feat(service): 升级AI分析服务支持图像分析和视频详细输出

- 移除Ollama相关配置和回退机制，统一使用SGLang作为视觉模型提供商 - 添加IMAGE_ANALYSIS类型支持，允许对多张图片进行分析 - 实现视频分析的详细输出模式，支持紧凑和详细两种结果格式 - 更新环境变量配置，添加VIDEO_MODEL_FRAME_LIMIT和MAX_IMAGE_BYTES - 修改compose配置文件中的上下文长度和内存分配参数 - 重构视频采样逻辑，限制单次请求帧数以优化显存使用 - 更新API接口文档，添加mediaUrls参数和详细输出选项说明 - 添加图像分析相关的依赖库opencv-python-headless - 实现结构化JSON响应格式验证和重试机制
feat(flow): 添加子流程功能支持和循环迭代追踪
2026-08-21 16:19:34 +08:00 · 2026-08-21 11:48:52 +08:00 · 2026-08-20 14:04:21 +08:00 · 2026-08-20 12:31:29 +08:00 · 2026-08-19 15:00:49 +08:00 · 2026-08-18 14:43:43 +08:00
802 changed files with 153667 additions and 13435 deletions
--- a/.github/FUNDING.yml
+++ b/.github/FUNDING.yml
@ -0,0 +1 @@
+custom: http://doc.ruoyi.vip/ruoyi-vue/other/donate.html
--- a/.gitignore
+++ b/.gitignore
@ -46,11 +46,6 @@ nbdist/
 !*/build/*.html
 !*/build/*.xml

-bin/
-ry.bat
-ry.sh
-run.sh
-package.bat
-sql/quartz.sql
-
-**/application-local.yml
+# Local verification tests
+/cmvr-iot-test/src/test/java/com/cmvr/test/flow/runtime/operator/edge/EdgeAgvOperateServiceTest.java
+/cmvr-iot-test/src/test/java/com/cmvr/test/flow/runtime/operator/edge/EdgeArmOperateServiceTest.java
--- a/DirectoryV3.xml
+++ b/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>
--- a/50
+++ b/50
@ -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"]
--- a/43
+++ b/43
@ -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.'
-        }
-    }
-}
--- a/README.md
+++ b/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
- Spring Boot 2.5.15
- Spring Security
- MyBatis Plus / MyBatis Plus Join
- MySQL / Redis
- Druid
- Quartz
- Knife4j / Swagger
- gRPC Java 1.58.0
- Protobuf / protoc-maven-plugin
- MinIO
+| 组件 | 版本或实现 |
+| --- | --- |
+| Java | 17 |
+| Spring Boot | 4.0.6 |
+| Spring Security | JWT 认证 |
+| MyBatis | MyBatis-Plus 3.5.17、MPJ 1.5.9 |
+| 数据库 | MySQL |
+| 缓存 | Redis |
+| RPC | gRPC 1.58.0、Protobuf 3.25.5 |
+| QUIC | Netty QUIC 4.2.16.Final |
+| 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-framework` | Web、安全、配置、通用框架能力 |
-| `cmvr-iot-common` | 公共工具、通用响应、基础常量和通用能力 |
-| `cmvr-iot-system` | 系统管理、用户、角色、菜单、字典等基础业务 |
-| `cmvr-iot-quartz` | 定时任务模块 |
-| `cmvr-iot-generator` | 代码生成模块 |
-| `cmvr-iot-device` | 设备领域模型与设备相关能力 |
-| `cmvr-iot-test` | 测试任务、编排、执行实例等业务 |
-| `cmvr-iot-vi` | VI 相关业务 |
-| `cmvr-iot-ti` | TI 相关业务 |
-| `cmvr-iot-evaluation` | 评测相关业务 |
-| `cmvr-iot-inspection` | 巡检机器人、地图、任务、告警等业务 |
-| `cmvr-iot-aima` | AIMA 相关业务 |
-| `cmvr-iot-tts` | TTS 语音合成相关业务 |
-| `cmvr-iot-api` | 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-client` | 边缘设备 gRPC 客户端、设备控制服务和请求 VO |
+| `cmvr-iot-admin` | Spring Boot 启动入口、REST 控制器和运行配置 |
+| `cmvr-iot-framework` | 安全、Web、MyBatis、WebSocket 等框架配置 |
+| `cmvr-iot-common` | 公共模型、注解、异常和工具类 |
+| `cmvr-iot-system` | 用户、角色、菜单、字典、参数和通用分组 |
+| `cmvr-iot-quartz` | Quartz 任务调度和任务日志 |
+| `cmvr-iot-generator` | 代码生成 |
+| `cmvr-iot-device` | 设备协议模型、机器人配置和巡检告警监听 |
+| `cmvr-iot-test` | 测试任务、流程、检测项和执行实例 |
+| `cmvr-iot-vi` | 语音交互业务 |
+| `cmvr-iot-ti` | 触控交互业务 |
+| `cmvr-iot-evaluation` | 评价指标业务 |
+| `cmvr-iot-inspection` | 智能巡检业务 |
+| `cmvr-iot-aima` | 爱玛电动车专项业务 |
+| `cmvr-iot-tts` | TTS 任务和车载语料 |
+| `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` | 原有 gRPC 协议及生成代码 |
+| `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
-cmvr-iot
-├── cmvr-iot-admin                 # Spring Boot 启动模块
-├── 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
+- JDK 17
+- Maven 3.6.3 或更高版本
+- MySQL 5.7/8.0
 - Redis
- 可访问的 gRPC 机器人/边缘终端服务
- 可选：MinIO、外部大模型/TTS/评测服务
+- Node.js 18/20 LTS 和 pnpm 9
+- 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
-cmvr-iot-admin/src/main/resources/application.yml
-```
+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：

-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
-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
-```
+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。

-当前 `application.yml` 默认激活：
-
-```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
+## 后端运行

 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 `inspection_robot.robot_id` 查找 QUIC 最近同步的 `ip_address` 和 `port`，不再使用终端 ID 或终端配置解析 gRPC 地址。
+
+边缘端通过 QUIC 上报设备快照后，平台按 `robotId + deviceId` 写入 `inspection_robot_device`。前端选择机器人后只展示该机器人当前在线且启用的设备；单一匹配设备会自动选中并锁定。
+
+QUIC 不是独立服务，`cmvr-iot-quic` 已作为 `cmvr-iot-admin` 的运行时依赖。启用时主应用同时启动：
+
+- 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
-
-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
+# 构建全部后端模块
 mvn clean package -DskipTests

-# 运行指定 profile
-java -jar cmvr-iot-admin/target/cmvr-iot-admin-dev.jar --spring.profiles.active=dev
+# 构建前端生产包
+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：确认机器人表已登记相同的永久 `robotId`，并检查 QUIC 注册日志、`inspection_robot` 的地址和连接状态。
+- QUIC 启动失败：检查证书、私钥、ALPN、UDP 端口占用和 native library 对应的操作系统架构。
+- 数据库提示缺少字段：确认基础脚本版本及对应模块迁移脚本已经执行。
--- a/bin/clean.bat
+++ b/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
--- a/bin/package.bat
+++ b/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
--- a/bin/run.bat
+++ b/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
--- a/certs/cmvr-quic-ca.crt
+++ b/certs/cmvr-quic-ca.crt
@ -0,0 +1,25 @@
+-----BEGIN CERTIFICATE-----
+MIIEKzCCApOgAwIBAgIUTtZCyKM8INYxZKkfwbKdpHKLjn4wDQYJKoZIhvcNAQEL
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+4kzh6dr+RFzHSMQ6oN16
+-----END CERTIFICATE-----
--- a/certs/cmvr-quic-ca.key
+++ b/certs/cmvr-quic-ca.key
@ -0,0 +1,40 @@
+-----BEGIN PRIVATE KEY-----
+MIIG/wIBADANBgkqhkiG9w0BAQEFAASCBukwggblAgEAAoIBgQCaraseV06htp6a
+o19aCBI5WPeKcrLoBiN+C1xdR8qzjwMNuln2DIR39g8lcDwLaMY9enHOCdztrhQJ
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+BprrEQmcdeZA8LE1zgcKtkZR1w==
+-----END PRIVATE KEY-----
--- a/certs/cmvr-quic-ca.srl
+++ b/certs/cmvr-quic-ca.srl
@ -0,0 +1 @@
+2C945D70B02014891B6E09D57E377CEFB6D18498
--- a/certs/quic-gateway.crt
+++ b/certs/quic-gateway.crt
@ -0,0 +1,22 @@
+-----BEGIN CERTIFICATE-----
+MIIDuzCCAiOgAwIBAgIULJRdcLAgFIkbbgnVfjd877bRhJgwDQYJKoZIhvcNAQEL
+BQAwHTEbMBkGA1UEAwwSQ01WUiBRVUlDIExvY2FsIENBMB4XDTI2MDcyNDA2NDQz
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+-----END CERTIFICATE-----
--- a/certs/quic-gateway.csr
+++ b/certs/quic-gateway.csr
@ -0,0 +1,17 @@
+-----BEGIN CERTIFICATE REQUEST-----
+MIICpDCCAYwCAQAwGDEWMBQGA1UEAwwNMTkyLjE2OC4wLjIyMjCCASIwDQYJKoZI
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+2DJPs4P1cU0=
+-----END CERTIFICATE REQUEST-----
--- a/certs/quic-gateway.key
+++ b/certs/quic-gateway.key
@ -0,0 +1,28 @@
+-----BEGIN PRIVATE KEY-----
+MIIEvQIBADANBgkqhkiG9w0BAQEFAASCBKcwggSjAgEAAoIBAQCnTN4tRWBSqjVi
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+DVN9PEdeLOV3bJ9zjfrfsScKg+mF+pC1PCfk1qqKrZPW3qoVcCIB/OPvOQAMZssr
+h0Wssid69WWNYXNcChbfELF8Yscvw7Dqu8T9rKYpAoGAByn1Vfu95lAxQ36fxXnk
+3CC9FkGcdfKGTqkFZHJWiJqaLL6eAbCwO38kywYZLANoSz03Qu3MmD0Gt0wyeP6I
+a3o0goisV8s5W9q1P1i1K73xlbAPf54QsqoPNuXR8n67I9IzzL7EkPJiUsHuqNHW
+Ffn4lzHEAxaTksNIaC6oIlo=
+-----END PRIVATE KEY-----
--- a/cmvr-iot-admin/pom.xml
+++ b/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>
-            <artifactId>mysql-connector-java</artifactId>
+            <groupId>org.springdoc</groupId>
+            <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>
-            <artifactId>cmvr-iot-test</artifactId>
+            <groupId>com.mysql</groupId>
+            <artifactId>mysql-connector-j</artifactId>
        </dependency>

        <!-- 核心模块-->
@ -54,73 +58,72 @@
            <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>
-
-        <!-- 智能座舱语音语料采集-->
        <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>
-                    <fork>true</fork> <!-- 如果没有该配置, devtools 不会生效 -->
+                    <addResources>true</addResources>
                </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>
--- a/cmvr-iot-admin/src/main/java/com/cmvr/CmvrIotApplication.java
+++ b/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");
    }
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/config/FlowTaskStartupRecovery.java
+++ b/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);
+    }
+}
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/aima/AimaAlarmController.java
+++ b/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;
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/aima/AimaPhoneController.java
+++ b/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;
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/aima/AimaTaskController.java
+++ b/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)
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/aima/AimaTaskInstanceController.java
+++ b/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) {
-        return toAjax(aimaTaskInstanceService.startInstance(id));
+    public AjaxResult start(@PathVariable("id") String 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));
    }

    /**
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/aima/AimaTestCaseController.java
+++ b/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)
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/aima/AimaTestLogController.java
+++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/aima/AimaTestLogController.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;
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/aima/AimaVehicleController.java
+++ b/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;
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/DeviceListController.java
+++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/DeviceListController.java
@ -28,9 +28,9 @@ public class DeviceListController {
    @PreAuthorize("@ss.hasPermi('device:profile:list')")
    @GetMapping("/addList")
    @ApiOperation("同步设备信息列表")
-    public int addDeviceList(@RequestParam String terminalId){
+    public int addDeviceList(@RequestParam String robotId){

-        List<DeDeviceRegistration> list = systemService.deviceList(terminalId);
+        List<DeDeviceRegistration> list = systemService.deviceList(robotId);

        return registrationService.addDeviceList(list);
    }
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeAgvController.java
+++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeAgvController.java
@ -1,23 +1,27 @@
 package com.cmvr.web.controller.api;

-import cmvr.msgs.Agv;
+import cmvr.msgs.AgvUtils;
 import com.cmvr.common.core.domain.AjaxResult;
 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;
@ -48,8 +52,13 @@ public class EdgeAgvController {
     */
    @ApiOperation("获取AGV运行时状态")
    @GetMapping("/getRuntimeState")
-    public AjaxResult getRuntimeState(@Validated EdgeCommonVO vo) {
-        Agv.AgvRuntimeState state = edgeAgvService.getRuntimeState(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);
+        AgvUtils.AgvRuntimeState state = edgeAgvService.getRuntimeState(vo);
        return AjaxResult.ok(toRuntimeStateMap(state));
    }

@ -58,8 +67,13 @@ public class EdgeAgvController {
     */
    @ApiOperation("获取导航状态")
    @GetMapping("/getNavigationStatus")
-    public AjaxResult getNavigationStatus(@Validated EdgeCommonVO vo) {
-        Agv.AgvNavigationStatus status = edgeAgvService.getNavigationStatus(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);
+        AgvUtils.AgvNavigationStatus status = edgeAgvService.getNavigationStatus(vo);
        Map<String, Object> resultMap = new HashMap<>();
        resultMap.put("state", status.getState());
        resultMap.put("type", status.getType());
@ -88,18 +102,52 @@ public class EdgeAgvController {
        return AjaxResult.ok();
    }

+    /**
+     * 在当前活动地图中重新设置 AGV 定位位姿。
+     */
+    @ApiOperation("AGV重定位")
+    @PostMapping("/relocalize")
+    public AjaxResult relocalize(@RequestBody @Validated EdgeAgvRelocalizeVO vo) {
+        AgvUtils.AgvPose2d pose = AgvUtils.AgvPose2d.newBuilder()
+                .setX(vo.getX())
+                .setY(vo.getY())
+                .setTheta(vo.getTheta())
+                .build();
+        edgeAgvService.relocalize(vo, pose);
+        return AjaxResult.ok();
+    }
+
+    @ApiOperation("固定距离平移")
+    @PostMapping("/translate")
+    public AjaxResult translate(@RequestBody @Validated EdgeAgvTranslateVO vo) {
+        AgvUtils.AgvTranslationMode mode = vo.getMode() == null
+                ? AgvUtils.AgvTranslationMode.AGV_TRANSLATION_MODE_ODOMETRY
+                : AgvUtils.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");
+        }
+        AgvUtils.AgvTranslation translation = AgvUtils.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。
     */
    @ApiOperation("导航到指定位置")
    @PostMapping("/navigateToPose")
    public AjaxResult navigateToPose(@RequestBody @Validated EdgeAgvNavigateToPoseVO vo) {
-        Agv.AgvPose2d pose = Agv.AgvPose2d.newBuilder()
+        AgvUtils.AgvPose2d pose = AgvUtils.AgvPose2d.newBuilder()
                .setX(vo.getX())
                .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();
    }

@ -149,7 +197,7 @@ public class EdgeAgvController {
    @ApiOperation("设置速度")
    @PostMapping("/setVelocity")
    public AjaxResult setVelocity(@RequestBody @Validated EdgeAgvVelocityVO vo) {
-        Agv.AgvVelocity velocity = Agv.AgvVelocity.newBuilder()
+        AgvUtils.AgvVelocity velocity = AgvUtils.AgvVelocity.newBuilder()
                .setVx(vo.getVx())
                .setVy(vo.getVy())
                .setWz(vo.getWz())
@ -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);
    }
@ -183,10 +236,15 @@ public class EdgeAgvController {
     */
    @ApiOperation("列出所有站点")
    @GetMapping("/listStations")
-    public AjaxResult listStations(@Validated EdgeCommonVO vo) {
-        List<Agv.AgvStation> stations = edgeAgvService.listStations(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<AgvUtils.AgvStation> stations = edgeAgvService.listStations(vo);
        List<Map<String, Object>> stationList = new ArrayList<>();
-        for (Agv.AgvStation station : stations) {
+        for (AgvUtils.AgvStation station : stations) {
            stationList.add(toStationMap(station));
        }
        return AjaxResult.ok(stationList);
@ -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);
    }
@ -228,7 +296,7 @@ public class EdgeAgvController {
    @ApiOperation("开始建图")
    @PostMapping("/startMapping")
    public AjaxResult startMapping(@RequestBody @Validated EdgeAgvStartMappingVO vo) {
-        Agv.AgvMapDimension mapDimension = Agv.AgvMapDimension.forNumber(vo.getDimension());
+        AgvUtils.AgvMapDimension mapDimension = AgvUtils.AgvMapDimension.forNumber(vo.getDimension());
        if (mapDimension == null) {
            return AjaxResult.error("建图维度不合法，允许值：0=未指定，1=2D，2=3D，3=2D+3D");
        }
@ -252,7 +320,23 @@ 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 Map<String, Object> toRuntimeStateMap(Agv.AgvRuntimeState state) {
+    private EdgeCommonVO commonVo(String robotId, String deviceId) {
+        EdgeCommonVO vo = new EdgeCommonVO();
+        vo.setRobotId(robotId);
+        vo.setDeviceId(deviceId);
+        return vo;
+    }
+
+    private AgvUtils.AgvMotionOptions navigationOptions(Integer blockedTimeoutMs) {
+        int timeout = blockedTimeoutMs == null
+                ? EdgeAgvService.DEFAULT_BLOCKED_TIMEOUT_MS : blockedTimeoutMs;
+        return AgvUtils.AgvMotionOptions.newBuilder()
+                .setAsynchronous(false)
+                .setBlockedTimeoutMs(timeout)
+                .build();
+    }
+
+    private Map<String, Object> toRuntimeStateMap(AgvUtils.AgvRuntimeState state) {
        Map<String, Object> resultMap = new HashMap<>();
        resultMap.put("timestamp", state.getTimestamp());
        resultMap.put("mode", state.getMode());
@ -291,7 +375,7 @@ public class EdgeAgvController {
    /**
     * 将 protobuf 站点对象转换为普通 Map。
     */
-    private Map<String, Object> toStationMap(Agv.AgvStation station) {
+    private Map<String, Object> toStationMap(AgvUtils.AgvStation station) {
        Map<String, Object> stationMap = new HashMap<>();
        stationMap.put("id", station.getId());
        stationMap.put("type", station.getType());
@ -305,7 +389,7 @@ public class EdgeAgvController {
    /**
     * 将 protobuf 二维位姿转换为普通 Map。
     */
-    private Map<String, Object> toPoseMap(Agv.AgvPose2d pose) {
+    private Map<String, Object> toPoseMap(AgvUtils.AgvPose2d pose) {
        Map<String, Object> poseMap = new HashMap<>();
        poseMap.put("x", pose.getX());
        poseMap.put("y", pose.getY());
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeArmController.java
+++ b/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 +57,21 @@ 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("关节空间运动")
    @PostMapping("/moveJ")
    public AjaxResult moveJ(@RequestBody EdgeArmMoveJVO moveJVO) {
@ -126,14 +145,20 @@ 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 +175,12 @@ 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 +198,26 @@ 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 +271,20 @@ 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;
+    }
 }
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeArmTeleopController.java
+++ b/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();
+    }
+}
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeCameraController.java
+++ b/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;
+    }
 }
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeDexHandController.java
+++ b/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));
    }
 }
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeMicrophoneController.java
+++ b/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();
+        return AjaxResult.success(microphoneService.stopRecord(edgeCommonVO));
    }

    @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));
    }
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeMotorController.java
+++ b/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));
+    }
+}
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeSpeakerController.java
+++ b/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)
-            @RequestParam String terminalId,
+            @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) {
        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)
-            @RequestParam String terminalId,
+            @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) {
-        return AjaxResult.success(speakerService.getVolume(terminalId, deviceId));
+        return AjaxResult.success(speakerService.getVolume(robotId, deviceId));
    }

    @ApiOperation("获取所有音频")
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeSystemController.java
+++ b/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) {
-        return AjaxResult.ok(edgeSystemService.stopAll(terminalId));
+    public AjaxResult stopAll(@RequestParam("robotId") String robotId) {
+        return AjaxResult.ok(edgeSystemService.stopAll(robotId));
    }
 }
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/WebRtcSignalingController.java
+++ b/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 com.fasterxml.jackson.databind.node.ObjectNode;
+import tools.jackson.databind.ObjectMapper;
+import tools.jackson.databind.node.ObjectNode;
 import lombok.RequiredArgsConstructor;
 import org.jetbrains.annotations.NotNull;
 import org.slf4j.Logger;
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/common/CaptchaController.java
+++ b/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
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/common/CommonController.java
+++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/common/CommonController.java
@ -1,49 +1,54 @@
 package com.cmvr.web.controller.common;

-import com.cmvr.common.config.CmvrIotConfig;
-import com.cmvr.common.constant.Constants;
-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 io.swagger.annotations.Api;
-import lombok.RequiredArgsConstructor;
+import java.util.ArrayList;
+import java.util.List;
+import jakarta.servlet.http.HttpServletRequest;
+import jakarta.servlet.http.HttpServletResponse;
 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;
-import java.util.ArrayList;
-import java.util.List;
-
-@Api(tags = "通用请求处理")
+/**
+ * 通用请求处理
+ * 
+ * @author ruoyi
+ */
@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
-     *
+     * 
     * @param fileName 文件名称
-     * @param delete   是否删除
+     * @param delete 是否删除
     */
    @GetMapping("/download")
-    public void fileDownload(String fileName, Boolean delete, HttpServletResponse response, HttpServletRequest request) {
-        try {
-            if (!FileUtils.checkAllowDownload(fileName)) {
+    public void fileDownload(String fileName, Boolean delete, HttpServletResponse response, HttpServletRequest request)
+    {
+        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 {
-        try {
+    public AjaxResult uploadFile(MultipartFile file) throws Exception
+    {
+        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 {
-        try {
+    public AjaxResult uploadFiles(List<MultipartFile> files) throws Exception
+    {
+        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("fileNames", StringUtils.join(fileNames, FILE_DELIMETER));
-            ajax.put("newFileNames", StringUtils.join(newFileNames, FILE_DELIMETER));
-            ajax.put("originalFilenames", StringUtils.join(originalFilenames, FILE_DELIMETER));
+            ajax.put("urls", StringUtils.join(urls, FILE_DELIMITER));
+            ajax.put("fileNames", StringUtils.join(fileNames, FILE_DELIMITER));
+            ajax.put("newFileNames", StringUtils.join(newFileNames, FILE_DELIMITER));
+            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 {
-        try {
-            if (!FileUtils.checkAllowDownload(resource)) {
+            throws Exception
+    {
+        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);
        }
    }
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/device/DeDeviceRegistrationController.java
+++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/device/DeDeviceRegistrationController.java
@ -1,7 +1,7 @@
 package com.cmvr.web.controller.device;

 import java.util.List;
-import javax.servlet.http.HttpServletResponse;
+import jakarta.servlet.http.HttpServletResponse;

 import com.cmvr.edge.client.service.EdgeSystemService;
 import io.swagger.annotations.Api;
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/device/DeDeviceTerminalConfigController.java
+++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/device/DeDeviceTerminalConfigController.java
@ -15,7 +15,7 @@ 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;

 /**
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/device/DeRobotConfigController.java
+++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/device/DeRobotConfigController.java
@ -1,7 +1,7 @@
 package com.cmvr.web.controller.device;

 import java.util.List;
-import javax.servlet.http.HttpServletResponse;
+import jakarta.servlet.http.HttpServletResponse;

 import com.cmvr.common.annotation.Log;
 import com.cmvr.common.core.controller.BaseController;
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/evaluation/AeIndicatorController.java
+++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/evaluation/AeIndicatorController.java
@ -1,59 +1,59 @@
-package com.cmvr.web.controller.evaluation;
-
-import com.cmvr.common.core.controller.BaseController;
-import com.cmvr.common.core.domain.AjaxResult;
-
-import com.cmvr.evaluation.model.dto.AeIndicatorCreateDTO;
-import com.cmvr.evaluation.model.dto.AeIndicatorUpdateDTO;
-import com.cmvr.evaluation.service.AeIndicatorService;
-import io.swagger.annotations.Api;
-import io.swagger.annotations.ApiOperation;
-import lombok.RequiredArgsConstructor;
-import org.springframework.web.bind.annotation.*;
-
-import javax.validation.Valid;
-
-@Api(tags = "评价管理--指标库")
-@RestController
-@RequestMapping("/evaluate/indicator")
-@RequiredArgsConstructor
-public class AeIndicatorController extends BaseController {
-
-    private final AeIndicatorService indicatorService;
-
-    @ApiOperation("根据父id查询指标")
-    @GetMapping("/getIndicatorByParentId")
-    public AjaxResult getIndicatorByParentId(@RequestParam Long parentId, @RequestParam Integer type) {
-        if (parentId == null || type == null) {
-            return AjaxResult.error("参数不能为空");
-        }
-        return success(indicatorService.selectIndicatorByParentId(parentId, type));
-    }
-
-    @ApiOperation("新增指标")
-    @PostMapping("/indicator/insert")
-    public AjaxResult insertIndicator(@Valid @RequestBody AeIndicatorCreateDTO createDTO) {
-        return success(indicatorService.saveIndicator(createDTO));
-    }
-
-    @ApiOperation("根据ID级联删除：删除当前指标及其所有后代指标（子/孙级）")
-    @DeleteMapping("/{id}")
-    public AjaxResult removeIndicator(@PathVariable Long id) {
-        if (id == null) {
-            return AjaxResult.error("id不能为空");
-        }
-        return toAjax(indicatorService.removeIndicator(id));
-    }
-
-    @ApiOperation("修改指标")
-    @PutMapping
-    public AjaxResult updateIndicator(@Valid @RequestBody AeIndicatorUpdateDTO updateDTO) {
-        return toAjax(indicatorService.updateIndicator(updateDTO));
-    }
-
-    @ApiOperation("获取指定parentId下指定level层级的指标")
-    @GetMapping("/getChildrenByParentIdWithLevelLimit")
-    public AjaxResult getChildrenByParentIdWithLevelLimit(@RequestParam Long parentId, @RequestParam Integer maxLevel, @RequestParam Integer type) {
-        return success(indicatorService.getChildrenByParentIdWithLevelLimit(parentId, maxLevel, type));
-    }
-}
+package com.cmvr.web.controller.evaluation;
+
+import com.cmvr.common.core.controller.BaseController;
+import com.cmvr.common.core.domain.AjaxResult;
+
+import com.cmvr.evaluation.model.dto.AeIndicatorCreateDTO;
+import com.cmvr.evaluation.model.dto.AeIndicatorUpdateDTO;
+import com.cmvr.evaluation.service.AeIndicatorService;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import org.springframework.web.bind.annotation.*;
+
+import jakarta.validation.Valid;
+
+@Api(tags = "评价管理--指标库")
+@RestController
+@RequestMapping("/evaluate/indicator")
+@RequiredArgsConstructor
+public class AeIndicatorController extends BaseController {
+
+    private final AeIndicatorService indicatorService;
+
+    @ApiOperation("根据父id查询指标")
+    @GetMapping("/getIndicatorByParentId")
+    public AjaxResult getIndicatorByParentId(@RequestParam Long parentId, @RequestParam Integer type) {
+        if (parentId == null || type == null) {
+            return AjaxResult.error("参数不能为空");
+        }
+        return success(indicatorService.selectIndicatorByParentId(parentId, type));
+    }
+
+    @ApiOperation("新增指标")
+    @PostMapping("/indicator/insert")
+    public AjaxResult insertIndicator(@Valid @RequestBody AeIndicatorCreateDTO createDTO) {
+        return success(indicatorService.saveIndicator(createDTO));
+    }
+
+    @ApiOperation("根据ID级联删除：删除当前指标及其所有后代指标（子/孙级）")
+    @DeleteMapping("/{id}")
+    public AjaxResult removeIndicator(@PathVariable Long id) {
+        if (id == null) {
+            return AjaxResult.error("id不能为空");
+        }
+        return toAjax(indicatorService.removeIndicator(id));
+    }
+
+    @ApiOperation("修改指标")
+    @PutMapping
+    public AjaxResult updateIndicator(@Valid @RequestBody AeIndicatorUpdateDTO updateDTO) {
+        return toAjax(indicatorService.updateIndicator(updateDTO));
+    }
+
+    @ApiOperation("获取指定parentId下指定level层级的指标")
+    @GetMapping("/getChildrenByParentIdWithLevelLimit")
+    public AjaxResult getChildrenByParentIdWithLevelLimit(@RequestParam Long parentId, @RequestParam Integer maxLevel, @RequestParam Integer type) {
+        return success(indicatorService.getChildrenByParentIdWithLevelLimit(parentId, maxLevel, type));
+    }
+}
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/inspection/InspectionAlarmController.java
+++ b/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;
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/inspection/InspectionDetectionAlertController.java
+++ b/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 javax.servlet.http.HttpServletRequest;
+import jakarta.servlet.ServletInputStream;
+import jakarta.servlet.http.HttpServletRequest;
 import java.io.ByteArrayOutputStream;
 import java.io.IOException;
 import java.nio.charset.StandardCharsets;
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/inspection/InspectionMapController.java
+++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/inspection/InspectionMapController.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;
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/inspection/InspectionResultController.java
+++ b/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;

 /**
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/inspection/InspectionRobotController.java
+++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/inspection/InspectionRobotController.java
@ -1,9 +1,9 @@
 package com.cmvr.web.controller.inspection;

 import java.util.List;
-import javax.servlet.http.HttpServletResponse;
+import jakarta.servlet.http.HttpServletResponse;

-import cmvr.msgs.Agv;
+import cmvr.msgs.AgvUtils;
 import com.cmvr.inspection.domain.vo.InspectionRobotVo;
 import io.swagger.annotations.*;
 import org.springframework.security.access.prepost.PreAuthorize;
@ -70,6 +70,25 @@ public class InspectionRobotController extends BaseController
        return success(inspectionRobotService.selectInspectionRobotById(id));
    }

+    @ApiOperation("查询机器人自动发现的设备")
+    @PreAuthorize("@ss.hasPermi('inspection:robot:query')")
+    @GetMapping("/{id}/devices")
+    public AjaxResult devices(@PathVariable("id") String id)
+    {
+        return success(inspectionRobotService.selectRobotDevices(id));
+    }
+
+    @ApiOperation("按机器人ID查询自动发现的设备")
+    @PreAuthorize("@ss.hasPermi('inspection:robot:query')")
+    @GetMapping("/devices")
+    public AjaxResult devicesByRobotId(
+            @RequestParam @ApiParam(value = "机器人永久唯一ID", required = true) String robotId,
+            @RequestParam(required = false) @ApiParam("设备类型") Integer deviceKind,
+            @RequestParam(defaultValue = "true") @ApiParam("是否只查询在线且启用的设备") boolean onlineOnly)
+    {
+        return success(inspectionRobotService.selectRobotDevicesByRobotId(robotId, deviceKind, onlineOnly));
+    }
+
    /**
     * 新增巡检机器人
     */
@ -180,7 +199,7 @@ public class InspectionRobotController extends BaseController
    @GetMapping("/{robotId}/location")
    public AjaxResult getRobotRealtimeLocation(@PathVariable String robotId)
    {
-        Agv.AgvPose2d location = inspectionRobotService.getRobotRealtimeLocation(robotId);
+        AgvUtils.AgvPose2d location = inspectionRobotService.getRobotRealtimeLocation(robotId);
        return success(location);
    }

--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/inspection/InspectionTaskController.java
+++ b/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
     */
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/inspection/InspectionTaskInstanceController.java
+++ b/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));
    }

    /**
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/inspection/InspectionWaypointController.java
+++ b/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
     */
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/monitor/CacheController.java
+++ b/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
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/monitor/ServerController.java
+++ b/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")
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/monitor/SysLogininforController.java
+++ b/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")
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/monitor/SysOperlogController.java
+++ b/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")
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/monitor/SysUserOnlineController.java
+++ b/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")
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/show/ShowIntelligentCockpitController.java
+++ b/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")
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/system/SysConfigController.java
+++ b/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")
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/system/SysDeptController.java
+++ b/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
     */
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/system/SysDictDataController.java
+++ b/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")
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/system/SysDictTypeController.java
+++ b/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")
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/system/SysIndexController.java
+++ b/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");
    }
 }
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/system/SysLoginController.java
+++ b/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;
+    }
 }
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/system/SysMenuController.java
+++ b/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
     */
@ -139,4 +162,4 @@ public class SysMenuController extends BaseController
        }
        return toAjax(menuService.deleteMenuById(menuId));
    }
-}
+}
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/system/SysNoticeController.java
+++ b/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
- * 
- * @author cmvr-iot
+ * 公告信息操作处理。
 */
@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);
    }

-    /**
-     * 根据通知公告编号获取详细信息
-     */
+    @GetMapping("/listTop")
+    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}")
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/system/SysPostController.java
+++ b/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")
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/system/SysProfileController.java
+++ b/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();
-        String password = loginUser.getPassword();
+        Long userId = loginUser.getUserId();
+        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);
-            if (userService.updateUserAvatar(loginUser.getUsername(), avatar))
+            String avatar = FileUploadUtils.upload(CmvrIotConfig.getAvatarPath(), file, MimeTypeUtils.IMAGE_EXTENSION, true);
+            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
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/system/SysRegisterController.java
+++ b/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
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/system/SysRoleController.java
+++ b/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
-            LoginUser loginUser = getLoginUser();
-            if (StringUtils.isNotNull(loginUser.getUser()) && !loginUser.getUser().isAdmin())
-            {
-                loginUser.setUser(userService.selectUserByUserName(loginUser.getUser().getUserName()));
-                loginUser.setPermissions(permissionService.getMenuPermission(loginUser.getUser()));
-                tokenService.setLoginUser(loginUser);
-            }
+            // 刷新所有持有该角色的在线用户权限
+            tokenService.refreshPermissionByRoleId(role.getRoleId(), permissionService);
            return success();
        }
        return error("修改角色'" + role.getRoleName() + "'失败，请联系管理员");
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/system/SysUserController.java
+++ b/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;
    }

--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/test/TeDetectionItemController.java
+++ b/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)
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/test/TeFlowController.java
+++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/test/TeFlowController.java
@ -10,14 +10,18 @@ import com.cmvr.llm.service.LLMAiAgentPlatformService;
 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.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.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;
@ -29,9 +33,10 @@ 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 javax.annotation.PreDestroy;
-import javax.validation.Valid;
+import jakarta.annotation.PreDestroy;
+import jakarta.validation.Valid;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.concurrent.CancellationException;
@ -62,6 +67,8 @@ 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;
@ -87,8 +94,48 @@ public class TeFlowController extends BaseController {

    @ApiOperation("流程发布")
    @PostMapping("/publish")
-    public AjaxResult publish(@RequestBody TeDetectionItem detectionItem) {
-        return toAjax(teDetectionItemService.publish(detectionItem.getId()));
+    public AjaxResult publish(@Valid @RequestBody TeFlowPublishVO request) {
+        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")
@ -157,7 +204,8 @@ 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；"
                    + "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(
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/test/TeFlowiseController.java
+++ b/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")
-                .terminalId("4ed1246c465b97975f96c9ef8371a3bd")
+                .taskId(StringUtils.defaultIfBlank(request.getTaskId(), "b6ab5ffff783d9b25d0dc34f13be222d"))
+                .robotId(StringUtils.defaultIfBlank(request.getRobotId(), "4ed1246c465b97975f96c9ef8371a3bd"))
+                .runtimeAssignments(request.getRuntimeAssignments())
                .runParams(JSONObject.from(runParams)).build();
        if (!taskInstIdList.isEmpty()) {
            try {
@ -112,4 +114,4 @@ public class TeFlowiseController extends BaseController {
    public AjaxResult actionStop() {
        return AjaxResult.ok(flowiseActionService.actionStop());
    }
-}
+}
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/test/TeTaskConfigInfoController.java
+++ b/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)
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/test/TeTaskInstController.java
+++ b/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));
+    }
+
+}
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/test/TeTaskOrchestrationController.java
+++ b/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 javax.validation.constraints.NotEmpty;
+import jakarta.validation.Valid;
+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);
    }
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/tts/CorpusInfoController.java
+++ b/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;

 /**
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/tts/TtsSynthesizeTaskController.java
+++ b/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;

 /**
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/core/config/OpenApiConfig.java
+++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/core/config/OpenApiConfig.java
@ -0,0 +1,207 @@
+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", "/**");
+    }
+
+    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;
+    }
+}
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/core/config/SwaggerConfig.java
+++ b/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();
-    }
-}
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/service/CameraStreamTicketService.java
+++ b/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) {
+    }
+}
--- a/cmvr-iot-admin/src/main/resources/application-dev.yml
+++ b/cmvr-iot-admin/src/main/resources/application-dev.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
@ -133,7 +133,8 @@ flowise:
  query: http://192.168.0.108:3000/api/v1/executions/
  api-key: pg61JW6W_GXyqmqSoURJ4mlSRrCMRzGLBJli_w3BFkg

-# TTS外部接口配置
-tts:
-  external-api:
-    url: http://192.168.0.102:9003/generate_advanced_audio
+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
--- a/cmvr-iot-admin/src/main/resources/application-devbak.yml
+++ b/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
@ -131,4 +131,4 @@ flowise:
  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
+  api-key: pg61JW6W_GXyqmqSoURJ4mlSRrCMRzGLBJli_w3BFkg
--- a/cmvr-iot-admin/src/main/resources/application-druid.yml
+++ b/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
--- a/cmvr-iot-admin/src/main/resources/application-prod.yml
+++ b/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
@ -131,4 +131,10 @@ flowise:
  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
+  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
--- a/cmvr-iot-admin/src/main/resources/application-prodbak.yml
+++ b/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
--- a/cmvr-iot-admin/src/main/resources/application-test.yml
+++ b/cmvr-iot-admin/src/main/resources/application-test.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
@ -131,4 +131,10 @@ flowise:
  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
+  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
--- a/cmvr-iot-admin/src/main/resources/application.yml
+++ b/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:
+  inspection:
+    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
--- a/cmvr-iot-admin/src/main/resources/db/notice-schema.sql
+++ b/cmvr-iot-admin/src/main/resources/db/notice-schema.sql
@ -0,0 +1,9 @@
+CREATE TABLE IF NOT EXISTS sys_notice_read (
+    read_id BIGINT NOT NULL AUTO_INCREMENT,
+    notice_id INT NOT NULL,
+    user_id BIGINT NOT NULL,
+    read_time DATETIME NOT NULL,
+    PRIMARY KEY (read_id),
+    UNIQUE KEY uk_user_notice (user_id, notice_id),
+    KEY idx_notice_id (notice_id)
+) ENGINE=InnoDB DEFAULT CHARSET=utf8mb4 COMMENT='Notice read records';
--- a/cmvr-iot-aima/pom.xml
+++ b/cmvr-iot-aima/pom.xml
@ -6,7 +6,7 @@
    <parent>
        <groupId>com.cmvr</groupId>
        <artifactId>cmvr-iot</artifactId>
-        <version>3.8.9</version>
+        <version>3.9.2</version>
    </parent>

    <artifactId>cmvr-iot-aima</artifactId>
--- a/cmvr-iot-aima/src/main/java/com/cmvr/aima/domain/AimaTestLog.java
+++ b/cmvr-iot-aima/src/main/java/com/cmvr/aima/domain/AimaTestLog.java
@ -2,6 +2,7 @@ package com.cmvr.aima.domain;

 import com.baomidou.mybatisplus.annotation.IdType;
 import com.baomidou.mybatisplus.annotation.TableId;
+import com.baomidou.mybatisplus.annotation.TableField;
 import io.swagger.annotations.ApiModel;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.*;
@ -46,6 +47,18 @@ public class AimaTestLog extends BaseEntity
    @ApiModelProperty("测试用例ID")
    private String testCaseId;

+    /** 工作流检测项 ID，仅用于接口和 WebSocket 展示，不落日志表。 */
+    @TableField(exist = false)
+    private String itemId;
+
+    /** 当前绑定项的执行位置，从 1 开始。 */
+    @TableField(exist = false)
+    private Integer itemOrder;
+
+    /** 同一检测项在任务中第几次出现。 */
+    @TableField(exist = false)
+    private Integer itemOccurrence;
+
    @Excel(name = "用例名称")
    @ApiModelProperty("用例名称")
    private String caseName;
--- a/cmvr-iot-aima/src/main/java/com/cmvr/aima/domain/vo/AimaTaskStartVO.java
+++ b/cmvr-iot-aima/src/main/java/com/cmvr/aima/domain/vo/AimaTaskStartVO.java
@ -0,0 +1,24 @@
+package com.cmvr.aima.domain.vo;
+
+import com.alibaba.fastjson2.JSONObject;
+import com.cmvr.test.model.vo.ResourceRuntimeAssignmentVO;
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+@Data
+@ApiModel("爱玛任务启动参数")
+public class AimaTaskStartVO {
+
+    @ApiModelProperty("兼容单机器人执行ID")
+    private String robotId;
+
+    @ApiModelProperty("机器人角色运行分配")
+    private List<ResourceRuntimeAssignmentVO> runtimeAssignments = new ArrayList<>();
+
+    @ApiModelProperty("按检测项和出现序号组织的本次运行参数")
+    private JSONObject runParams = new JSONObject();
+}
--- a/cmvr-iot-aima/src/main/java/com/cmvr/aima/listener/AimaFlowExecutionListener.java
+++ b/cmvr-iot-aima/src/main/java/com/cmvr/aima/listener/AimaFlowExecutionListener.java
@ -1,16 +1,21 @@
 package com.cmvr.aima.listener;

 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson2.JSONObject;
 import com.cmvr.common.utils.DateUtils;
 import com.cmvr.framework.websocket.service.MessagePushService;
 import com.cmvr.aima.domain.AimaTaskInstance;
 import com.cmvr.aima.domain.AimaTestLog;
 import com.cmvr.aima.enums.AimaTaskStatusEnum;
 import com.cmvr.aima.service.IAimaTaskInstanceService;
+import com.cmvr.aima.service.IAimaTaskService;
 import com.cmvr.aima.service.IAimaTestLogService;
+import com.cmvr.aima.support.AimaLogExecutionContext;
+import com.cmvr.aima.support.AimaAnalysisVerdict;
 import com.cmvr.test.flow.runtime.event.FlowExecutionEvent;
 import com.cmvr.test.flow.runtime.event.FlowExecutionListener;
 import com.cmvr.test.flow.runtime.event.FlowExecutionModuleCodes;
+import com.cmvr.test.flow.runtime.operator.FlowMediaParamResolver;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;

@ -28,18 +33,23 @@ import java.util.*;
 public class AimaFlowExecutionListener implements FlowExecutionListener {
    private final IAimaTaskInstanceService aimaTaskInstanceService;
    private final IAimaTestLogService aimaTestLogService;
+    private final IAimaTaskService aimaTaskService;
    private final MessagePushService messagePushService;

    /** key:itemId, value:已完成节点集合 */
-    private final Map<String, Set<String>> itemNodeExecutMap = new HashMap<>();
+    private final Map<String, Set<String>> itemNodeExecutMap = new java.util.concurrent.ConcurrentHashMap<>();
    /** key:taskInsId(流程实例id), value:已执行item集合 */
-    private final Map<String, Set<String>> taskItemExecutMap = new HashMap<>();
+    private final Map<String, Set<String>> taskItemExecutMap = new java.util.concurrent.ConcurrentHashMap<>();
+    /** key: flow instance ID, value: test case IDs in binding order. */
+    private final Map<String, List<String>> taskCaseBindingMap = new java.util.concurrent.ConcurrentHashMap<>();

    public AimaFlowExecutionListener(IAimaTaskInstanceService aimaTaskInstanceService,
                                     IAimaTestLogService aimaTestLogService,
+                                     IAimaTaskService aimaTaskService,
                                     MessagePushService messagePushService) {
        this.aimaTaskInstanceService = aimaTaskInstanceService;
        this.aimaTestLogService = aimaTestLogService;
+        this.aimaTaskService = aimaTaskService;
        this.messagePushService = messagePushService;
    }

@ -60,17 +70,17 @@ public class AimaFlowExecutionListener implements FlowExecutionListener {
        // 1.节点完成才记录当前item下node
        if (StrUtil.isNotBlank(itemId) && StrUtil.isNotBlank(nodeId)
                && FlowExecutionEvent.EventType.NODE_COMPLETED == event.getEventType()) {
-            itemNodeExecutMap.computeIfAbsent(itemId, k -> new HashSet<>()).add(nodeId);
+            itemNodeExecutMap.computeIfAbsent(itemExecutionKey(instId, event),
+                    k -> java.util.concurrent.ConcurrentHashMap.newKeySet()).add(nodeId);
        }
        // 任意事件：当前任务绑定item（item一启动就入Map）
        if (StrUtil.isNotBlank(instId) && StrUtil.isNotBlank(itemId)) {
-            taskItemExecutMap.computeIfAbsent(instId, k -> new HashSet<>()).add(itemId);
+            taskItemExecutMap.computeIfAbsent(instId,
+                    k -> java.util.concurrent.ConcurrentHashMap.newKeySet()).add(itemExecutionKey(instId, event));
        }

        // 查询任务实例
-        AimaTaskInstance taskInstance = aimaTaskInstanceService.lambdaQuery()
-                .eq(AimaTaskInstance::getTaskInsId, instId)
-                .one();
+        AimaTaskInstance taskInstance = findTaskInstance(instId);
        if (taskInstance == null) {
            log.warn("未查询到爱玛测试实例,taskInsId:{}", instId);
            return;
@ -78,6 +88,7 @@ public class AimaFlowExecutionListener implements FlowExecutionListener {

        int targetStatus = AimaTaskStatusEnum.RUNNING.getCode();
        boolean needUpdateDb = false;
+        String terminalMessage = null;
        Date now = DateUtils.getNowDate();
        
        switch (event.getEventType()) {
@ -85,12 +96,20 @@ public class AimaFlowExecutionListener implements FlowExecutionListener {
                targetStatus = AimaTaskStatusEnum.SUCCESS.getCode();
                needUpdateDb = true;
                clearCache(instId);
-                pushCompleteMsg(taskInstance.getId(), now, targetStatus);
+                terminalMessage = "任务执行完成";
                break;
            case TASK_FAILED:
                targetStatus = AimaTaskStatusEnum.FAILED.getCode();
                needUpdateDb = true;
                clearCache(instId);
+                terminalMessage = StrUtil.isBlank(event.getErrorMessage())
+                        ? "任务执行失败" : "任务执行失败：" + event.getErrorMessage();
+                break;
+            case TASK_STOPPED:
+                targetStatus = AimaTaskStatusEnum.STOPPED.getCode();
+                needUpdateDb = true;
+                clearCache(instId);
+                terminalMessage = "任务已终止";
                break;
            case NODE_COMPLETED:
            default:
@ -102,6 +121,10 @@ public class AimaFlowExecutionListener implements FlowExecutionListener {
            taskInstance.setEndTime(now);
            aimaTaskInstanceService.updateById(taskInstance);
        }
+        if (terminalMessage != null) {
+            pushTerminalMsg(taskInstance.getId(), now, targetStatus, terminalMessage,
+                    event.getErrorMessage());
+        }

        // 节点推送 - 记录日志
        if (StrUtil.isNotBlank(nodeId)) {
@ -114,11 +137,14 @@ public class AimaFlowExecutionListener implements FlowExecutionListener {
                int finishedItemNum = itemTotal - 1;

                // 当前item已完成节点数
-                Set<String> finishedNodeSet = itemNodeExecutMap.getOrDefault(itemId, new HashSet<>());
+                Set<String> finishedNodeSet = itemNodeExecutMap.getOrDefault(itemExecutionKey(instId, event), new HashSet<>());
                int finishedNode = finishedNodeSet.size();
                int totalNode = event.getNodeCount() == 0 ? 1 : event.getNodeCount();

                // 已完整跑完用例占比
+                if (event.getItemOrder() != null && event.getItemOrder() > 0) {
+                    finishedItemNum = event.getItemOrder() - 1;
+                }
                double itemTotalRatio = finishedItemNum / (double) totalCases;
                // 当前运行item内部节点占比
                double innerRatio = finishedNode / (double) totalNode / totalCases;
@ -130,24 +156,52 @@ public class AimaFlowExecutionListener implements FlowExecutionListener {
                progress = (itemTotalRatio + innerRatio) * 100;
            }

-            String info = event.getEventType() == FlowExecutionEvent.EventType.NODE_STARTED ? "开始执行" : "执行完成";
+            String info = event.getEventType() == FlowExecutionEvent.EventType.NODE_STARTED
+                    ? "开始执行"
+                    : event.getEventType() == FlowExecutionEvent.EventType.NODE_FAILED
+                    ? "执行失败" : "执行完成";
+            int nodeLogStatus = event.getEventType() == FlowExecutionEvent.EventType.NODE_FAILED
+                    ? AimaTaskStatusEnum.FAILED.getCode() : targetStatus;
            String logId = UUID.randomUUID().toString().replace("-", "");
            // 四舍五入保留2位小数
            progress = Math.round(progress * 100) / 100.0;
-            
+            JSONObject outputParams = event.getOutputParams();
+            boolean nodeFailed = event.getEventType() == FlowExecutionEvent.EventType.NODE_FAILED;
+            String nodeError = nodeFailed ? StrUtil.trim(event.getErrorMessage()) : null;
+            JSONObject logOutputParams = outputParams == null
+                    ? new JSONObject() : JSONObject.parseObject(outputParams.toJSONString());
+            if (StrUtil.isNotBlank(nodeError)) {
+                logOutputParams.put("errorMessage", nodeError);
+            }
+            String imageUrl = FlowMediaParamResolver.lastUrl(outputParams, "imageUrl");
+            String videoUrl = FlowMediaParamResolver.lastUrl(outputParams, "videoUrl");
+            String testCaseId = resolveTestCaseId(instId, taskInstance.getTaskId(), event);
+            // 获取casename
+            String casename = aimaTaskService.getCaseName(testCaseId);
            // 保存日志到数据库
            AimaTestLog testLog = AimaTestLog.builder()
                    .id(logId)
                    .taskInstanceId(taskInstance.getId())
                    .taskId(taskInstance.getTaskId())
-                    .testCaseId(itemId)
-                    .logLevel("INFO")
-                    .logType("执行日志")
-                    .logContent("节点【" + event.getNodeName() + "】" + info)
+                    .testCaseId(testCaseId)
+                    .caseName(casename)
+                    .itemId(itemId)
+                    .itemOrder(event.getItemOrder())
+                    .itemOccurrence(event.getItemOccurrence())
+                    .logLevel(nodeFailed ? "ERROR" : "INFO")
+                    .logType(nodeFailed ? "异常日志" : "执行日志")
+                    .logContent("节点【" + event.getNodeName() + "】" + info
+                            + (StrUtil.isBlank(nodeError) ? "" : "：" + StrUtil.sub(nodeError, 0, 300)))
+                    .actualResult(AimaLogExecutionContext.attach(logOutputParams, itemId,
+                            event.getItemOrder(), event.getItemOccurrence(),
+                            event.getEventType().name(), event.getNodeType(), event.getIterations()))
+                    .screenshotUrl(imageUrl)
+                    .videoUrl(videoUrl)
+                    .errorStack(nodeError)
                    .logTime(now)
-                    .status(targetStatus)
+                    .status(nodeLogStatus)
                    .executionStep(event.getNodeName())
-                    .testStatus("0") // 0未执行
+                    .testStatus(AimaAnalysisVerdict.resolve(event.getAction(), outputParams))
                    .durationMs(0L)
                    .progress( progress)
                    .build();
@ -172,30 +226,68 @@ public class AimaFlowExecutionListener implements FlowExecutionListener {
        Set<String> itemList = taskItemExecutMap.getOrDefault(taskInsId, new HashSet<>());
        itemList.forEach(itemNodeExecutMap::remove);
        taskItemExecutMap.remove(taskInsId);
+        taskCaseBindingMap.remove(taskInsId);
+    }
+
+    private String itemExecutionKey(String taskInsId, FlowExecutionEvent event) {
+        if (event.getItemOrder() != null && event.getItemOrder() > 0) {
+            return taskInsId + "|" + event.getItemOrder();
+        }
+        return taskInsId + "|" + event.getItemId();
+    }
+
+    private AimaTaskInstance findTaskInstance(String taskInsId) {
+        for (int attempt = 0; attempt < 5; attempt++) {
+            AimaTaskInstance instance = aimaTaskInstanceService.lambdaQuery()
+                    .eq(AimaTaskInstance::getTaskInsId, taskInsId)
+                    .one();
+            if (instance != null) {
+                return instance;
+            }
+            try {
+                Thread.sleep(50L);
+            } catch (InterruptedException exception) {
+                Thread.currentThread().interrupt();
+                return null;
+            }
+        }
+        return null;
+    }
+
+    private String resolveTestCaseId(String taskInsId, String taskId, FlowExecutionEvent event) {
+        if (event.getItemOrder() == null || event.getItemOrder() < 1) {
+            return event.getItemId();
+        }
+        List<String> testCaseIds = taskCaseBindingMap.computeIfAbsent(taskInsId,
+                key -> aimaTaskService.getTestCaseIds(taskId).stream().map(testCase -> testCase.getId()).toList());
+        int index = event.getItemOrder() - 1;
+        return index < testCaseIds.size() ? testCaseIds.get(index) : event.getItemId();
    }

    /**
-     * 推送完成任务信息
+     * 保存并推送任务终态信息
     */
-    public void pushCompleteMsg(String dbInsId, Date now, int targetStatus) {
+    public void pushTerminalMsg(String dbInsId, Date now, int targetStatus,
+                                String message, String errorMessage) {
        String logId = UUID.randomUUID().toString().replace("-", "");

-        // 保存完成日志
+        // 保存终态日志
        AimaTestLog testLog = AimaTestLog.builder()
                .id(logId)
                .taskInstanceId(dbInsId)
                .logLevel("INFO")
                .logType("系统日志")
-                .logContent("任务执行完成")
+                .logContent(message)
+                .errorStack(errorMessage)
                .logTime(now)
                .status(targetStatus)
                .build();

        try {
            aimaTestLogService.insertAimaTestLog(testLog);
-            log.info("任务完成日志保存成功,logId:{},taskInstanceId:{}", logId, dbInsId);
+            log.info("任务终态日志保存成功,logId:{},taskInstanceId:{},status:{}", logId, dbInsId, targetStatus);
        } catch (Exception e) {
-            log.error("任务完成日志保存失败,taskInstanceId:{}", dbInsId, e);
+            log.error("任务终态日志保存失败,taskInstanceId:{},status:{}", dbInsId, targetStatus, e);
        }
        try {
            messagePushService.pushToChannel("AimaTaskInstance", testLog);
--- a/cmvr-iot-aima/src/main/java/com/cmvr/aima/mapper/AimaTaskTestCaseMapper.java
+++ b/cmvr-iot-aima/src/main/java/com/cmvr/aima/mapper/AimaTaskTestCaseMapper.java
@ -5,6 +5,7 @@ import java.util.List;
 import com.github.yulichang.base.MPJBaseMapper;
 import org.apache.ibatis.annotations.Param;
 import com.cmvr.aima.domain.AimaTaskTestCase;
+import com.cmvr.aima.domain.AimaTestCase;

 /**
 * 爱玛任务与测试用例关联Mapper接口
@ -38,6 +39,9 @@ public interface AimaTaskTestCaseMapper extends MPJBaseMapper<AimaTaskTestCase>
     */
    List<String> selectTestCaseIdsByTaskId(String taskId);

+    /** 按任务中的位置查询用例，重复用例会返回多条独立记录。 */
+    List<AimaTestCase> selectTestCasesByTaskId(String taskId);
+
    /**
     * 批量删除任务-测试用例关联
     * 
--- a/cmvr-iot-aima/src/main/java/com/cmvr/aima/service/IAimaTaskInstanceService.java
+++ b/cmvr-iot-aima/src/main/java/com/cmvr/aima/service/IAimaTaskInstanceService.java
@ -2,10 +2,11 @@ package com.cmvr.aima.service;

 import java.util.List;

-import com.baomidou.mybatisplus.extension.service.IService;
+import com.baomidou.mybatisplus.spring.service.IService;
 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;

 /**
 * 爱玛任务执行实例Service接口
@ -28,7 +29,10 @@ public interface IAimaTaskInstanceService  extends IService<AimaTaskInstance> {
     * @param id 任务实例ID
     * @return 结果
     */
-    int startInstance(String id);
+    int startInstance(String id, AimaTaskStartVO startVO);
+
+    /** 按历史执行参数创建并启动一个新的爱玛任务实例。 */
+    String rerunInstance(String id);

    /**
     * 暂停任务实例
--- a/cmvr-iot-aima/src/main/java/com/cmvr/aima/service/IAimaTaskService.java
+++ b/cmvr-iot-aima/src/main/java/com/cmvr/aima/service/IAimaTaskService.java
@ -16,6 +16,7 @@ public interface IAimaTaskService {
    List<AimaTask> selectAimaTaskList(AimaTask aimaTask);
    List<AimaTaskVo> selectAimaTaskVoList(AimaTask aimaTask);
    int insertAimaTask(AimaTask aimaTask);
+    String copyAimaTask(String id);
    int updateAimaTask(AimaTask aimaTask);
    int deleteAimaTaskByIds(String[] ids);
    int deleteAimaTaskById(String id);
@ -35,4 +36,6 @@ public interface IAimaTaskService {
     * @return 测试用例ID列表
     */
    List<AimaTestCase> getTestCaseIds(String taskId);
+
+    String getCaseName(String testCaseId);
 }
--- a/cmvr-iot-aima/src/main/java/com/cmvr/aima/service/IAimaTestCaseService.java
+++ b/cmvr-iot-aima/src/main/java/com/cmvr/aima/service/IAimaTestCaseService.java
@ -43,6 +43,9 @@ public interface IAimaTestCaseService {
     */
    int insertAimaTestCase(AimaTestCase aimaTestCase);

+    /** Copy a test case and its independent detection item. */
+    String copyAimaTestCase(String id);
+
    /**
     * 修改爱玛测试用例
     * 
--- a/cmvr-iot-aima/src/main/java/com/cmvr/aima/service/impl/AimaAlarmServiceImpl.java
+++ b/cmvr-iot-aima/src/main/java/com/cmvr/aima/service/impl/AimaAlarmServiceImpl.java
@ -2,7 +2,7 @@ package com.cmvr.aima.service.impl;

 import java.util.List;
 import java.util.UUID;
-import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.baomidou.mybatisplus.spring.service.impl.ServiceImpl;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 import com.cmvr.common.utils.DateUtils;
--- a/cmvr-iot-aima/src/main/java/com/cmvr/aima/service/impl/AimaPhoneServiceImpl.java
+++ b/cmvr-iot-aima/src/main/java/com/cmvr/aima/service/impl/AimaPhoneServiceImpl.java
@ -2,7 +2,7 @@ package com.cmvr.aima.service.impl;

 import java.util.List;
 import java.util.UUID;
-import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.baomidou.mybatisplus.spring.service.impl.ServiceImpl;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 import com.cmvr.common.utils.DateUtils;
--- a/cmvr-iot-aima/src/main/java/com/cmvr/aima/service/impl/AimaTaskInstanceServiceImpl.java
+++ b/cmvr-iot-aima/src/main/java/com/cmvr/aima/service/impl/AimaTaskInstanceServiceImpl.java
@ -2,16 +2,19 @@ package com.cmvr.aima.service.impl;

 import java.util.List;
 import java.util.UUID;
+import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson2.JSONObject;
-import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.baomidou.mybatisplus.spring.service.impl.ServiceImpl;
 import com.cmvr.aima.domain.dto.AimaTaskInstanceQuery;
 import com.cmvr.aima.domain.vo.AimaTaskInstanceVo;
+import com.cmvr.aima.domain.vo.AimaTaskStartVO;
 import com.cmvr.common.exception.ServiceException;
 import com.cmvr.common.utils.SecurityUtils;
 import com.cmvr.test.flow.control.FlowControlService;
 import com.cmvr.test.flow.runtime.engine.FlowTaskRuntimeService;
 import com.cmvr.test.flow.runtime.event.FlowExecutionModuleCodes;
 import com.cmvr.test.model.vo.TeTaskExecuteNormalVO;
+import com.cmvr.test.model.vo.TeTaskOrchestraVO;
 import com.cmvr.test.service.ITeTaskOrchestrationService;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.context.annotation.Lazy;
@ -24,6 +27,9 @@ import com.cmvr.aima.enums.AimaTaskStatusEnum;
 import com.cmvr.aima.service.IAimaTaskService;
 import com.cmvr.aima.domain.AimaTask;
 import org.springframework.transaction.annotation.Transactional;
+import java.util.stream.Collectors;
+import java.util.HashMap;
+import java.util.Map;

 /**
 * 爱玛任务执行实例Service业务层处理
@ -119,7 +125,7 @@ public class AimaTaskInstanceServiceImpl extends ServiceImpl<AimaTaskInstanceMap
     * 开始执行任务实例
     */
    @Override
-    public int startInstance(String id) {
+    public int startInstance(String id, AimaTaskStartVO startVO) {
        AimaTaskInstance instance = aimaTaskInstanceMapper.selectAimaTaskInstanceById(id);
        if (instance == null) {
            throw new ServiceException("任务实例不存在");
@ -137,17 +143,44 @@ public class AimaTaskInstanceServiceImpl extends ServiceImpl<AimaTaskInstanceMap

        
        AimaTask aimaTask = aimaTaskService.selectAimaTaskById(instance.getTaskId());
-        JSONObject runParams = new JSONObject();
-        // 从test模块的任务编排中获取所有的检测项id
-        if (aimaTask != null && aimaTask.getTaskConfigId() != null) {
-            teTaskOrchestrationService.queryByTaskId(aimaTask.getTaskConfigId())
-                .forEach(item -> runParams.put(item.getItemId(), new JSONObject()));
+        if (aimaTask == null || StrUtil.isBlank(aimaTask.getTaskConfigId())) {
+            throw new ServiceException("智能测试任务没有关联流程编排");
        }
+        List<String> orderedItemIds = aimaTaskService.getTestCaseIds(instance.getTaskId()).stream()
+                .map(com.cmvr.aima.domain.AimaTestCase::getDetectItemId)
+                .filter(StrUtil::isNotBlank)
+                .collect(Collectors.toList());
+        if (orderedItemIds.isEmpty()) {
+            throw new ServiceException("智能测试任务没有绑定可执行的测试用例");
+        }
+        teTaskOrchestrationService.insertTeTaskOrchestration(TeTaskOrchestraVO.builder()
+                .taskId(aimaTask.getTaskConfigId())
+                .itemIds(orderedItemIds)
+                .build());
+        JSONObject runParams = new JSONObject();
+        JSONObject requestedRunParams = startVO == null ? null : startVO.getRunParams();
+        Map<String, Integer> itemOccurrences = new HashMap<>();
+        // 从test模块的任务编排中获取所有的检测项id
+        teTaskOrchestrationService.queryByTaskId(aimaTask.getTaskConfigId()).forEach(item -> {
+            int occurrence = itemOccurrences.merge(item.getItemId(), 1, Integer::sum);
+            JSONObject submitted = requestedRunParams == null ? null
+                    : requestedRunParams.getJSONObject(item.getItemId() + ":" + occurrence);
+            if (submitted == null && requestedRunParams != null) {
+                submitted = requestedRunParams.getJSONObject(item.getItemId());
+            }
+            JSONObject itemParams = submitted == null ? new JSONObject() : new JSONObject(submitted);
+            itemParams.put("phoneId", instance.getPhoneId());
+            itemParams.put("vehicleId", instance.getVehicleId());
+            itemParams.put("taskInstanceId", instance.getId());
+            runParams.put(item.getItemId() + ":" + occurrence, itemParams);
+        });
        // 调用流程引擎执行
        String insId = flowTaskRuntimeService.executeTask(
            TeTaskExecuteNormalVO.builder()
                .taskId(aimaTask.getTaskConfigId())
                .moduleCode(FlowExecutionModuleCodes.AIMA)
+                .robotId(startVO == null ? null : startVO.getRobotId())
+                .runtimeAssignments(startVO == null ? null : startVO.getRuntimeAssignments())
                .runParams(runParams)
                .build()
        );
@ -155,6 +188,36 @@ public class AimaTaskInstanceServiceImpl extends ServiceImpl<AimaTaskInstanceMap
        return aimaTaskInstanceMapper.updateAimaTaskInstance(update);
    }

+    @Override
+    public String rerunInstance(String id) {
+        AimaTaskInstance source = aimaTaskInstanceMapper.selectAimaTaskInstanceById(id);
+        if (source == null) {
+            throw new ServiceException("任务实例不存在");
+        }
+        if (AimaTaskStatusEnum.SUCCESS.getCode() != source.getStatus()
+                && AimaTaskStatusEnum.FAILED.getCode() != source.getStatus()) {
+            throw new ServiceException("只有已完成或失败的任务才能再次执行");
+        }
+        if (StrUtil.isBlank(source.getTaskInsId())) {
+            throw new ServiceException("历史任务没有执行参数快照，无法再次执行");
+        }
+        TeTaskExecuteNormalVO snapshot = flowTaskRuntimeService.loadExecutionRequest(source.getTaskInsId());
+        AimaTaskInstance next = new AimaTaskInstance();
+        next.setTaskId(source.getTaskId());
+        next.setPhoneId(source.getPhoneId());
+        next.setVehicleId(source.getVehicleId());
+        next.setExecutionNumber(source.getExecutionNumber() == null ? 1 : source.getExecutionNumber() + 1);
+        next.setRemark(source.getRemark());
+        insertAimaTaskInstance(next);
+
+        AimaTaskStartVO startVO = new AimaTaskStartVO();
+        startVO.setRobotId(snapshot.getRobotId());
+        startVO.setRuntimeAssignments(snapshot.getRuntimeAssignments());
+        startVO.setRunParams(snapshot.getRunParams());
+        startInstance(next.getId(), startVO);
+        return next.getId();
+    }
+
    /**
     * 暂停任务实例
     */
@ -185,8 +248,12 @@ public class AimaTaskInstanceServiceImpl extends ServiceImpl<AimaTaskInstanceMap
        if (instance == null) {
            throw new ServiceException("任务实例不存在");
        }
-        if (AimaTaskStatusEnum.NOT_STARTED.getCode() != instance.getStatus() 
-            && AimaTaskStatusEnum.RUNNING.getCode() != instance.getStatus()) {
+        if (AimaTaskStatusEnum.STOPPED.getCode() == instance.getStatus()) {
+            return 1;
+        }
+        if (AimaTaskStatusEnum.NOT_STARTED.getCode() != instance.getStatus()
+            && AimaTaskStatusEnum.RUNNING.getCode() != instance.getStatus()
+            && AimaTaskStatusEnum.PAUSED.getCode() != instance.getStatus()) {
            throw new ServiceException("已完成或已取消的任务实例不能终止");
        }
        AimaTaskInstance update = new AimaTaskInstance();
@ -195,7 +262,9 @@ public class AimaTaskInstanceServiceImpl extends ServiceImpl<AimaTaskInstanceMap
        update.setEndTime(DateUtils.getNowDate());
        update.setUpdateTime(DateUtils.getNowDate());
        update.setUpdateBy(SecurityUtils.getUsername());
-        flowControlService.stop(instance.getTaskInsId());
+        if (instance.getTaskInsId() != null && !instance.getTaskInsId().isBlank()) {
+            flowControlService.stop(instance.getTaskInsId());
+        }
        return aimaTaskInstanceMapper.updateAimaTaskInstance(update);
    }

--- a/cmvr-iot-aima/src/main/java/com/cmvr/aima/service/impl/AimaTaskServiceImpl.java
+++ b/cmvr-iot-aima/src/main/java/com/cmvr/aima/service/impl/AimaTaskServiceImpl.java
@ -6,8 +6,7 @@ import java.util.List;
 import java.util.UUID;
 import java.util.stream.Collectors;

-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.baomidou.mybatisplus.spring.service.impl.ServiceImpl;
 import com.cmvr.aima.domain.AimaTaskTestCase;
 import com.cmvr.aima.domain.AimaTestCase;
 import com.cmvr.aima.domain.vo.AimaTaskVo;
@ -19,6 +18,7 @@ import com.cmvr.test.service.ITeTaskOrchestrationService;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 import com.cmvr.common.utils.DateUtils;
+import com.cmvr.common.utils.EntityCopyUtils;
 import com.cmvr.common.utils.SecurityUtils;
 import com.cmvr.aima.mapper.AimaTaskMapper;
 import com.cmvr.aima.mapper.AimaTaskTestCaseMapper;
@ -76,6 +76,39 @@ public class AimaTaskServiceImpl extends ServiceImpl<AimaTaskMapper, AimaTask> i
        return aimaTaskMapper.insertAimaTask(aimaTask);
    }

+    @Override
+    @Transactional(rollbackFor = Exception.class)
+    public String copyAimaTask(String id) {
+        AimaTask source = aimaTaskMapper.selectAimaTaskById(id);
+        if (source == null) {
+            throw new IllegalArgumentException("爱玛任务不存在: " + id);
+        }
+        if (source.getTaskConfigId() == null || source.getTaskConfigId().isEmpty()) {
+            throw new IllegalStateException("爱玛任务未关联任务配置，无法完整复制: " + id);
+        }
+
+        String copiedConfigId = teTaskConfigInfoService.copyTeTaskConfigInfo(source.getTaskConfigId());
+        AimaTask copy = new AimaTask();
+        copy.setId(UUID.randomUUID().toString().replace("-", ""));
+        copy.setTaskCode(EntityCopyUtils.copyCode(source.getTaskCode(), 50));
+        copy.setTaskName(EntityCopyUtils.copyName(source.getTaskName(), 100));
+        copy.setTaskType(source.getTaskType());
+        copy.setPhoneId(source.getPhoneId());
+        copy.setVehicleId(source.getVehicleId());
+        copy.setTestCaseCount(0);
+        copy.setTaskConfigId(copiedConfigId);
+        copy.setRemark(source.getRemark());
+        copy.setCreateTime(DateUtils.getNowDate());
+        copy.setCreateBy(SecurityUtils.getUsername());
+        aimaTaskMapper.insertAimaTask(copy);
+
+        List<String> testCaseIds = aimaTaskTestCaseMapper.selectTestCasesByTaskId(id).stream()
+                .map(AimaTestCase::getId)
+                .collect(Collectors.toList());
+        bindTestCases(copy.getId(), testCaseIds);
+        return copy.getId();
+    }
+
    @Override
    public int updateAimaTask(AimaTask aimaTask) {
        aimaTask.setUpdateTime(DateUtils.getNowDate());
@ -111,6 +144,21 @@ public class AimaTaskServiceImpl extends ServiceImpl<AimaTaskMapper, AimaTask> i

    @Override
    public void bindTestCases(String taskId, List<String> testCaseIds) {
+        aimaTaskTestCaseMapper.deleteTaskTestCaseByTaskId(taskId);
+        AimaTask existingTask = aimaTaskMapper.selectAimaTaskById(taskId);
+        if (existingTask == null) {
+            throw new IllegalArgumentException("任务不存在: " + taskId);
+        }
+        if (testCaseIds == null || testCaseIds.isEmpty()) {
+            AimaTask emptyTask = new AimaTask();
+            emptyTask.setId(taskId);
+            emptyTask.setTestCaseCount(0);
+            aimaTaskMapper.updateAimaTask(emptyTask);
+            if (existingTask.getTaskConfigId() != null) {
+                teTaskOrchestrationService.deleteByTaskId(existingTask.getTaskConfigId());
+            }
+            return;
+        }
        // 先删除旧的关联
        aimaTaskTestCaseMapper.deleteTaskTestCaseByTaskId(taskId);
        
@ -121,7 +169,7 @@ public class AimaTaskServiceImpl extends ServiceImpl<AimaTaskMapper, AimaTask> i
                AimaTaskTestCase taskTestCase = new AimaTaskTestCase();
                taskTestCase.setTaskId(taskId);
                taskTestCase.setTestCaseId(testCaseIds.get(i));
-                taskTestCase.setSortOrder(i);
+                taskTestCase.setSortOrder(i + 1);
                list.add(taskTestCase);
            }
            aimaTaskTestCaseMapper.batchInsertTaskTestCase(list);
@ -133,27 +181,34 @@ public class AimaTaskServiceImpl extends ServiceImpl<AimaTaskMapper, AimaTask> i
            aimaTaskMapper.updateAimaTask(task);
            
            // 查询测试用例，获取detectItemId列表
-            List<AimaTestCase> testCases = aimaTestCaseMapper.selectBatchIds(testCaseIds);
+            List<AimaTestCase> testCases = getTestCaseIds(taskId);
            List<String> detectItemIds = testCases.stream()
                .map(AimaTestCase::getDetectItemId)
                .filter(itemId -> itemId != null && !itemId.isEmpty())
                .collect(Collectors.toList());
            
            // 同步任务编排到test模块
-            if (!detectItemIds.isEmpty()) {
-                AimaTask aimaTask = aimaTaskMapper.selectAimaTaskById(taskId);
+            if (!detectItemIds.isEmpty() && existingTask.getTaskConfigId() != null) {
                TeTaskOrchestraVO teTaskOrchestraVO = TeTaskOrchestraVO.builder()
-                    .taskId(aimaTask.getTaskConfigId())
+                    .taskId(existingTask.getTaskConfigId())
                    .itemIds(detectItemIds)
                    .build();
                teTaskOrchestrationService.insertTeTaskOrchestration(teTaskOrchestraVO);
+            } else if (existingTask.getTaskConfigId() != null) {
+                teTaskOrchestrationService.deleteByTaskId(existingTask.getTaskConfigId());
            }
        }
    }

    @Override
    public List<AimaTestCase> getTestCaseIds(String taskId) {
-        List<String> ids = aimaTaskTestCaseMapper.selectTestCaseIdsByTaskId(taskId);
-        return aimaTestCaseMapper.selectList(new QueryWrapper<AimaTestCase>().in("id", ids));
+        return aimaTaskTestCaseMapper.selectTestCasesByTaskId(taskId);
+    }
+
+    @Override
+    public String getCaseName(String testCaseId) {
+        AimaTestCase aimaTestCase = aimaTestCaseMapper.selectAimaTestCaseById(testCaseId);
+
+        return aimaTestCase != null ? aimaTestCase.getCaseName() : null;
    }
 }
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
lixiaolong	61bb2b4a59	feat(service): 升级AI分析服务支持图像分析和视频详细输出 - 移除Ollama相关配置和回退机制，统一使用SGLang作为视觉模型提供商 - 添加IMAGE_ANALYSIS类型支持，允许对多张图片进行分析 - 实现视频分析的详细输出模式，支持紧凑和详细两种结果格式 - 更新环境变量配置，添加VIDEO_MODEL_FRAME_LIMIT和MAX_IMAGE_BYTES - 修改compose配置文件中的上下文长度和内存分配参数 - 重构视频采样逻辑，限制单次请求帧数以优化显存使用 - 更新API接口文档，添加mediaUrls参数和详细输出选项说明 - 添加图像分析相关的依赖库opencv-python-headless - 实现结构化JSON响应格式验证和重试机制	2026-08-21 16:19:34 +08:00
lixiaolong	0948d73a62	feat(flow): 添加子流程功能支持和循环迭代追踪 - 新增 SUB_FLOW 类型枚举值用于标识子流程节点 - 实现子流程异步媒体分析协调器管理机制 - 添加循环迭代路径追踪到执行上下文日志 - 增强流程控制服务支持嵌套子流程暂停恢复 - 实现子流程作用域内异步任务等待和取消功能 - 优化循环体多入口独立执行线程调度机制 - 添加节点参数循环引用检测验证机制 - 支持遗留循环参数值解析兼容性处理 - 配置虚拟机器人ID列表绕过在线检查机制	2026-08-21 11:48:52 +08:00
lixiaolong	6e01f6888b	feat(workflow): 实现工作流版本管理功能 - 将检测项流程数据存储分离为草稿和发布版本两个概念 - 添加 TeDetectionItemVersion 实体用于存储不可变的工作流发布版本 - 实现工作流草稿保存、版本发布、版本回退等功能 - 在任务执行时验证检测项是否已发布，防止使用未发布流程 - 添加 TeTaskInstFlowVersion 表记录任务实例关联的具体版本清单 - 重构 TeFlowController 控制器接口，支持草稿保存和版本管理操作 - 更新数据库表结构，添加版本控制相关字段和约束	2026-08-20 14:04:21 +08:00
lixiaolong	05f695c93c	feat(agv): 添加AGV重定位功能并扩展导航选项 - 新增AgvRelocalizeCommand消息定义，支持在当前活动地图中重新设置AGV定位位姿 - 在AgvService服务中添加relocalize RPC方法，调用前需确保AGV已停止 - 生成相应的Java gRPC服务端和客户端代码实现 - 扩展AgvMotionOptions添加blocked_timeout_ms参数，用于设置连续遇障时最大等待时间 - 更新导航等待工具类支持传入运动选项参数	2026-08-20 12:31:29 +08:00
lixiaolong	53ed826480	feat(llm): 添加通用图片分析功能并优化边缘系统安全状态恢复 - 新增 IMAGE_ANALYZE 动作类型支持通用图片分析 - 实现图片分析操作服务支持单张及多图片分析 - 添加图片分析的提示词、参考图片和调优参数配置 - 集成 MinIO 服务上传功能支持唯一文件名生成 - 添加 FlowMediaParamResolver 支持 URL 数组解析 - 实现边缘系统恢复运行状态的新 API 接口 - 标记旧的安全状态恢复接口为已弃用 - 更新媒体分析操作服务支持详细的输出选项 - 添加图片分析相关的单元测试验证功能	2026-08-19 15:00:49 +08:00
lixiaolong	937426fcfc	feat(edge): 新增AGV平移和机械臂使能控制功能 - 新增AGV固定距离平移功能，支持指定速度和距离移动 - 新增机械臂使能开启/关闭控制，独立于移动操作 - 新增机械臂厂商扩展JSON指令执行接口 - 新增边缘系统安全状态查询和恢复功能 - 优化任务执行监听器，支持任务终态消息推送和错误处理 - 重构音频事件分类逻辑，支持预期标签匹配验证 - 新增任务日志状态管理和终端消息推送机制	2026-08-18 14:43:43 +08:00
lixiaolong	0b05438712	feat(flow): 添加流程失败清理服务和机械臂使能枚举 - 新增 FlowFailureCleanupService 用于清理设备端和后端媒体状态 - 添加 ARM_ENABLE 和 ARM_DISABLE 枚举值支持机械臂使能控制 - 在 TaskInstHolder 中集成失败清理逻辑 - 实现机器人录音、录像和系统状态的异常清理功能 - 添加 FlowFailureCleanupService 单元测试验证清理逻辑 - 注入 FlowFailureCleanupService 并在任务失败时执行清理操作	2026-08-18 10:19:25 +08:00
lixiaolong	d3498e0178	feat(test): 完善测试任务控制与AI测试日志记录功能 - 在AimaTestLog中添加caseName字段并实现获取方法 - 扩展grpc协议定义包括CommandReasonCode和CommandExecutionState枚举 - 在系统命令中添加安全状态相关字段和操作接口 - 将AGV导航命令改为同步执行模式以提高可靠性 - 添加摄像头和麦克风服务的录像录音中止功能 - 实现测试任务终止时先清理媒体会话再停止设备的安全流程 - 为LLM媒体分析操作添加视频分析模式验证和调优参数支持 - 增加视频分析参数范围校验和测试用例覆盖	2026-08-17 16:58:31 +08:00
lixiaolong	861252f066	fix(flow): 修复流程执行异常处理机制 - 在FlowItemExecutor中添加GlobalException导入并修改分支匹配失败处理逻辑 - 将分支节点未匹配到路径的警告改为抛出异常 - 在FlowTaskAsyncDispatcher中添加异常处理相关依赖注入 - 实现更完善的异常捕获和任务失败标记机制 - 优化中断异常处理确保线程状态正确维护 - 添加任务上下文检查避免重复失败标记	2026-08-14 15:12:11 +08:00
lixiaolong	c4a1266335	fix(flow): 修复任务终止逻辑并实现AGV导航等待功能 - 修复任务实例终止时对STOPPED状态的处理，添加PAUSED状态检查 - 实现AGV导航等待功能，支持超时控制和状态轮询 - 添加应用启动时遗留任务清理机制 - 优化任务终止时对空任务实例ID的检查 - 添加未完成节点记录的状态更新功能 - 实现AGV导航超时后的自动取消机制	2026-08-14 12:37:08 +08:00
lixiaolong	eff8fdd4b6	fix(flow): 修复流程调度器缓存清理逻辑 - 修改 FlowSchedulerCache 中的分隔符从下划线改为冒号 - 在 FlowTaskEngine 中为每个编排项添加调度器去重逻辑 - 移除 TeTaskOrchestrationController 中不必要的分页初始化 - 添加 FlowSchedulerCacheTest 测试用例验证复制节点ID的调度功能	2026-08-14 12:09:02 +08:00
lixiaolong	54220ccaac	fix(flow): 修复边缘操作服务空指针异常 - 在executeEdgeOperateAction方法中添加edgeOperateServices为空检查 - 添加回退逻辑以支持Spring容器外的手动构造调用者 - 添加cmvr-iot-grpc-lib依赖以支持grpc功能 - 移除TaskNodeExecuteMessage中resolvedDeviceBindings的初始化赋值	2026-08-14 09:26:54 +08:00
lixiaolong	1eb1a88870	remove(layout): 删除布局相关组件和配置文件 - 删除了 .gitignore 文件中的构建配置 - 移除了 401 和 404 错误页面组件 - 清理了图标资源文件 - 删除了应用主入口 App.vue 文件 - 移除了应用主视图组件 AppMain.vue - 清理了设备 API 相关文件 - 删除了流程组件 Aside.vue - 移除了音频播放器组件 AudioPlayer.vue - 清理了应用状态管理模块 app.js	2026-08-14 09:10:19 +08:00
lixiaolong	519e4de846	feat(aima): 添加爱玛任务和测试用例复制功能 - 在AimaTaskController中添加/copy/{id}端点支持任务复制 - 在AimaTestCaseController中添加/copy/{id}端点支持用例复制 - 实现AimaTaskServiceImpl.copyAimaTask方法完成任务及关联配置复制 - 实现AimaTestCaseServiceImpl.copyAimaTestCase方法完成用例及检测项复制 - 添加EntityCopyUtils工具类处理复制时的名称和编码生成 - 更新服务接口定义IAimaTaskService和IAimaTestCaseService - 实现完整的事务性复制逻辑包括关联数据的复制 - 添加复制操作的权限验证和日志记录功能	2026-08-14 09:08:18 +08:00
lixiaolong	da679363a7	feat(task): 添加任务实例重新执行功能 - 在AimaTaskInstanceController中添加rerun接口支持爱玛任务重新执行 - 在InspectionTaskInstanceController中添加rerun接口支持巡检任务重新执行 - 在TeTaskInstController中添加rerun接口支持测试任务重新执行 - 实现AimaTaskInstanceService的rerunInstance方法处理爱玛任务重跑逻辑 - 实现InspectionTaskInstanceService的rerunInstance方法处理巡检任务重跑逻辑 - 扩展FlowTaskRuntimeService添加loadExecutionRequest和rerunTask方法 - 修改createAndSaveTaskInstance方法保存执行请求快照到任务实例配置中 - 添加单元测试验证执行请求快照的恢复和向后兼容功能	2026-08-13 17:55:38 +08:00
lixiaolong	c4a9f29780	feat(llm): 添加媒体分析功能支持音视频分类处理 - 新增 LLMMediaAnalysisOperateService 实现 LLM 操作接口 - 实现对音频事件分类和视频分析操作的支持 - 集成 MediaAnalysisClient 客户端进行媒体分析请求 - 添加媒体参数解析器提取音频/视频 URL 地址 - 实现请求上下文构建包含任务ID、节点ID等信息 - 支持视频分析模式设置和指令传递 - 添加分析结果处理和状态回传机制 - 新增 MediaAnalysisClient 接口定义和实现类 - 实现 HTTP 请求封装和认证信息处理 - 添加 API 密钥标准化和错误处理逻辑 - 配置媒体分析服务连接超时和读取超时参数 - 编写单元测试验证音频数组输入映射功能 - 添加视频	2026-08-13 16:37:51 +08:00
lixiaolong	6265db01c7	fix(flow): 解决任务暂停时设备停止和节点退出的同步问题 - 在EdgeSystemServiceImpl中添加响应验证和异常处理 - 实现暂停操作的阻塞等待机制确保设备完全停止 - 添加节点执行完成标记和等待功能 - 优化任务上下文中的暂停状态管理 - 防止恢复操作时新旧节点上下文冲突 - 添加超时控制和异常重试机制	2026-08-13 10:12:14 +08:00
lixiaolong	05992d1980	feat(aima): 实现智能测试任务执行队列和媒体录制功能 - 新增 SYSTEM_EXECUTE_ACTION_QUEUE 枚举值支持边缘设备动作队列执行 - 修改 aima_task_test_case 表主键为 task_id 和 sort_order 组合 - 添加 AimaFlowExecutionListener 监听器实现任务执行进度跟踪 - 引入并发安全的 Map 结构存储任务执行状态避免并发问题 - 实现测试用例绑定顺序管理和执行进度计算逻辑 - 集成 FlowMediaParamResolver 处理图像和视频媒体参数 - 完善 AimaTaskInstanceService 支持测试用例顺序执行 - 添加 AimaTestLog 记录实际执行结果、截图和视频链接 - 更新 EdgeCameraService 支持工作流录像会话管理 - 实现后端本地录像功能包括开始/停止录制操作 - 添加定时清理过期录像会话和 WebSocket 实时推送支持	2026-08-12 17:58:44 +08:00
lixiaolong	18c4d3c0d7	fix(flow): 修复边缘节点执行目标配置验证和解析问题 - 在 EdgeCameraOperateService 中启用视频录制功能并移除硬编码路径 - 为 FlowRuntimeAssignmentResolver 添加节点类型检查避免非边缘节点处理 - 当执行目标为空且运行时分配存在时抛出异常提供明确错误信息 - 在 FlowRuntimeDefinitionValidator 中增强节点验证逻辑确保边缘节点配置完整性 - 添加单元测试验证遗留机器人配置和非机器人节点处理场景 - 修复测试用例中的节点类型配置确保测试准确性	2026-08-11 17:32:10 +08:00
lixiaolong	34ff31366d	feat(task): 支持多机器人角色分配的任务执行功能 - 在任务启动接口中增加 AimaTaskStartVO 和 InspectionTaskStartVO 参数支持 - 实现多机器人角色分配机制，支持运行时动态分配机器人和设备资源 - 添加 FlowRuntimeAssignmentResolver 组件处理节点执行目标解析 - 更新任务执行引擎以支持多机器人并发控制和资源锁定 - 修改数据库约束将机器人设备关联改为唯一索引防止重复绑定 - 增强流程定义验证器确保运行时分配配置的完整性 - 扩展任务上下文管理支持多机器人 ID 和锁键跟踪 - 优化试运行和项目任务执行流程集成新的资源分配逻辑	2026-08-11 16:54:01 +08:00
lixiaolong	1543a6fb9c	feat(agv): 添加AGV固定距离平移功能 - 定义AgvTranslateCommand消息结构，包含请求和反馈 - 添加AgvTranslationMode枚举，支持里程和定位两种距离参考模式 - 定义AgvTranslation消息，包含距离、速度和平移模式参数 - 在AgvService服务中添加translate RPC方法 - 生成Java gRPC客户端和服务端代码实现 - 更新protobuf描述符以包含新的平移命令定义	2026-08-11 15:16:15 +08:00
lixiaolong	c51823801d	fix(flow): 修复任务暂停终止时的节点执行异常处理 - 在 FlowAfterInterceptor 中提前检查任务暂停终止状态并返回 null - 将 TaskContext 获取移至条件判断前避免空指针异常 - 在 FlowExceptionInterceptor 中处理中断异常和暂停终止状态 - 添加对空节点动作和不支持操作类型的校验 - 在 FlowItemExecutor 中增加任务状态检查防止继续执行 - 实现 handleUnsuccessfulResult 方法统一处理执行失败情况 - 添加 notifyFinished 方法确保流程等待器正确释放 - 在 FlowTaskEngine 中增加任务状态检查和资源清理 - 优化 TaskInstHolder 中的状态同步逻辑 - 添加 FlowFunctionNodeHandler 单元测试验证异常处理逻辑	2026-08-07 16:48:58 +08:00
lixiaolong	54df691ea6	feat(inspection): 新增扬声器播放音频功能并优化机器人状态同步机制 - 在 ActionEnum 中添加 SPEAKER_PLAYAUDIO 操作类型 - 配置机器人状态检查任务的启用和时间间隔参数 - 移除应用配置中的废弃TTS外部接口配置 - 实现 EdgeSpeakerOperateService 中的音频播放功能和参数验证 - 重构 FlowActionExecutorService 以支持多种操作类型的服务分发 - 更新数据库表结构中机器人状态字段的含义和注释说明 - 修改 InspectionRobot 实体类中的状态定义和业务编号描述 - 扩展 InspectionRobotMapper 接口以支持运行时状态更新和候选查询 - 实现 InspectionRobotService 中的 AGV 请求构建和状态同步逻辑 - 添加 RobotRuntimeStateRefreshTask 定时任务来同步机器人运行状态 - 修复 InspectionTaskInstanceService 中的重复机器人ID设置问题 - 优化 RobotQuicStateService 中的设备状态判断逻辑	2026-08-07 16:17:12 +08:00
lixiaolong	86a8e02d85	refactor(audio): 将terminalId替换为robotId以统一机器人标识 - 修改AudioService中terminalId为robotId，包括变量声明、参数传递和日志输出 - 更新BaseChannelSubscribeHandler中的注释和参数解析逻辑 - 修改CameraStreamTicketService中的方法参数和记录类定义 - 更新DeRobotConfig文档中的术语描述 - 替换DeviceListController和EdgeAgvController中的terminalId参数为robotId - 修改EdgeAgvServiceImpl中所有方法的参数引用 - 更新EdgeArmController中所有终端ID参数为机器人ID - 修改EdgeArmServiceImpl中所有gRPC客户端调用的参数 - 调整EdgeArmTeleopOpenVO中的字段定义顺序	2026-08-05 11:10:19 +08:00
lixiaolong	7278d2c0f0	feat(edge): 添加机械臂关节空间运动功能和QUIC连接机器人标识支持 - 新增ARM_MOVE_TO_J动作类型支持关节空间运动 - 在QUIC协议中添加robotId字段用于机器人识别 - 扩展ArmService添加ExecuteJsonCommand RPC方法 - 更新设备列表获取逻辑使用新API接口 - 优化协议注释文档和设备类型定义 - 重构机械臂操作服务实现关节空间运动功能	2026-08-04 15:40:35 +08:00
lixiaolong	c8b2c39d74	feat(agv): 添加AGV移动到指定站点功能和设备通用指令支持 - 新增 AGV_MOVE_TO_STATION 操作类型用于移动到指定站点 - 添加 DEVICE_EXECUTE_JSON_COMMAND 类型用于执行设备通用指令 - 移除独立的 agv.proto 文件并将相关内容合并到 agv_utils.proto - 更新 AGV 命令协议导入路径指向新的工具协议文件 - 优化 AGV 运动选项注释说明同步阻塞行为默认设置 - 为路径导航命令添加执行选项参数支持 - 新增臂式机器人远程操作服务协议定义 - 实现臂式机器人远程操作服务的gRPC接口代码	2026-08-04 09:22:04 +08:00
lixiaolong	e62f445013	refactor(flow): 重构循环处理逻辑并完善自动填充功能 - 在BaseEntity中添加MyBatis Plus字段自动填充注解 - 实现FlowLoopValueResolver工具类统一处理循环数据源 - 简化FlowGetCurrentObjNodeHandler中的循环对象获取逻辑 - 优化MyMetaObjectHandler中的时间字段填充方法 - 在多个服务实现中添加实体对象参数确保更新操作正确性 - 为SysFileInfo启用创建时间和创建者的自动填充功能 - 添加FlowLoopValueResolver的单元测试确保功能正确性	2026-07-30 08:51:19 +08:00
lixiaolong	bdb6640ad8	feat: migrate backend to Spring Boot 4	2026-07-28 16:33:32 +08:00
				`@ -0,0 +1 @@`
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