")
+    @PostMapping("/sessions/tool")
+    public AjaxResult startTool(@RequestBody VisionCalibrationRequests.ToolStart request) {
+        return AjaxResult.ok(sessionService.startTool(request, getUsername()));
+    }
+
+    @ApiOperation("记录工具定点旋转姿态")
+    @PostMapping("/sessions/{id}/tool/pivot")
+    public AjaxResult recordToolPivot(@PathVariable String id) {
+        return AjaxResult.ok(sessionService.recordToolPivot(id));
+    }
+
+    @ApiOperation("记录工具安全方向并完成求解")
+    @PostMapping("/sessions/{id}/tool/direction")
+    public AjaxResult finishTool(@PathVariable String id) {
+        return AjaxResult.ok(sessionService.recordToolDirectionAndFinish(id));
+    }
+
+    @ApiOperation("开始人工修正后的快速验证")
+    @PostMapping("/profiles/{id}/verify")
+    public AjaxResult verify(@PathVariable String id) {
+        return AjaxResult.ok(sessionService.startVerification(id, getUsername()));
+    }
+
+    @ApiOperation("标定会话心跳")
+    @PostMapping("/sessions/{id}/heartbeat")
+    public AjaxResult heartbeat(@PathVariable String id) {
+        return AjaxResult.ok(sessionService.heartbeat(id));
+    }
+
+    @ApiOperation("查询标定会话")
+    @GetMapping("/sessions/{id}")
+    public AjaxResult session(@PathVariable String id) {
+        return AjaxResult.ok(sessionService.status(id));
+    }
+
+    @ApiOperation("停止标定会话并停止机械臂")
+    @PostMapping("/sessions/{id}/stop")
+    public AjaxResult stop(@PathVariable String id) {
+        return AjaxResult.ok(sessionService.stop(id));
+    }
+}

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/ti/TiProjectController.java

@@ -73,6 +73,12 @@ public class TiProjectController extends BaseController {
         return AjaxResult.ok(tiProjectService.queryExecuteRunParams(projectId));
     }
 
+    @ApiOperation("检查触控项目、录像和工作流是否具备执行条件")
+    @GetMapping("/readiness/{projectId}")
+    public AjaxResult readiness(@PathVariable("projectId") String projectId) {
+        return AjaxResult.ok(tiProjectService.checkExecutionReadiness(projectId));
+    }
+
     @ApiOperation("执行项目")
     @PostMapping("/execute")
     public AjaxResult execute(@RequestBody TeTaskExecuteProjectVO taskExecuteProjectVO) {
@@ -85,16 +91,10 @@ public class TiProjectController extends BaseController {
         return AjaxResult.ok(tiProjectService.queryExecuteInstId(projectId));
     }
 
-    @ApiOperation("临时执行项目评估")
-    @PostMapping("/evaluation")
-    public AjaxResult evaluation(@RequestBody  List<Long> funcIds) {
-        tiProjectService.executeTiEvaluation(funcIds);
-        return AjaxResult.ok();
-    }
-
     @ApiOperation("评估查询")
     @GetMapping("/evaluation/{projectId}")
-    public AjaxResult queryEvaluation(@PathVariable("projectId") String projectId) {
+    public AjaxResult queryEvaluation(@PathVariable("projectId") String projectId,
-        return AjaxResult.ok(tiProjectService.queryEvaluation(projectId));
+                                      @RequestParam(value = "instId", required = false) String instId) {
+        return AjaxResult.ok(tiProjectService.queryEvaluation(projectId, instId));
     }
 }

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/ti/TiVehicleUiController.java

@@ -21,6 +21,7 @@ import org.springframework.web.bind.annotation.PutMapping;
 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.RequestParam;
 
 import java.util.List;
 
@@ -78,4 +79,11 @@ public class TiVehicleUiController extends BaseController {
     public AjaxResult findNextClickToFunction(Long vehicleConfigId, String currentUi, String clickFunction) {
         return AjaxResult.success(exTiVehicleFunctionService.findNextClickToFunction(vehicleConfigId, currentUi, clickFunction));
     }
+
+    @ApiOperation("查询界面路径拓扑")
+    @PreAuthorize("@ss.hasPermi('ti:ui:list')")
+    @GetMapping("/topology")
+    public AjaxResult topology(@RequestParam Long vehicleConfigId) {
+        return AjaxResult.success(exTiVehicleFunctionService.getTopology(vehicleConfigId));
+    }
 }

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/tts/CorpusInfoController.java

@@ -15,7 +15,7 @@ import org.springframework.security.access.prepost.PreAuthorize;
 import org.springframework.web.bind.annotation.*;
 import org.springframework.web.multipart.MultipartFile;
 
-import javax.servlet.http.HttpServletResponse;
+import jakarta.servlet.http.HttpServletResponse;
 import java.util.Map;
 
 /**

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/tts/TtsSynthesizeTaskController.java

@@ -18,7 +18,7 @@ import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.security.access.prepost.PreAuthorize;
 import org.springframework.web.bind.annotation.*;
 
-import javax.servlet.http.HttpServletResponse;
+import jakarta.servlet.http.HttpServletResponse;
 import java.util.List;
 
 /**

cmvr-iot-admin/src/main/java/com/cmvr/web/core/config/OpenApiConfig.java

@@ -0,0 +1,219 @@
+package com.cmvr.web.core.config;
+
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiModelProperty;
+import io.swagger.annotations.ApiOperation;
+import io.swagger.annotations.ApiParam;
+import io.swagger.v3.core.converter.AnnotatedType;
+import io.swagger.v3.oas.models.Components;
+import io.swagger.v3.oas.models.OpenAPI;
+import io.swagger.v3.oas.models.Operation;
+import io.swagger.v3.oas.models.info.Info;
+import io.swagger.v3.oas.models.media.Schema;
+import io.swagger.v3.oas.models.parameters.Parameter;
+import io.swagger.v3.oas.models.security.SecurityRequirement;
+import io.swagger.v3.oas.models.security.SecurityScheme;
+import java.lang.annotation.Annotation;
+import java.util.Arrays;
+import java.util.List;
+import java.util.Set;
+import java.util.TreeSet;
+import java.util.stream.Collectors;
+import org.springdoc.core.models.GroupedOpenApi;
+import org.springdoc.core.customizers.OpenApiCustomizer;
+import org.springdoc.core.customizers.OperationCustomizer;
+import org.springdoc.core.customizers.PropertyCustomizer;
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+import org.springframework.core.MethodParameter;
+import org.springframework.util.StringUtils;
+import org.springframework.web.method.HandlerMethod;
+
+/** OpenAPI metadata, authorization and business-domain groups. */
+@Configuration
+public class OpenApiConfig
+{
+    private static final String AUTHORIZATION = "Authorization";
+
+    @Bean
+    public OpenAPI cmvrOpenApi()
+    {
+        SecurityScheme bearerAuth = new SecurityScheme()
+                .type(SecurityScheme.Type.HTTP)
+                .scheme("bearer")
+                .bearerFormat("JWT");
+        return new OpenAPI()
+                .info(new Info()
+                        .title("CMVR IoT API")
+                        .description("招商车研物联网平台接口文档")
+                        .version("1.0.0"))
+                .components(new Components().addSecuritySchemes(AUTHORIZATION, bearerAuth))
+                .addSecurityItem(new SecurityRequirement().addList(AUTHORIZATION));
+    }
+
+    @Bean
+    public GroupedOpenApi allApi()
+    {
+        return group("00-all", "全部接口", "/**");
+    }
+
+    @Bean
+    public GroupedOpenApi resourceCenterApi()
+    {
+        return GroupedOpenApi.builder()
+                .group("10-resource-center")
+                .displayName("资源中心")
+                .pathsToMatch("/resource/**")
+                .addOperationCustomizer(legacySwaggerOperationCustomizer())
+                .addOpenApiCustomizer(legacyTagOrderCustomizer())
+                .build();
+    }
+
+    private GroupedOpenApi group(String id, String displayName, String... paths)
+    {
+        return GroupedOpenApi.builder()
+                .group(id)
+                .displayName(displayName)
+                .pathsToMatch(paths)
+                // Keep the same visibility rule as the legacy Swagger Docket.
+                .addOpenApiMethodFilter(method -> method.isAnnotationPresent(ApiOperation.class))
+                .addOperationCustomizer(legacySwaggerOperationCustomizer())
+                .addOpenApiCustomizer(legacyTagOrderCustomizer())
+                .build();
+    }
+
+    private OpenApiCustomizer legacyTagOrderCustomizer()
+    {
+        return openApi -> {
+            Set<String> tagNames = new TreeSet<>();
+            if (openApi.getPaths() != null)
+            {
+                openApi.getPaths().values().forEach(pathItem -> pathItem.readOperations().forEach(operation -> {
+                    if (operation.getTags() != null)
+                    {
+                        tagNames.addAll(operation.getTags());
+                    }
+                }));
+            }
+            openApi.setTags(tagNames.stream()
+                    .map(name -> new io.swagger.v3.oas.models.tags.Tag().name(name))
+                    .collect(Collectors.toList()));
+        };
+    }
+
+    @Bean
+    public OperationCustomizer legacySwaggerOperationCustomizer()
+    {
+        return this::customizeLegacyOperation;
+    }
+
+    @Bean
+    public PropertyCustomizer legacySwaggerPropertyCustomizer()
+    {
+        return (schema, annotatedType) -> {
+            ApiModelProperty property = findAnnotation(annotatedType, ApiModelProperty.class);
+            if (property != null)
+            {
+                if (StringUtils.hasText(property.value()))
+                {
+                    schema.setDescription(property.value());
+                }
+                if (StringUtils.hasText(property.example()))
+                {
+                    schema.setExample(property.example());
+                }
+            }
+            return schema;
+        };
+    }
+
+    private Operation customizeLegacyOperation(Operation operation, HandlerMethod handlerMethod)
+    {
+        Api api = handlerMethod.getBeanType().getAnnotation(Api.class);
+        if (api != null)
+        {
+            List<String> tags = Arrays.stream(api.tags())
+                    .filter(StringUtils::hasText)
+                    .collect(Collectors.toList());
+            if (tags.isEmpty() && StringUtils.hasText(api.value()))
+            {
+                tags.add(api.value());
+            }
+            if (!tags.isEmpty())
+            {
+                operation.setTags(tags);
+            }
+        }
+
+        ApiOperation apiOperation = handlerMethod.getMethodAnnotation(ApiOperation.class);
+        if (apiOperation != null)
+        {
+            if (StringUtils.hasText(apiOperation.value()))
+            {
+                operation.setSummary(apiOperation.value());
+            }
+            if (StringUtils.hasText(apiOperation.notes()))
+            {
+                operation.setDescription(apiOperation.notes());
+            }
+        }
+        applyLegacyParameterDescriptions(operation, handlerMethod);
+        return operation;
+    }
+
+    private void applyLegacyParameterDescriptions(Operation operation, HandlerMethod handlerMethod)
+    {
+        if (operation.getParameters() == null || operation.getParameters().isEmpty())
+        {
+            return;
+        }
+        List<Parameter> parameters = operation.getParameters();
+        int fallbackIndex = 0;
+        for (MethodParameter methodParameter : handlerMethod.getMethodParameters())
+        {
+            ApiParam apiParam = methodParameter.getParameterAnnotation(ApiParam.class);
+            if (apiParam == null)
+            {
+                continue;
+            }
+            String parameterName = StringUtils.hasText(apiParam.name())
+                    ? apiParam.name() : methodParameter.getParameterName();
+            Parameter parameter = parameters.stream()
+                    .filter(item -> parameterName != null && parameterName.equals(item.getName()))
+                    .findFirst()
+                    .orElse(fallbackIndex < parameters.size() ? parameters.get(fallbackIndex++) : null);
+            if (parameter != null)
+            {
+                if (StringUtils.hasText(apiParam.value()))
+                {
+                    parameter.setDescription(apiParam.value());
+                }
+                if (apiParam.required())
+                {
+                    parameter.setRequired(true);
+                }
+                if (StringUtils.hasText(apiParam.example()))
+                {
+                    parameter.setExample(apiParam.example());
+                }
+            }
+        }
+    }
+
+    private <A extends Annotation> A findAnnotation(AnnotatedType annotatedType, Class<A> annotationType)
+    {
+        Annotation[] annotations = annotatedType.getCtxAnnotations();
+        if (annotations == null)
+        {
+            return null;
+        }
+        for (Annotation annotation : annotations)
+        {
+            if (annotationType.isInstance(annotation))
+            {
+                return annotationType.cast(annotation);
+            }
+        }
+        return null;
+    }
+}

cmvr-iot-admin/src/main/java/com/cmvr/web/core/config/SwaggerConfig.java

@@ -1,140 +0,0 @@
-package com.cmvr.web.core.config;
-
-import java.util.ArrayList;
-import java.util.List;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.beans.factory.annotation.Value;
-import org.springframework.context.annotation.Bean;
-import org.springframework.context.annotation.Configuration;
-import com.cmvr.common.config.CmvrIotConfig;
-import com.cmvr.test.model.vo.inspection.InspectionAlarmRuleVO;
-import com.cmvr.test.model.vo.inspection.InspectionManualReviewConfigVO;
-import com.cmvr.test.model.vo.inspection.InspectionMediaVO;
-import com.cmvr.test.model.vo.inspection.InspectionMeterRecognizeConfigVO;
-import com.fasterxml.classmate.TypeResolver;
-import io.swagger.annotations.ApiOperation;
-import io.swagger.models.auth.In;
-import springfox.documentation.builders.ApiInfoBuilder;
-import springfox.documentation.builders.PathSelectors;
-import springfox.documentation.builders.RequestHandlerSelectors;
-import springfox.documentation.service.ApiInfo;
-import springfox.documentation.service.ApiKey;
-import springfox.documentation.service.AuthorizationScope;
-import springfox.documentation.service.Contact;
-import springfox.documentation.service.SecurityReference;
-import springfox.documentation.service.SecurityScheme;
-import springfox.documentation.spi.DocumentationType;
-import springfox.documentation.spi.service.contexts.SecurityContext;
-import springfox.documentation.spring.web.plugins.Docket;
-
-/**
- * Swagger2的接口配置
- * 
- * @author cmvr-iot
- */
-@Configuration
-public class SwaggerConfig
-{
-    /** 系统基础配置 */
-    @Autowired
-    private CmvrIotConfig cmvrIotConfig;
-
-    /** 用于将动态工作流payload对应的参数模型显式加入Swagger文档。 */
-    @Autowired
-    private TypeResolver typeResolver;
-
-    /** 是否开启swagger */
-    @Value("${swagger.enabled}")
-    private boolean enabled;
-
-    /** 设置请求的统一前缀 */
-    @Value("${swagger.pathMapping}")
-    private String pathMapping;
-
-    /**
-     * 创建API
-     */
-    @Bean
-    public Docket createRestApi()
-    {
-        return new Docket(DocumentationType.OAS_30)
-                // 是否启用Swagger
-                .enable(enabled)
-                // 用来创建该API的基本信息，展示在文档的页面中（自定义展示的信息）
-                .apiInfo(apiInfo())
-                // 设置哪些接口暴露给Swagger展示
-                .select()
-                // 扫描所有有注解的api，用这种方式更灵活
-                .apis(RequestHandlerSelectors.withMethodAnnotation(ApiOperation.class))
-                // 扫描指定包中的swagger注解
-//                 .apis(RequestHandlerSelectors.basePackage("com.cmvr.project.tool.swagger"))
-                // 扫描所有 .apis(RequestHandlerSelectors.any())
-                .paths(PathSelectors.any())
-                .build()
-                // 工作流单节点接口使用JSONObject作为payload，需显式注册巡检节点参数模型。
-                .additionalModels(
-                        typeResolver.resolve(InspectionMeterRecognizeConfigVO.class),
-                        typeResolver.resolve(InspectionAlarmRuleVO.class),
-                        typeResolver.resolve(InspectionManualReviewConfigVO.class),
-                        typeResolver.resolve(InspectionMediaVO.class))
-                /* 设置安全模式，swagger可以设置访问token */
-                .securitySchemes(securitySchemes())
-                .securityContexts(securityContexts())
-                .pathMapping(pathMapping);
-    }
-
-    /**
-     * 安全模式，这里指定token通过Authorization头请求头传递
-     */
-    private List<SecurityScheme> securitySchemes()
-    {
-        List<SecurityScheme> apiKeyList = new ArrayList<SecurityScheme>();
-        apiKeyList.add(new ApiKey("Authorization", "Authorization", In.HEADER.toValue()));
-        return apiKeyList;
-    }
-
-    /**
-     * 安全上下文
-     */
-    private List<SecurityContext> securityContexts()
-    {
-        List<SecurityContext> securityContexts = new ArrayList<>();
-        securityContexts.add(
-                SecurityContext.builder()
-                        .securityReferences(defaultAuth())
-                        .operationSelector(o -> o.requestMappingPattern().matches("/.*"))
-                        .build());
-        return securityContexts;
-    }
-
-    /**
-     * 默认的安全上引用
-     */
-    private List<SecurityReference> defaultAuth()
-    {
-        AuthorizationScope authorizationScope = new AuthorizationScope("global", "accessEverything");
-        AuthorizationScope[] authorizationScopes = new AuthorizationScope[1];
-        authorizationScopes[0] = authorizationScope;
-        List<SecurityReference> securityReferences = new ArrayList<>();
-        securityReferences.add(new SecurityReference("Authorization", authorizationScopes));
-        return securityReferences;
-    }
-
-    /**
-     * 添加摘要信息
-     */
-    private ApiInfo apiInfo()
-    {
-        // 用ApiInfoBuilder进行定制
-        return new ApiInfoBuilder()
-                // 设置标题
-                .title("标题：招商车研物联网平台管理系统_接口文档")
-                // 描述
-                .description("描述：用于管理集团旗下公司的人员信息,具体包括XXX,XXX模块...")
-                // 作者信息
-                .contact(new Contact(cmvrIotConfig.getName(), null, null))
-                // 版本
-                .version("版本号:" + cmvrIotConfig.getVersion())
-                .build();
-    }
-}

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

@@ -0,0 +1,38 @@
+package com.cmvr.web.service;
+
+import org.springframework.stereotype.Service;
+
+import java.time.Duration;
+import java.util.Map;
+import java.util.UUID;
+import java.util.concurrent.ConcurrentHashMap;
+
+@Service
+public class CameraStreamTicketService {
+
+    private static final long TICKET_LIFETIME_MILLIS = Duration.ofSeconds(30).toMillis();
+    private final Map<String, StreamTarget> tickets = new ConcurrentHashMap<>();
+
+    public String issue(String robotId, String deviceId) {
+        long now = System.currentTimeMillis();
+        tickets.entrySet().removeIf(entry -> entry.getValue().expiresAt() < now);
+        String ticket = UUID.randomUUID().toString().replace("-", "");
+        tickets.put(ticket, new StreamTarget(robotId, deviceId, now + TICKET_LIFETIME_MILLIS));
+        return ticket;
+    }
+
+    public StreamTarget consume(String ticket) {
+        if (ticket == null || ticket.isBlank()) {
+            return null;
+        }
+        StreamTarget target = tickets.get(ticket);
+        if (target == null || target.expiresAt() < System.currentTimeMillis()) {
+            tickets.remove(ticket);
+            return null;
+        }
+        return target;
+    }
+
+    public record StreamTarget(String robotId, String deviceId, long expiresAt) {
+    }
+}

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

@@ -0,0 +1,148 @@
+server:
+  # 服务器的HTTP端口，默认为8080
+  port: 14080
+# 数据源配置
+spring:
+  datasource:
+    type: com.alibaba.druid.pool.DruidDataSource
+    driverClassName: com.mysql.cj.jdbc.Driver
+    druid:
+      # 主库数据源
+      master:
+        url: jdbc:mysql://192.168.28.10:3306/${CMVR_DB_NAME:aima}?useUnicode=true&characterEncoding=utf8&zeroDateTimeBehavior=convertToNull&useSSL=true&serverTimezone=GMT%2B8
+        username: root
+        password: cmvr2468
+      # 从库数据源
+      slave:
+        # 从数据源开关/默认关闭
+        enabled: false
+        url:
+        username:
+        password:
+      # 初始连接数
+      initialSize: 5
+      # 最小连接池数量
+      minIdle: 10
+      # 最大连接池数量
+      maxActive: 20
+      # 配置获取连接等待超时的时间
+      maxWait: 60000
+      # 配置连接超时时间
+      connectTimeout: 30000
+      # 配置网络超时时间
+      socketTimeout: 60000
+      # 配置间隔多久才进行一次检测，检测需要关闭的空闲连接，单位是毫秒
+      timeBetweenEvictionRunsMillis: 60000
+      # 配置一个连接在池中最小生存的时间，单位是毫秒
+      minEvictableIdleTimeMillis: 300000
+      # 配置一个连接在池中最大生存的时间，单位是毫秒
+      maxEvictableIdleTimeMillis: 900000
+      # 配置检测连接是否有效
+      validationQuery: SELECT 1 FROM DUAL
+      testWhileIdle: true
+      testOnBorrow: false
+      testOnReturn: false
+      webStatFilter:
+        enabled: true
+      statViewServlet:
+        enabled: true
+        # 设置白名单，不填则允许所有访问
+        allow:
+        url-pattern: /druid/*
+        # 控制台管理用户名和密码
+        login-username: cmvr-iot
+        login-password: 123456
+      filter:
+        stat:
+          enabled: true
+          # 慢SQL记录
+          log-slow-sql: true
+          slow-sql-millis: 1000
+          merge-sql: true
+        wall:
+          config:
+            multi-statement-allow: true
+  # 服务模块
+  devtools:
+    restart:
+      # 热部署开关
+      enabled: true
+  # redis 配置
+  data.redis:
+    # 地址
+    host: 192.168.28.10
+    # 端口，默认为6379
+    port: 6379
+    # 数据库索引
+    database: ${CMVR_REDIS_DATABASE:12}
+    # 密码
+    password: cmvr2468
+    # 连接超时时间
+    timeout: 10s
+    lettuce:
+      pool:
+        # 连接池:中的最小空闲连接
+        min-idle: 0
+        # 连接池中的最大空闲连接
+        max-idle: 8
+        # 连接池的最大数据库连接数
+        max-active: 8
+        # #连接池最大阻塞等待时间（使用负值表示没有限制）
+        max-wait: -1ms
+
+# Minio配置
+minio:
+  url: http://192.168.28.10:9000
+  accessKey: AKICMVR
+  secretKey: wJalrXUtnFEMI
+  bucketName: cmvr-iot
+
+# gRPC 客户端设置
+grpc:
+  client:
+    grpc-server: # 自定义服务名
+      address: 'static://10.148.108.100:50051' # 调用 gRPC 的地址
+      #            address: 'static://10.148.108.100:50051' # 调用 gRPC 的地址
+      enableKeepAlive: true
+      keepAliveWithoutCalls: true
+      negotiationType: plaintext # 明文传输
+
+api:
+  app-id: d0epfibvo3em6c4iul40
+  app-key: d0eqt1kqek3vg7g4ofi0
+  work-flow-url: https://aiagentplatform.cmft.com/api/proxy/api/v1/run_app_workflow
+  query-result-url: https://aiagentplatform.cmft.com/api/proxy/api/v1/query_run_app_process
+  bge-vl: http://192.168.1.8:5000/search_similar
+  generate_advanced_audio: http://192.168.0.102:9003/generate_advanced_audio
+  # 智能体应用id和秘钥
+  # ActionEnum 的枚举作为 key
+  agents:
+    INTENT_RECOGNITION: # 意图识别
+      app-id: d5dn5ibp9adhq1b34lig
+      app-key: d6j5bcellh49on5tasvg
+    TI_TOUCH_COORDINATES: # 获取触控二维坐标
+      app-id: d1ebtabnjkflk4gmhikg
+      app-key: d5thge2cktmipk78h82g
+  evaluation: http://192.168.0.8:8000/analyze
+  current-page: http://192.168.0.222:5000/search_similar
+
+flowise:
+  tts: 192.168.0.222:8080/tts/
+  start: http://192.168.0.108:3000/api/v1/prediction/f99329e9-b33d-437d-90ed-69eaa8a05418
+  abort: http://192.168.0.108:3000/api/v1/chatmessage/abort/f99329e9-b33d-437d-90ed-69eaa8a05418/
+  query: http://192.168.0.108:3000/api/v1/executions/
+  api-key: pg61JW6W_GXyqmqSoURJ4mlSRrCMRzGLBJli_w3BFkg
+
+media-analysis:
+  base-url: ${MEDIA_ANALYSIS_BASE_URL:http://192.168.28.10:14080}
+  api-key: ${MEDIA_ANALYSIS_API_KEY:cmvr-analysis-2026-c65ec181d5ab4a49aef34e6fd1be6704}
+  connect-timeout-ms: 5000
+  read-timeout-ms: 600000
+
+# Isolate the resource-center development instance from the currently running robot gateway.
+#cmvr:
+#  resource:
+#    robot-state:
+#      enabled: false
+#  quic:
+#    enabled: false

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

@@ -0,0 +1,148 @@
+server:
+  # 服务器的HTTP端口，默认为8080
+  port: 14080
+# 数据源配置
+spring:
+  datasource:
+    type: com.alibaba.druid.pool.DruidDataSource
+    driverClassName: com.mysql.cj.jdbc.Driver
+    druid:
+      # 主库数据源
+      master:
+        url: jdbc:mysql://192.168.28.10:3306/${CMVR_DB_NAME:changan}?useUnicode=true&characterEncoding=utf8&zeroDateTimeBehavior=convertToNull&useSSL=true&serverTimezone=GMT%2B8
+        username: root
+        password: cmvr2468
+      # 从库数据源
+      slave:
+        # 从数据源开关/默认关闭
+        enabled: false
+        url:
+        username:
+        password:
+      # 初始连接数
+      initialSize: 5
+      # 最小连接池数量
+      minIdle: 10
+      # 最大连接池数量
+      maxActive: 20
+      # 配置获取连接等待超时的时间
+      maxWait: 60000
+      # 配置连接超时时间
+      connectTimeout: 30000
+      # 配置网络超时时间
+      socketTimeout: 60000
+      # 配置间隔多久才进行一次检测，检测需要关闭的空闲连接，单位是毫秒
+      timeBetweenEvictionRunsMillis: 60000
+      # 配置一个连接在池中最小生存的时间，单位是毫秒
+      minEvictableIdleTimeMillis: 300000
+      # 配置一个连接在池中最大生存的时间，单位是毫秒
+      maxEvictableIdleTimeMillis: 900000
+      # 配置检测连接是否有效
+      validationQuery: SELECT 1 FROM DUAL
+      testWhileIdle: true
+      testOnBorrow: false
+      testOnReturn: false
+      webStatFilter:
+        enabled: true
+      statViewServlet:
+        enabled: true
+        # 设置白名单，不填则允许所有访问
+        allow:
+        url-pattern: /druid/*
+        # 控制台管理用户名和密码
+        login-username: cmvr-iot
+        login-password: 123456
+      filter:
+        stat:
+          enabled: true
+          # 慢SQL记录
+          log-slow-sql: true
+          slow-sql-millis: 1000
+          merge-sql: true
+        wall:
+          config:
+            multi-statement-allow: true
+  # 服务模块
+  devtools:
+    restart:
+      # 热部署开关
+      enabled: true
+  # redis 配置
+  data.redis:
+    # 地址
+    host: 192.168.28.10
+    # 端口，默认为6379
+    port: 6379
+    # 数据库索引
+    database: ${CMVR_REDIS_DATABASE:11}
+    # 密码
+    password: cmvr2468
+    # 连接超时时间
+    timeout: 10s
+    lettuce:
+      pool:
+        # 连接池:中的最小空闲连接
+        min-idle: 0
+        # 连接池中的最大空闲连接
+        max-idle: 8
+        # 连接池的最大数据库连接数
+        max-active: 8
+        # #连接池最大阻塞等待时间（使用负值表示没有限制）
+        max-wait: -1ms
+
+# Minio配置
+minio:
+  url: http://192.168.28.10:9000
+  accessKey: AKICMVR
+  secretKey: wJalrXUtnFEMI
+  bucketName: cmvr-iot
+
+# gRPC 客户端设置
+grpc:
+  client:
+    grpc-server: # 自定义服务名
+      address: 'static://10.148.108.100:50051' # 调用 gRPC 的地址
+      #            address: 'static://10.148.108.100:50051' # 调用 gRPC 的地址
+      enableKeepAlive: true
+      keepAliveWithoutCalls: true
+      negotiationType: plaintext # 明文传输
+
+api:
+  app-id: d0epfibvo3em6c4iul40
+  app-key: d0eqt1kqek3vg7g4ofi0
+  work-flow-url: https://aiagentplatform.cmft.com/api/proxy/api/v1/run_app_workflow
+  query-result-url: https://aiagentplatform.cmft.com/api/proxy/api/v1/query_run_app_process
+  bge-vl: http://192.168.1.8:5000/search_similar
+  generate_advanced_audio: http://192.168.0.102:9003/generate_advanced_audio
+  # 智能体应用id和秘钥
+  # ActionEnum 的枚举作为 key
+  agents:
+    INTENT_RECOGNITION: # 意图识别
+      app-id: d5dn5ibp9adhq1b34lig
+      app-key: d6j5bcellh49on5tasvg
+    TI_TOUCH_COORDINATES: # 获取触控二维坐标
+      app-id: d1ebtabnjkflk4gmhikg
+      app-key: d5thge2cktmipk78h82g
+  evaluation: http://192.168.0.8:8000/analyze
+  current-page: http://192.168.0.222:5000/search_similar
+
+flowise:
+  tts: 192.168.0.222:8080/tts/
+  start: http://192.168.0.108:3000/api/v1/prediction/f99329e9-b33d-437d-90ed-69eaa8a05418
+  abort: http://192.168.0.108:3000/api/v1/chatmessage/abort/f99329e9-b33d-437d-90ed-69eaa8a05418/
+  query: http://192.168.0.108:3000/api/v1/executions/
+  api-key: pg61JW6W_GXyqmqSoURJ4mlSRrCMRzGLBJli_w3BFkg
+
+media-analysis:
+  base-url: ${MEDIA_ANALYSIS_BASE_URL:http://192.168.28.10:14080}
+  api-key: ${MEDIA_ANALYSIS_API_KEY:cmvr-analysis-2026-c65ec181d5ab4a49aef34e6fd1be6704}
+  connect-timeout-ms: 5000
+  read-timeout-ms: 600000
+
+# Isolate the resource-center development instance from the currently running robot gateway.
+#cmvr:
+#  resource:
+#    robot-state:
+#      enabled: true
+#  quic:
+#    enabled: true

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

@@ -1,6 +1,6 @@
 server:
   # 服务器的HTTP端口，默认为8080
-  port: 13080
+  port: 14080
 # 数据源配置
 spring:
   datasource:
@@ -9,7 +9,7 @@ spring:
     druid:
       # 主库数据源
       master:
-        url: jdbc:mysql://192.168.28.10:3306/cmvr-iot-dev?useUnicode=true&characterEncoding=utf8&zeroDateTimeBehavior=convertToNull&useSSL=true&serverTimezone=GMT%2B8
+        url: jdbc:mysql://192.168.28.10:3306/${CMVR_DB_NAME:cmvr-iot-resource-dev}?useUnicode=true&characterEncoding=utf8&zeroDateTimeBehavior=convertToNull&useSSL=true&serverTimezone=GMT%2B8
         username: root
         password: cmvr2468
       # 从库数据源
@@ -68,13 +68,13 @@ spring:
       # 热部署开关
       enabled: true
   # redis 配置
-  redis:
+  data.redis:
     # 地址
     host: 192.168.28.10
     # 端口，默认为6379
     port: 6379
     # 数据库索引
-    database: 0
+    database: ${CMVR_REDIS_DATABASE:1}
     # 密码
     password: cmvr2468
     # 连接超时时间
@@ -133,7 +133,16 @@ flowise:
   query: http://192.168.0.108:3000/api/v1/executions/
   api-key: pg61JW6W_GXyqmqSoURJ4mlSRrCMRzGLBJli_w3BFkg
 
-# TTS外部接口配置
+media-analysis:
-tts:
+  base-url: ${MEDIA_ANALYSIS_BASE_URL:http://192.168.28.10:14080}
-  external-api:
+  api-key: ${MEDIA_ANALYSIS_API_KEY:}
-    url: http://192.168.0.102:9003/generate_advanced_audio
+  connect-timeout-ms: 5000
+  read-timeout-ms: 600000
+
+# Isolate the resource-center development instance from the currently running robot gateway.
+cmvr:
+  resource:
+    robot-state:
+      enabled: false
+  quic:
+    enabled: false

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

@@ -68,7 +68,7 @@ spring:
             # 热部署开关
             enabled: true
     # redis 配置
-    redis:
+    data.redis:
         # 地址
         host: 192.168.0.100
         # 端口，默认为6379

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

@@ -0,0 +1,61 @@
+# 数据源配置
+spring:
+    datasource:
+        type: com.alibaba.druid.pool.DruidDataSource
+        driverClassName: com.mysql.cj.jdbc.Driver
+        druid:
+            # 主库数据源
+            master:
+                url: jdbc:mysql://localhost:3306/ry-vue?useUnicode=true&characterEncoding=utf8&zeroDateTimeBehavior=convertToNull&useSSL=true&serverTimezone=GMT%2B8
+                username: root
+                password: password
+            # 从库数据源
+            slave:
+                # 从数据源开关/默认关闭
+                enabled: false
+                url: 
+                username: 
+                password: 
+            # 初始连接数
+            initialSize: 5
+            # 最小连接池数量
+            minIdle: 10
+            # 最大连接池数量
+            maxActive: 20
+            # 配置获取连接等待超时的时间
+            maxWait: 60000
+            # 配置连接超时时间
+            connectTimeout: 30000
+            # 配置网络超时时间
+            socketTimeout: 60000
+            # 配置间隔多久才进行一次检测，检测需要关闭的空闲连接，单位是毫秒
+            timeBetweenEvictionRunsMillis: 60000
+            # 配置一个连接在池中最小生存的时间，单位是毫秒
+            minEvictableIdleTimeMillis: 300000
+            # 配置一个连接在池中最大生存的时间，单位是毫秒
+            maxEvictableIdleTimeMillis: 900000
+            # 配置检测连接是否有效
+            validationQuery: SELECT 1 FROM DUAL
+            testWhileIdle: true
+            testOnBorrow: false
+            testOnReturn: false
+            webStatFilter: 
+                enabled: true
+            statViewServlet:
+                enabled: true
+                # 设置白名单，不填则允许所有访问
+                allow:
+                url-pattern: /druid/*
+                # 控制台管理用户名和密码
+                login-username: ruoyi
+                login-password: 123456
+            filter:
+                stat:
+                    enabled: true
+                    # 慢SQL记录
+                    log-slow-sql: true
+                    slow-sql-millis: 1000
+                    merge-sql: true
+                wall:
+                    config:
+                        multi-statement-allow: true

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

@@ -68,7 +68,7 @@ spring:
       # 热部署开关
       enabled: true
   # redis 配置
-  redis:
+  data.redis:
     # 地址
     host: 192.168.28.10
     # 端口，默认为6379
@@ -132,3 +132,9 @@ flowise:
   abort: http://192.168.0.108:3000/api/v1/chatmessage/abort/f99329e9-b33d-437d-90ed-69eaa8a05418/
   query: http://192.168.0.108:3000/api/v1/executions/
   api-key: pg61JW6W_GXyqmqSoURJ4mlSRrCMRzGLBJli_w3BFkg
+
+media-analysis:
+  base-url: ${MEDIA_ANALYSIS_BASE_URL:http://192.168.28.10:14080}
+  api-key: ${MEDIA_ANALYSIS_API_KEY:}
+  connect-timeout-ms: 5000
+  read-timeout-ms: 600000

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

@@ -68,7 +68,7 @@ spring:
       # 热部署开关
       enabled: true
   # redis 配置
-  redis:
+  data.redis:
     # 地址
     host: redis
     # 端口，默认为6379

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

@@ -1,6 +1,6 @@
 server:
   # 服务器的HTTP端口，默认为8080
-  port: 13080
+  port: 14080
 # 数据源配置
 spring:
   datasource:
@@ -9,7 +9,7 @@ spring:
     druid:
       # 主库数据源
       master:
-        url: jdbc:mysql://192.168.28.10:3306/cmvr-iot-dev?useUnicode=true&characterEncoding=utf8&zeroDateTimeBehavior=convertToNull&useSSL=true&serverTimezone=GMT%2B8
+        url: jdbc:mysql://192.168.28.10:3306/${CMVR_DB_NAME:cmvr-iot-resource-dev}?useUnicode=true&characterEncoding=utf8&zeroDateTimeBehavior=convertToNull&useSSL=true&serverTimezone=GMT%2B8
         username: root
         password: cmvr2468
       # 从库数据源
@@ -68,13 +68,13 @@ spring:
       # 热部署开关
       enabled: true
   # redis 配置
-  redis:
+  data.redis:
     # 地址
     host: 192.168.28.10
     # 端口，默认为6379
     port: 6379
     # 数据库索引
-    database: 0
+    database: ${CMVR_REDIS_DATABASE:1}
     # 密码
     password: cmvr2468
     # 连接超时时间
@@ -132,3 +132,17 @@ flowise:
   abort: http://192.168.0.108:3000/api/v1/chatmessage/abort/f99329e9-b33d-437d-90ed-69eaa8a05418/
   query: http://192.168.0.108:3000/api/v1/executions/
   api-key: pg61JW6W_GXyqmqSoURJ4mlSRrCMRzGLBJli_w3BFkg
+
+media-analysis:
+  base-url: ${MEDIA_ANALYSIS_BASE_URL:http://192.168.28.10:14080}
+  api-key: ${MEDIA_ANALYSIS_API_KEY:cmvr-analysis-2026-c65ec181d5ab4a49aef34e6fd1be6704}
+  connect-timeout-ms: 5000
+  read-timeout-ms: 600000
+
+# Isolate the resource-center development instance from the currently running robot gateway.
+#cmvr:
+#  resource:
+#    robot-state:
+#      enabled: false
+#  quic:
+#    enabled: false

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

@@ -48,6 +48,13 @@ user:
 
 # Spring配置
 spring:
+  jackson:
+    date-format: "yyyy-MM-dd HH:mm:ss"
+    time-zone: Asia/Shanghai
+  sql:
+    init:
+      mode: always
+      schema-locations: classpath:db/notice-schema.sql
   # 资源信息
   messages:
     # 国际化资源文件路径
@@ -99,13 +106,15 @@ swagger:
   # 请求前缀
   pathMapping: /
 knife4j:
-  # 开启屏蔽文档资源
+  # 生产环境可开启屏蔽文档资源
   production: false
-  # 是否开启Knife4j（swagger 增强版）
+  # 是否开启Knife4j增强界面
   enable: true
   setting:
     language: zh-CN
     enableRequestCache: true
+    enableSwaggerModels: true
+    swaggerModelName: 数据模型
 
 # 防止XSS攻击
 xss:
@@ -116,4 +125,43 @@ xss:
   # 匹配链接
   urlPatterns: /system/*,/monitor/*,/tool/*,/device/*,/test/*,/api/*
 
+# Integrated QUIC gateway and in-process node synchronization.
+cmvr:
+  resource:
+    robot-state:
+      enabled: true
+      initial-delay-ms: 3000
+      refresh-ms: 1000
+      heartbeat-check-ms: 5000
+      heartbeat-timeout-ms: ${CMVR_ROBOT_HEARTBEAT_TIMEOUT_MS:${cmvr.quic.heartbeat-timeout-ms:15000}}
+      # Comma-separated IDs for pure logical workflows. These IDs bypass QUIC online checks.
+      virtual-robot-ids: CN-CMVR-MBLRV1-TEST-20260821-001
+  quic:
+    enabled: true
+    bind-host: 0.0.0.0
+    port: 4433
+    grpc-host-source: observed-source
+    alpn: cmvr-quic-edge/1
+    allowed-node-ids: ""
+    tls:
+      certificate: "certs/quic-gateway.crt"
+      private-key: "certs/quic-gateway.key"
+      require-client-certificate: false
+      client-ca: ""
+    heartbeat-interval-ms: 5000
+    heartbeat-timeout-ms: 15000
+    idle-timeout-ms: 30000
+    maximum-control-frame-bytes: 1048576
+    datagram-queue-length: 1024
+    maximum-frame-bytes: 8388608
+    maximum-reassembly-bytes: 67108864
+    maximum-reassembly-frames: 256
+    reassembly-timeout-ms: 2000
+    media-subscriber-queue-capacity: 64
 
+springdoc:
+  api-docs:
+    path: /v3/api-docs
+  swagger-ui:
+    enabled: true
+    path: /swagger-ui.html