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

.github/FUNDING.yml

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

.gitignore

@@ -46,11 +46,6 @@ nbdist/
 !*/build/*.html
 !*/build/*.xml
 
-bin/
+# Local verification tests
-ry.bat
+/cmvr-iot-test/src/test/java/com/cmvr/test/flow/runtime/operator/edge/EdgeAgvOperateServiceTest.java
-ry.sh
+/cmvr-iot-test/src/test/java/com/cmvr/test/flow/runtime/operator/edge/EdgeArmOperateServiceTest.java
-run.sh
-package.bat
-sql/quartz.sql
-
-**/application-local.yml

DirectoryV3.xml

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

Dockerfile

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

Jenkinsfile

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

README.md

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

bin/clean.bat

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

bin/package.bat

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

bin/run.bat

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

certs/cmvr-quic-ca.crt

@@ -0,0 +1,25 @@
+-----BEGIN CERTIFICATE-----
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+4kzh6dr+RFzHSMQ6oN16
+-----END CERTIFICATE-----

certs/cmvr-quic-ca.key

@@ -0,0 +1,40 @@
+-----BEGIN PRIVATE KEY-----
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+BprrEQmcdeZA8LE1zgcKtkZR1w==
+-----END PRIVATE KEY-----

certs/cmvr-quic-ca.srl

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

certs/quic-gateway.crt

@@ -0,0 +1,22 @@
+-----BEGIN CERTIFICATE-----
+MIIDuzCCAiOgAwIBAgIULJRdcLAgFIkbbgnVfjd877bRhJgwDQYJKoZIhvcNAQEL
+BQAwHTEbMBkGA1UEAwwSQ01WUiBRVUlDIExvY2FsIENBMB4XDTI2MDcyNDA2NDQz
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+-----END CERTIFICATE-----

certs/quic-gateway.csr

@@ -0,0 +1,17 @@
+-----BEGIN CERTIFICATE REQUEST-----
+MIICpDCCAYwCAQAwGDEWMBQGA1UEAwwNMTkyLjE2OC4wLjIyMjCCASIwDQYJKoZI
+hvcNAQEBBQADggEPADCCAQoCggEBAKdM3i1FYFKqNWJzhfhsD9nRUAuKpzilz5uq
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+2DJPs4P1cU0=
+-----END CERTIFICATE REQUEST-----

certs/quic-gateway.key

@@ -0,0 +1,28 @@
+-----BEGIN PRIVATE KEY-----
+MIIEvQIBADANBgkqhkiG9w0BAQEFAASCBKcwggSjAgEAAoIBAQCnTN4tRWBSqjVi
+c4X4bA/Z0VALiqc4pc+bqgigLfJSmGAvVpyxzmHYhI3Bxpxq9NsnerFhR/ywW8TY
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+a3o0goisV8s5W9q1P1i1K73xlbAPf54QsqoPNuXR8n67I9IzzL7EkPJiUsHuqNHW
+Ffn4lzHEAxaTksNIaC6oIlo=
+-----END PRIVATE KEY-----

cmvr-iot-admin/pom.xml

@@ -5,7 +5,7 @@
     <parent>
         <artifactId>cmvr-iot</artifactId>
         <groupId>com.cmvr</groupId>
-        <version>3.8.9</version>
+        <version>3.9.2</version>
     </parent>
     <modelVersion>4.0.0</modelVersion>
     <packaging>jar</packaging>
@@ -24,16 +24,20 @@
             <optional>true</optional> <!-- 表示依赖不会传递 -->
         </dependency>
 
-        <!-- Mysql驱动包 -->
+        <!-- spring-doc -->
         <dependency>
-            <groupId>mysql</groupId>
+            <groupId>org.springdoc</groupId>
-            <artifactId>mysql-connector-java</artifactId>
+            <artifactId>springdoc-openapi-starter-webmvc-ui</artifactId>
+        </dependency>
+        <dependency>
+            <groupId>com.github.xiaoymin</groupId>
+            <artifactId>knife4j-openapi3-ui</artifactId>
         </dependency>
 
-        <!-- 测试管理-->
+         <!-- Mysql驱动包 -->
         <dependency>
-            <groupId>com.cmvr</groupId>
+            <groupId>com.mysql</groupId>
-            <artifactId>cmvr-iot-test</artifactId>
+            <artifactId>mysql-connector-j</artifactId>
         </dependency>
 
         <!-- 核心模块-->
@@ -54,73 +58,72 @@
             <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>
+                    <addResources>true</addResources>
-                    <fork>true</fork> <!-- 如果没有该配置, devtools 不会生效 -->
                 </configuration>
                 <executions>
                     <execution>
                         <goals>
                             <goal>repackage</goal>
                         </goals>
-                        <configuration>
-                            <finalName>${project.artifactId}-${spring.profiles.active}</finalName>
-                        </configuration>
                     </execution>
                 </executions>
             </plugin>
+            <plugin>   
+                <groupId>org.apache.maven.plugins</groupId>   
+                <artifactId>maven-war-plugin</artifactId>   
+                <version>3.1.0</version>   
+                <configuration>
+                    <failOnMissingWebXml>false</failOnMissingWebXml>
+                    <warName>${project.artifactId}</warName>
+                </configuration>   
+           </plugin>   
         </plugins>
+        <finalName>${project.artifactId}</finalName>
     </build>
+
 </project>

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

@@ -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) {
+    public AjaxResult getRuntimeState(
-        Agv.AgvRuntimeState state = edgeAgvService.getRuntimeState(vo);
+            @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) {
+    public AjaxResult getNavigationStatus(
-        Agv.AgvNavigationStatus status = edgeAgvService.getNavigationStatus(vo);
+            @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) {
+    public AjaxResult listStations(
-        List<Agv.AgvStation> stations = edgeAgvService.listStations(vo);
+            @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());

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;
+    }
 }

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

@@ -1,49 +1,54 @@
 package com.cmvr.web.controller.common;
 
-import com.cmvr.common.config.CmvrIotConfig;
+import java.util.ArrayList;
-import com.cmvr.common.constant.Constants;
+import java.util.List;
-import com.cmvr.common.core.domain.AjaxResult;
+import jakarta.servlet.http.HttpServletRequest;
-import com.cmvr.common.utils.StringUtils;
+import jakarta.servlet.http.HttpServletResponse;
-import com.cmvr.common.utils.file.FileUploadUtils;
-import com.cmvr.common.utils.file.FileUtils;
-import com.cmvr.framework.config.ServerConfig;
-import io.swagger.annotations.Api;
-import lombok.RequiredArgsConstructor;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
+import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.http.MediaType;
 import org.springframework.web.bind.annotation.GetMapping;
 import org.springframework.web.bind.annotation.PostMapping;
 import org.springframework.web.bind.annotation.RequestMapping;
 import org.springframework.web.bind.annotation.RestController;
 import org.springframework.web.multipart.MultipartFile;
+import com.cmvr.common.config.CmvrIotConfig;
+import com.cmvr.common.core.domain.AjaxResult;
+import com.cmvr.common.utils.StringUtils;
+import com.cmvr.common.utils.file.FileUploadUtils;
+import com.cmvr.common.utils.file.FileUtils;
+import com.cmvr.framework.config.ServerConfig;
 
-import javax.servlet.http.HttpServletRequest;
+/**
-import javax.servlet.http.HttpServletResponse;
+ * 通用请求处理
-import java.util.ArrayList;
+ * 
-import java.util.List;
+ * @author ruoyi
-
+ */
-@Api(tags = "通用请求处理")
 @RestController
 @RequestMapping("/common")
-@RequiredArgsConstructor
+public class CommonController
-public class CommonController {
+{
     private static final Logger log = LoggerFactory.getLogger(CommonController.class);
 
-    private final ServerConfig serverConfig;
+    @Autowired
+    private ServerConfig serverConfig;
 
-    private static final String FILE_DELIMETER = ",";
+    private static final String FILE_DELIMITER = ",";
 
     /**
      * 通用下载请求
      * 
      * @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) {
+    public void fileDownload(String fileName, Boolean delete, HttpServletResponse response, HttpServletRequest request)
-        try {
+    {
-            if (!FileUtils.checkAllowDownload(fileName)) {
+        try
+        {
+            if (!FileUtils.checkAllowDownload(fileName))
+            {
                 throw new Exception(StringUtils.format("文件名称({})非法，不允许下载。 ", fileName));
             }
             String realFileName = System.currentTimeMillis() + fileName.substring(fileName.indexOf("_") + 1);
@@ -52,10 +57,13 @@ public class CommonController {
             response.setContentType(MediaType.APPLICATION_OCTET_STREAM_VALUE);
             FileUtils.setAttachmentResponseHeader(response, realFileName);
             FileUtils.writeBytes(filePath, response.getOutputStream());
-            if (delete) {
+            if (delete)
+            {
                 FileUtils.deleteFile(filePath);
             }
-        } catch (Exception e) {
+        }
+        catch (Exception e)
+        {
             log.error("下载文件失败", e);
         }
     }
@@ -64,8 +72,10 @@ public class CommonController {
      * 通用上传请求（单个）
      */
     @PostMapping("/upload")
-    public AjaxResult uploadFile(MultipartFile file) throws Exception {
+    public AjaxResult uploadFile(MultipartFile file) throws Exception
-        try {
+    {
+        try
+        {
             // 上传文件路径
             String filePath = CmvrIotConfig.getUploadPath();
             // 上传并返回新文件名称
@@ -77,7 +87,9 @@ public class CommonController {
             ajax.put("newFileName", FileUtils.getName(fileName));
             ajax.put("originalFilename", file.getOriginalFilename());
             return ajax;
-        } catch (Exception e) {
+        }
+        catch (Exception e)
+        {
             return AjaxResult.error(e.getMessage());
         }
     }
@@ -86,15 +98,18 @@ public class CommonController {
      * 通用上传请求（多个）
      */
     @PostMapping("/uploads")
-    public AjaxResult uploadFiles(List<MultipartFile> files) throws Exception {
+    public AjaxResult uploadFiles(List<MultipartFile> files) throws Exception
-        try {
+    {
+        try
+        {
             // 上传文件路径
             String filePath = CmvrIotConfig.getUploadPath();
             List<String> urls = new ArrayList<String>();
             List<String> fileNames = new ArrayList<String>();
             List<String> newFileNames = new ArrayList<String>();
             List<String> originalFilenames = new ArrayList<String>();
-            for (MultipartFile file : files) {
+            for (MultipartFile file : files)
+            {
                 // 上传并返回新文件名称
                 String fileName = FileUploadUtils.upload(filePath, file);
                 String url = serverConfig.getUrl() + fileName;
@@ -104,12 +119,14 @@ public class CommonController {
                 originalFilenames.add(file.getOriginalFilename());
             }
             AjaxResult ajax = AjaxResult.success();
-            ajax.put("urls", StringUtils.join(urls, FILE_DELIMETER));
+            ajax.put("urls", StringUtils.join(urls, FILE_DELIMITER));
-            ajax.put("fileNames", StringUtils.join(fileNames, FILE_DELIMETER));
+            ajax.put("fileNames", StringUtils.join(fileNames, FILE_DELIMITER));
-            ajax.put("newFileNames", StringUtils.join(newFileNames, FILE_DELIMETER));
+            ajax.put("newFileNames", StringUtils.join(newFileNames, FILE_DELIMITER));
-            ajax.put("originalFilenames", StringUtils.join(originalFilenames, FILE_DELIMETER));
+            ajax.put("originalFilenames", StringUtils.join(originalFilenames, FILE_DELIMITER));
             return ajax;
-        } catch (Exception e) {
+        }
+        catch (Exception e)
+        {
             return AjaxResult.error(e.getMessage());
         }
     }
@@ -119,21 +136,26 @@ public class CommonController {
      */
     @GetMapping("/download/resource")
     public void resourceDownload(String resource, HttpServletRequest request, HttpServletResponse response)
-            throws Exception {
+            throws Exception
-        try {
+    {
-            if (!FileUtils.checkAllowDownload(resource)) {
+        try
+        {
+            if (!FileUtils.checkAllowDownload(resource))
+            {
                 throw new Exception(StringUtils.format("资源文件({})非法，不允许下载。 ", resource));
             }
             // 本地资源路径
             String localPath = CmvrIotConfig.getProfile();
             // 数据库资源地址
-            String downloadPath = localPath + StringUtils.substringAfter(resource, Constants.RESOURCE_PREFIX);
+            String downloadPath = localPath + FileUtils.stripPrefix(resource);
             // 下载名称
             String downloadName = StringUtils.substringAfterLast(downloadPath, "/");
             response.setContentType(MediaType.APPLICATION_OCTET_STREAM_VALUE);
             FileUtils.setAttachmentResponseHeader(response, downloadName);
             FileUtils.writeBytes(downloadPath, response.getOutputStream());
-        } catch (Exception e) {
+        }
+        catch (Exception e)
+        {
             log.error("下载文件失败", e);
         }
     }

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

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;
 
 /**

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;

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

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

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

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

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

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

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

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

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

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

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

@@ -1,9 +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);
     }
 

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

@@ -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 jakarta.annotation.PreDestroy;
-import javax.validation.Valid;
+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) {
+    public AjaxResult publish(@Valid @RequestBody TeFlowPublishVO request) {
-        return toAjax(teDetectionItemService.publish(detectionItem.getId()));
+        return success(detectionItemVersionService.publish(request, getUsername()));
+    }
+
+    @ApiOperation("保存工作流草稿")
+    @PutMapping("/draft")
+    public AjaxResult saveDraft(@Valid @RequestBody TeDetectItemDeployFlowVO request) {
+        return success(teDetectionItemService.saveDraft(request, getUsername()));
+    }
+
+    @ApiOperation("查询工作流发布记录")
+    @GetMapping("/versions/{itemId}")
+    public AjaxResult versions(@PathVariable String itemId) {
+        return success(detectionItemVersionService.listVersions(itemId));
+    }
+
+    @ApiOperation("查询当前项目可用的已发布子流程")
+    @GetMapping("/subflows")
+    public AjaxResult subFlows(@RequestParam String currentItemId) {
+        return success(subFlowDefinitionService.listOptions(currentItemId));
+    }
+
+    @ApiOperation("查看工作流发布版本")
+    @GetMapping("/version/{versionId}")
+    public AjaxResult version(@PathVariable String versionId) {
+        return success(detectionItemVersionService.getVersion(versionId));
+    }
+
+    @ApiOperation("将发布版本恢复为草稿")
+    @PostMapping("/version/{versionId}/restore-draft")
+    public AjaxResult restoreDraft(@PathVariable String versionId,
+                                   @RequestBody(required = false) TeFlowVersionActionVO request) {
+        Integer revision = request == null ? null : request.getDraftRevision();
+        return success(detectionItemVersionService.restoreDraft(versionId, revision, getUsername()));
+    }
+
+    @ApiOperation("回退到指定发布版本")
+    @PostMapping("/version/{versionId}/rollback")
+    public AjaxResult rollback(@PathVariable String versionId,
+                               @RequestBody(required = false) TeFlowVersionActionVO request) {
+        String note = request == null ? null : request.getPublishNote();
+        return success(detectionItemVersionService.rollback(versionId, note, getUsername()));
     }
 
     @ApiOperation("演示任务执行入口")
@@ -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(

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

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

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

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

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

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

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

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

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

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

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

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

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

@@ -0,0 +1,207 @@
+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;
+    }
+}

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

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

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

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

cmvr-iot-admin/src/main/resources/application-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
+media-analysis:
-tts:
+  base-url: ${MEDIA_ANALYSIS_BASE_URL:http://192.168.28.10:14080}
-  external-api:
+  api-key: ${MEDIA_ANALYSIS_API_KEY:}
-    url: http://192.168.0.102:9003/generate_advanced_audio
+  connect-timeout-ms: 5000
+  read-timeout-ms: 600000

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

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

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

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

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

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

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

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

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

@@ -68,7 +68,7 @@ spring:
       # 热部署开关
       enabled: true
   # redis 配置
-  redis:
+  data.redis:
     # 地址
     host: 192.168.28.10
     # 端口，默认为6379
@@ -132,3 +132,9 @@ flowise:
   abort: http://192.168.0.108:3000/api/v1/chatmessage/abort/f99329e9-b33d-437d-90ed-69eaa8a05418/
   query: http://192.168.0.108:3000/api/v1/executions/
   api-key: pg61JW6W_GXyqmqSoURJ4mlSRrCMRzGLBJli_w3BFkg
+
+media-analysis:
+  base-url: ${MEDIA_ANALYSIS_BASE_URL:http://192.168.28.10:14080}
+  api-key: ${MEDIA_ANALYSIS_API_KEY:cmvr-analysis-2026-c65ec181d5ab4a49aef34e6fd1be6704}
+  connect-timeout-ms: 5000
+  read-timeout-ms: 600000

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

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';

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>

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;

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();
+}

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()
+        AimaTaskInstance taskInstance = findTaskInstance(instId);
-                .eq(AimaTaskInstance::getTaskInsId, instId)
-                .one();
         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)
+                    .testCaseId(testCaseId)
-                    .logLevel("INFO")
+                    .caseName(casename)
-                    .logType("执行日志")
+                    .itemId(itemId)
-                    .logContent("节点【" + event.getNodeName() + "】" + info)
+                    .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);

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
      * 

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

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);
 }

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
      * 

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;

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;

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();
+        if (aimaTask == null || StrUtil.isBlank(aimaTask.getTaskConfigId())) {
-        // 从test模块的任务编排中获取所有的检测项id
+            throw new ServiceException("智能测试任务没有关联流程编排");
-        if (aimaTask != null && aimaTask.getTaskConfigId() != null) {
-            teTaskOrchestrationService.queryByTaskId(aimaTask.getTaskConfigId())
-                .forEach(item -> runParams.put(item.getItemId(), new JSONObject()));
         }
+        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.STOPPED.getCode() == instance.getStatus()) {
+            return 1;
+        }
         if (AimaTaskStatusEnum.NOT_STARTED.getCode() != instance.getStatus()
-            && AimaTaskStatusEnum.RUNNING.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);
     }
 

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.spring.service.impl.ServiceImpl;
-import com.baomidou.mybatisplus.extension.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()) {
+            if (!detectItemIds.isEmpty() && existingTask.getTaskConfigId() != null) {
-                AimaTask aimaTask = aimaTaskMapper.selectAimaTaskById(taskId);
                 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 aimaTaskTestCaseMapper.selectTestCasesByTaskId(taskId);
-        return aimaTestCaseMapper.selectList(new QueryWrapper<AimaTestCase>().in("id", ids));
+    }
+
+    @Override
+    public String getCaseName(String testCaseId) {
+        AimaTestCase aimaTestCase = aimaTestCaseMapper.selectAimaTestCaseById(testCaseId);
+
+        return aimaTestCase != null ? aimaTestCase.getCaseName() : null;
     }
 }