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

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

.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
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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-----
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+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/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;

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;

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;

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

@@ -1,6 +1,6 @@
 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;
@@ -12,12 +12,14 @@ import com.cmvr.edge.client.model.agv.EdgeAgvVelocityVO;
 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 +50,13 @@ 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 +65,13 @@ 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());
@@ -94,7 +106,7 @@ public class EdgeAgvController {
     @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())
@@ -149,7 +161,7 @@ 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 +185,12 @@ 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 +200,15 @@ 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 +239,17 @@ 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 +260,7 @@ 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 +284,14 @@ 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 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 +330,7 @@ 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 +344,7 @@ 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

@@ -7,12 +7,13 @@ import com.cmvr.edge.client.model.arm.*;
 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 +32,20 @@ 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();
     }
@@ -48,7 +55,10 @@ 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();
     }
@@ -126,14 +136,20 @@ 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 +166,12 @@ 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 +189,26 @@ 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 +262,20 @@ 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));
     }
@@ -75,9 +75,9 @@ public class EdgeMicrophoneController {
     @ApiOperation("获取音量")
     @PreAuthorize("@ss.hasPermi('system:microphone:volume')")
     @GetMapping("/volume")
-    public AjaxResult getVolume(@ApiParam(value = "终端设备ID", required = true) @RequestParam String terminalId, @ApiParam (value = "设备ID", required = true) @RequestParam String deviceId) {
+    public AjaxResult getVolume(@ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam String robotId, @ApiParam (value = "设备ID", required = true) @RequestParam String deviceId) {
         EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
-        edgeCommonVO.setTerminalId(terminalId);
+        edgeCommonVO.setRobotId(robotId);
         edgeCommonVO.setDeviceId(deviceId);
         return AjaxResult.success(microphoneService.getVolume(edgeCommonVO));
     }

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

@@ -1,12 +1,18 @@
 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.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;
 
@@ -18,9 +24,33 @@ 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("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

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

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;

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;

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;

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
      */
@@ -139,4 +162,4 @@ public class SysMenuController extends BaseController
         }
         return toAjax(menuService.deleteMenuById(menuId));
     }
-}
+}

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")

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

@@ -30,8 +30,8 @@ import org.springframework.web.bind.annotation.RequestMapping;
 import org.springframework.web.bind.annotation.RequestParam;
 import org.springframework.web.bind.annotation.RestController;
 
-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;
@@ -157,7 +157,8 @@ 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

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

cmvr-iot-admin/src/main/java/com/cmvr/web/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")

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
@@ -136,4 +136,4 @@ flowise:
 # TTS外部接口配置
 tts:
   external-api:
-    url: http://192.168.0.102:9003/generate_advanced_audio
+    url: http://192.168.0.102:9003/generate_advanced_audio

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

@@ -68,7 +68,7 @@ spring:
             # 热部署开关
             enabled: true
     # redis 配置
-    redis:
+    data.redis:
         # 地址
         host: 192.168.0.100
         # 端口，默认为6379
@@ -131,4 +131,4 @@ flowise:
   start: http://192.168.0.108:3000/api/v1/prediction/f99329e9-b33d-437d-90ed-69eaa8a05418
   abort: http://192.168.0.108:3000/api/v1/chatmessage/abort/f99329e9-b33d-437d-90ed-69eaa8a05418/
   query: http://192.168.0.108:3000/api/v1/executions/
-  api-key: pg61JW6W_GXyqmqSoURJ4mlSRrCMRzGLBJli_w3BFkg
+  api-key: pg61JW6W_GXyqmqSoURJ4mlSRrCMRzGLBJli_w3BFkg

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
@@ -131,4 +131,4 @@ flowise:
   start: http://192.168.0.108:3000/api/v1/prediction/f99329e9-b33d-437d-90ed-69eaa8a05418
   abort: http://192.168.0.108:3000/api/v1/chatmessage/abort/f99329e9-b33d-437d-90ed-69eaa8a05418/
   query: http://192.168.0.108:3000/api/v1/executions/
-  api-key: pg61JW6W_GXyqmqSoURJ4mlSRrCMRzGLBJli_w3BFkg
+  api-key: pg61JW6W_GXyqmqSoURJ4mlSRrCMRzGLBJli_w3BFkg

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
@@ -131,4 +131,4 @@ flowise:
   start: http://192.168.0.108:3000/api/v1/prediction/f99329e9-b33d-437d-90ed-69eaa8a05418
   abort: http://192.168.0.108:3000/api/v1/chatmessage/abort/f99329e9-b33d-437d-90ed-69eaa8a05418/
   query: http://192.168.0.108:3000/api/v1/executions/
-  api-key: pg61JW6W_GXyqmqSoURJ4mlSRrCMRzGLBJli_w3BFkg
+  api-key: pg61JW6W_GXyqmqSoURJ4mlSRrCMRzGLBJli_w3BFkg

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

@@ -48,6 +48,10 @@ user:
 
 # Spring配置
 spring:
+  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 +103,15 @@ 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 +122,34 @@ xss:
   # 匹配链接
   urlPatterns: /system/*,/monitor/*,/tool/*,/device/*,/test/*,/api/*
 
+# Integrated QUIC gateway and in-process node synchronization.
+cmvr:
+  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/service/IAimaTaskInstanceService.java

@@ -2,7 +2,7 @@ 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;

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

@@ -3,7 +3,7 @@ package com.cmvr.aima.service.impl;
 import java.util.List;
 import java.util.UUID;
 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.common.exception.ServiceException;

cmvr-iot-aima/src/main/java/com/cmvr/aima/service/impl/AimaTaskServiceImpl.java

@@ -7,7 +7,7 @@ import java.util.UUID;
 import java.util.stream.Collectors;
 
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.baomidou.mybatisplus.spring.service.impl.ServiceImpl;
 import com.cmvr.aima.domain.AimaTaskTestCase;
 import com.cmvr.aima.domain.AimaTestCase;
 import com.cmvr.aima.domain.vo.AimaTaskVo;

cmvr-iot-aima/src/main/java/com/cmvr/aima/service/impl/AimaTestCaseServiceImpl.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 com.cmvr.aima.domain.vo.AimaTestCaseVo;
 import com.cmvr.test.model.domain.TeDetectionItem;
 import com.cmvr.test.service.ITeDetectionItemService;

cmvr-iot-aima/src/main/java/com/cmvr/aima/service/impl/AimaTestLogServiceImpl.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/AimaVehicleServiceImpl.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-api/cmvr-iot-edge/cmvr-iot-grpc-client/pom.xml

@@ -6,27 +6,30 @@
     <parent>
         <groupId>com.cmvr</groupId>
         <artifactId>cmvr-iot-edge</artifactId>
-        <version>3.8.9</version>
+        <version>3.9.2</version>
     </parent>
 
     <artifactId>cmvr-iot-grpc-client</artifactId>
     <description>cmvr-iot gRPC客户端</description>
 
     <dependencies>
+        <dependency>
+            <groupId>com.cmvr</groupId>
+            <artifactId>cmvr-iot-quic-contract</artifactId>
+        </dependency>
         <dependency>
             <groupId>com.cmvr</groupId>
             <artifactId>cmvr-iot-grpc-lib</artifactId>
         </dependency>
 
         <dependency>
-            <groupId>net.devh</groupId>
+            <groupId>io.grpc</groupId>
-            <artifactId>grpc-client-spring-boot-starter</artifactId>
+            <artifactId>grpc-netty-shaded</artifactId>
-            <version>${grpc-client.version}</version>
         </dependency>
         <dependency>
             <groupId>com.google.protobuf</groupId>
             <artifactId>protobuf-java</artifactId>
-            <version>3.25.5</version>
+            <version>${protobuf.version}</version>
         </dependency>
 
         <dependency>

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

@@ -17,7 +17,7 @@ import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.stereotype.Component;
 
-import javax.annotation.PreDestroy;
+import jakarta.annotation.PreDestroy;
 import java.util.Arrays;
 import java.util.concurrent.ArrayBlockingQueue;
 import java.util.concurrent.ConcurrentHashMap;
@@ -62,33 +62,33 @@ public class RobotAudioGrpcAdapter {
     private final GrpcServiceManager grpcServiceManager;
     private final ConcurrentMap<String, RobotAudioStream> streams = new ConcurrentHashMap<>();
 
-    public RobotAudioStream openStream(String terminalId,
+    public RobotAudioStream openStream(String robotId,
                                        String deviceId,
                                        String sessionId,
                                        String operatorId,
                                        RobotAudioStreamListener listener) {
-        return openStream(terminalId, deviceId, deviceId, sessionId, operatorId, listener);
+        return openStream(robotId, deviceId, deviceId, sessionId, operatorId, listener);
     }
 
-    public RobotAudioStream openStream(String terminalId,
+    public RobotAudioStream openStream(String robotId,
                                        String speakerDeviceId,
                                        String micDeviceId,
                                        String sessionId,
                                        String operatorId,
                                        RobotAudioStreamListener listener) {
         SpeakerServiceGrpc.SpeakerServiceStub speakerStub =
-                grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceStub.class);
+                grpcServiceManager.getGrpcClient(robotId, SpeakerServiceGrpc.SpeakerServiceStub.class);
         MicPhoneServiceGrpc.MicPhoneServiceStub micStub =
-                grpcServiceManager.getGrpcClient(terminalId, MicPhoneServiceGrpc.MicPhoneServiceStub.class);
+                grpcServiceManager.getGrpcClient(robotId, MicPhoneServiceGrpc.MicPhoneServiceStub.class);
         SpeakerServiceGrpc.SpeakerServiceBlockingStub speakerBlockingStub =
-                grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
+                grpcServiceManager.getGrpcClient(robotId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class);
         MicPhoneServiceGrpc.MicPhoneServiceBlockingStub micBlockingStub =
-                grpcServiceManager.getGrpcClient(terminalId, MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
+                grpcServiceManager.getGrpcClient(robotId, MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class);
 
         preflightDeviceStatus(speakerBlockingStub, micBlockingStub, speakerDeviceId, micDeviceId, sessionId);
 
         RobotAudioStream stream = new RobotAudioStream(
-                terminalId, speakerDeviceId, micDeviceId, sessionId, operatorId, speakerStub, micStub, listener);
+                robotId, speakerDeviceId, micDeviceId, sessionId, operatorId, speakerStub, micStub, listener);
         RobotAudioStream exists = streams.putIfAbsent(sessionId, stream);
         if (exists != null) {
             throw new IllegalStateException("实时语音会话已存在：" + sessionId);
@@ -96,8 +96,8 @@ public class RobotAudioGrpcAdapter {
 
         try {
             stream.start();
-            log.info("实时对讲 gRPC 流已创建，sessionId={}，terminalId={}，speakerDeviceId={}，micDeviceId={}，operatorId={}，sampleRate={}，channels={}，bits={}，frameMs={}，frameBytes={}",
+            log.info("实时对讲 gRPC 流已创建，sessionId={}，robotId={}，speakerDeviceId={}，micDeviceId={}，operatorId={}，sampleRate={}，channels={}，bits={}，frameMs={}，frameBytes={}",
-                    sessionId, terminalId, speakerDeviceId, micDeviceId, operatorId, SAMPLE_RATE, CHANNELS, BITS_PER_SAMPLE, FRAME_MS, FRAME_BYTES);
+                    sessionId, robotId, speakerDeviceId, micDeviceId, operatorId, SAMPLE_RATE, CHANNELS, BITS_PER_SAMPLE, FRAME_MS, FRAME_BYTES);
             return stream;
         } catch (RuntimeException e) {
             streams.remove(sessionId, stream);
@@ -163,7 +163,7 @@ public class RobotAudioGrpcAdapter {
     }
 
     public class RobotAudioStream {
-        private final String terminalId;
+        private final String robotId;
         private final String speakerDeviceId;
         private final String micDeviceId;
         private final String sessionId;
@@ -190,7 +190,7 @@ public class RobotAudioGrpcAdapter {
         private volatile long lastStatsLogAt;
         private volatile byte[] pendingBrowserBytes = new byte[0];
 
-        private RobotAudioStream(String terminalId,
+        private RobotAudioStream(String robotId,
                                  String speakerDeviceId,
                                  String micDeviceId,
                                  String sessionId,
@@ -198,7 +198,7 @@ public class RobotAudioGrpcAdapter {
                                  SpeakerServiceGrpc.SpeakerServiceStub speakerStub,
                                  MicPhoneServiceGrpc.MicPhoneServiceStub micStub,
                                  RobotAudioStreamListener listener) {
-            this.terminalId = terminalId;
+            this.robotId = robotId;
             this.speakerDeviceId = speakerDeviceId;
             this.micDeviceId = micDeviceId;
             this.sessionId = sessionId;
@@ -365,8 +365,8 @@ public class RobotAudioGrpcAdapter {
             return sessionId;
         }
 
-        public String getTerminalId() {
+        public String getRobotId() {
-            return terminalId;
+            return robotId;
         }
 
         public String getDeviceId() {
@@ -639,8 +639,8 @@ public class RobotAudioGrpcAdapter {
                 return;
             }
             Throwable actual = throwable == null ? new RuntimeException("audio stream failed") : throwable;
-            log.error("实时对讲 gRPC 流异常，source={}，sessionId={}，terminalId={}，speakerDeviceId={}，micDeviceId={}",
+            log.error("实时对讲 gRPC 流异常，source={}，sessionId={}，robotId={}，speakerDeviceId={}，micDeviceId={}",
-                    source, sessionId, terminalId, speakerDeviceId, micDeviceId, actual);
+                    source, sessionId, robotId, speakerDeviceId, micDeviceId, actual);
             sendExecutor.execute(new Runnable() {
                 @Override
                 public void run() {
@@ -660,7 +660,7 @@ public class RobotAudioGrpcAdapter {
             if (!closed.compareAndSet(false, true)) {
                 return;
             }
-            log.info("实时对讲 gRPC 流远端结束，sessionId={}，terminalId={}，speakerDeviceId={}，micDeviceId={}", sessionId, terminalId, speakerDeviceId, micDeviceId);
+            log.info("实时对讲 gRPC 流远端结束，sessionId={}，robotId={}，speakerDeviceId={}，micDeviceId={}", sessionId, robotId, speakerDeviceId, micDeviceId);
             sendExecutor.execute(new Runnable() {
                 @Override
                 public void run() {

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

@@ -0,0 +1,102 @@
+package com.cmvr.edge.client.manage;
+
+import com.cmvr.common.exception.GlobalException;
+import io.grpc.stub.StreamObserver;
+
+import java.util.UUID;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.ConcurrentMap;
+import java.util.concurrent.atomic.AtomicBoolean;
+import java.util.concurrent.atomic.AtomicReference;
+import java.util.function.Function;
+
+/** Maintains independently addressable bidirectional gRPC streams for HTTP clients. */
+public class GrpcBidiSessionRegistry<Req, Resp> {
+
+    private final ConcurrentMap<String, Session<Req, Resp>> sessions = new ConcurrentHashMap<>();
+
+    public String open(Function<StreamObserver<Resp>, StreamObserver<Req>> opener, Req initialRequest) {
+        String sessionId = UUID.randomUUID().toString();
+        Session<Req, Resp> session = new Session<>();
+        StreamObserver<Resp> responseObserver = new StreamObserver<Resp>() {
+            @Override
+            public void onNext(Resp value) {
+                session.latest.set(value);
+            }
+
+            @Override
+            public void onError(Throwable throwable) {
+                session.error.set(throwable);
+                session.completed.set(true);
+            }
+
+            @Override
+            public void onCompleted() {
+                session.completed.set(true);
+            }
+        };
+        session.requestObserver = opener.apply(responseObserver);
+        sessions.put(sessionId, session);
+        try {
+            session.requestObserver.onNext(initialRequest);
+        } catch (RuntimeException exception) {
+            sessions.remove(sessionId);
+            throw exception;
+        }
+        return sessionId;
+    }
+
+    public void send(String sessionId, Req request) {
+        Session<Req, Resp> session = require(sessionId);
+        checkAvailable(sessionId, session);
+        session.requestObserver.onNext(request);
+    }
+
+    public Resp getLatest(String sessionId) {
+        Session<Req, Resp> session = require(sessionId);
+        Throwable error = session.error.get();
+        if (error != null) {
+            throw new GlobalException("gRPC stream failed: " + error.getMessage());
+        }
+        return session.latest.get();
+    }
+
+    public void close(String sessionId) {
+        Session<Req, Resp> session = sessions.remove(sessionId);
+        if (session == null) {
+            throw new GlobalException("Unknown stream session: " + sessionId);
+        }
+        if (!session.completed.get()) {
+            session.requestObserver.onCompleted();
+            session.completed.set(true);
+        }
+    }
+
+    private Session<Req, Resp> require(String sessionId) {
+        if (sessionId == null || sessionId.trim().isEmpty()) {
+            throw new GlobalException("Stream session ID cannot be empty");
+        }
+        Session<Req, Resp> session = sessions.get(sessionId);
+        if (session == null) {
+            throw new GlobalException("Unknown stream session: " + sessionId);
+        }
+        return session;
+    }
+
+    private void checkAvailable(String sessionId, Session<Req, Resp> session) {
+        Throwable error = session.error.get();
+        if (error != null) {
+            throw new GlobalException("gRPC stream failed: " + error.getMessage());
+        }
+        if (session.completed.get()) {
+            throw new GlobalException("gRPC stream is already completed: " + sessionId);
+        }
+    }
+
+    private static final class Session<Req, Resp> {
+        private StreamObserver<Req> requestObserver;
+        private final AtomicReference<Resp> latest = new AtomicReference<>();
+        private final AtomicReference<Throwable> error = new AtomicReference<>();
+        private final AtomicBoolean completed = new AtomicBoolean();
+    }
+}

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

@@ -14,7 +14,7 @@ import java.util.function.Function;
 public class GrpcChannelCache {
 
     private final long ttlSeconds; // 通道存活时间（秒）
-    private final Map<String, ChannelWrapper> channelMap = new ConcurrentHashMap<>(); // 设备 ID -> 通道包装器
+    private final Map<String, ChannelWrapper> channelMap = new ConcurrentHashMap<>(); // 机器人 ID -> 通道包装器
 
     public GrpcChannelCache(long ttlSeconds) {
         this.ttlSeconds = ttlSeconds;
@@ -23,11 +23,11 @@ public class GrpcChannelCache {
     /**
      * 获取通道：存在则刷新时间，过期则重建，不存在则创建
      */
-    public ManagedChannel get(String terminalId, Function<String, ManagedChannel> supplier) {
+    public ManagedChannel get(String robotId, Function<String, ManagedChannel> supplier) {
-        return channelMap.compute(terminalId, (k, v) -> {
+        return channelMap.compute(robotId, (k, v) -> {
             if (v == null || v.isExpired(ttlSeconds)) { // 为空或过期时重建
                 if (v != null) v.close(); // 关闭旧通道
-                return new ChannelWrapper(supplier.apply(terminalId)); // 创建新通道包装器
+                return new ChannelWrapper(supplier.apply(robotId)); // 创建新通道包装器
             } else {
                 v.refresh(); // 更新最后访问时间
                 return v;
@@ -49,6 +49,17 @@ public class GrpcChannelCache {
         });
     }
 
+    /**
+     * 机器人主动上报的gRPC地址发生变化时立即关闭旧通道。
+     * 下一次业务调用仍通过原有supplier创建ManagedChannel。
+     */
+    public void invalidate(String robotId) {
+        ChannelWrapper wrapper = channelMap.remove(robotId);
+        if (wrapper != null) {
+            wrapper.close();
+        }
+    }
+
     /**
      * 通道包装器（管理通道生命周期和访问时间）
      */
@@ -77,4 +88,4 @@ public class GrpcChannelCache {
             }
         }
     }
-}
+}

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

@@ -1,10 +1,9 @@
 package com.cmvr.edge.client.manage;
 
 import cmvr.api.*;
-import cn.hutool.core.util.ObjUtil;
+import cmvr.api.armteleop.v1.ArmTeleopServiceGrpc;
-import cn.hutool.core.util.StrUtil;
+import com.cmvr.common.robot.RobotEndpoint;
-import com.cmvr.device.domain.DeDeviceTerminalConfig;
+import com.cmvr.common.robot.RobotEndpointResolver;
-import com.cmvr.device.service.IDeDeviceTerminalConfigService;
 import io.grpc.ManagedChannel;
 import io.grpc.ManagedChannelBuilder;
 import lombok.RequiredArgsConstructor;
@@ -12,7 +11,8 @@ import org.springframework.beans.factory.annotation.Value;
 import org.springframework.scheduling.annotation.Scheduled;
 import org.springframework.stereotype.Service;
 
-import javax.annotation.PostConstruct;
+import jakarta.annotation.PostConstruct;
+import java.net.InetSocketAddress;
 import java.util.Map;
 import java.util.concurrent.*;
 import java.util.function.Function;
@@ -24,7 +24,7 @@ import java.util.function.Function;
 @RequiredArgsConstructor
 public class GrpcServiceManager {
 
-    private final IDeDeviceTerminalConfigService deviceTerminalConfigService;
+    private final RobotEndpointResolver robotEndpointResolver;
 
     @Value("${grpc.client.grpc-server.address}")
     private String DEFAULT_GRPC_ADDRESS;
@@ -61,6 +61,9 @@ public class GrpcServiceManager {
         clientFactories.put(HlcServiceGrpc.HlcServiceBlockingStub.class, new GrpcClientFactory<>(HlcServiceGrpc::newBlockingStub));
         // 注册agv服务的stub
         clientFactories.put(AgvServiceGrpc.AgvServiceBlockingStub.class, new GrpcClientFactory<>(AgvServiceGrpc::newBlockingStub));
+        clientFactories.put(MotorServiceGrpc.MotorServiceBlockingStub.class, new GrpcClientFactory<>(MotorServiceGrpc::newBlockingStub));
+        clientFactories.put(MotorServiceGrpc.MotorServiceStub.class, new GrpcClientFactory<>(MotorServiceGrpc::newStub));
+        clientFactories.put(ArmTeleopServiceGrpc.ArmTeleopServiceStub.class, new GrpcClientFactory<>(ArmTeleopServiceGrpc::newStub));
         // 注册机器人实时语音双向流服务的异步Stub
     }
 
@@ -69,8 +72,8 @@ public class GrpcServiceManager {
      * 获取 gRPC 客户端 Stub
      */
     @SuppressWarnings("unchecked")
-    public <T> T getGrpcClient(String terminalId, Class<T> serviceClass) {
+    public <T> T getGrpcClient(String robotId, Class<T> serviceClass) {
-        ManagedChannel channel = grpcChannelCache.get(terminalId, this::createChannel);
+        ManagedChannel channel = grpcChannelCache.get(robotId, this::createChannel);
         GrpcClientFactory<T> factory = (GrpcClientFactory<T>) clientFactories.get(serviceClass);
 
         if (factory == null) {
@@ -83,9 +86,9 @@ public class GrpcServiceManager {
     /**
      * 创建gRPC通道
      */
-    private ManagedChannel createChannel(String terminalId) {
+    private ManagedChannel createChannel(String robotId) {
-        String grpcAddress = getGrpcServiceAddress(terminalId);
+        InetSocketAddress endpoint = getGrpcServiceEndpoint(robotId);
-        return ManagedChannelBuilder.forTarget(grpcAddress)
+        return ManagedChannelBuilder.forAddress(endpoint.getHostString(), endpoint.getPort())
                 .usePlaintext()
                 .maxInboundMessageSize(50 * 1024 * 1024) // 50MB
                 .build();
@@ -94,12 +97,66 @@ public class GrpcServiceManager {
     /**
      * 获取终端地址
      */
-    private String getGrpcServiceAddress(String terminalId) {
+    private InetSocketAddress getGrpcServiceEndpoint(String robotId) {
-        DeDeviceTerminalConfig terminal = deviceTerminalConfigService.selectDeDeviceTerminalConfigById(terminalId);
+        RobotEndpoint endpoint = robotEndpointResolver.resolve(robotId);
-        if (ObjUtil.isEmpty(terminal)) {
+        return createEndpoint(endpoint.host(), (long) endpoint.port(), "机器人 " + robotId);
-            return DEFAULT_GRPC_ADDRESS;
+    }
+
+    /**
+     * 兼容原有 static://host:port 配置，但使用主机和端口直接创建通道。
+     */
+    static InetSocketAddress parseGrpcAddress(String address) {
+        if (address == null || address.trim().isEmpty()) {
+            throw new IllegalArgumentException("gRPC 默认地址不能为空");
         }
-        return StrUtil.format("static://{}:{}", terminal.getHost(), terminal.getPort());
+
+        String endpoint = address.trim();
+        int schemeIndex = endpoint.indexOf("://");
+        if (schemeIndex >= 0) {
+            endpoint = endpoint.substring(schemeIndex + 3);
+        }
+        while (endpoint.startsWith("/")) {
+            endpoint = endpoint.substring(1);
+        }
+
+        String host;
+        String portText;
+        if (endpoint.startsWith("[")) {
+            int bracketEnd = endpoint.indexOf(']');
+            if (bracketEnd < 0 || bracketEnd + 1 >= endpoint.length() || endpoint.charAt(bracketEnd + 1) != ':') {
+                throw invalidGrpcAddress(address);
+            }
+            host = endpoint.substring(1, bracketEnd);
+            portText = endpoint.substring(bracketEnd + 2);
+        } else {
+            int portSeparator = endpoint.lastIndexOf(':');
+            if (portSeparator <= 0 || portSeparator == endpoint.length() - 1) {
+                throw invalidGrpcAddress(address);
+            }
+            host = endpoint.substring(0, portSeparator);
+            portText = endpoint.substring(portSeparator + 1);
+        }
+
+        try {
+            return createEndpoint(host, Long.parseLong(portText), "默认配置");
+        } catch (NumberFormatException exception) {
+            throw invalidGrpcAddress(address);
+        }
+    }
+
+    private static InetSocketAddress createEndpoint(String host, Long port, String source) {
+        String normalizedHost = host == null ? "" : host.trim();
+        if (normalizedHost.isEmpty()) {
+            throw new IllegalArgumentException(source + " 的 gRPC 主机不能为空");
+        }
+        if (port == null || port <= 0 || port > 65535) {
+            throw new IllegalArgumentException(source + " 的 gRPC 端口无效: " + port);
+        }
+        return InetSocketAddress.createUnresolved(normalizedHost, port.intValue());
+    }
+
+    private static IllegalArgumentException invalidGrpcAddress(String address) {
+        return new IllegalArgumentException("gRPC 默认地址格式无效: " + address + "，应为 static://host:port 或 host:port");
     }
 
     /**
@@ -110,6 +167,11 @@ public class GrpcServiceManager {
         grpcChannelCache.cleanExpiredChannels();
     }
 
+    /** QUIC发现终端地址变化后，使指定终端的旧gRPC通道立即失效。 */
+    public void invalidateRobot(String robotId) {
+        grpcChannelCache.invalidate(robotId);
+    }
+
     /**
      * gRPC客户端工厂类
      */

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

@@ -4,15 +4,15 @@ import io.swagger.annotations.ApiModel;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
-import javax.validation.constraints.NotEmpty;
+import jakarta.validation.constraints.NotEmpty;
 
 @Data
 @ApiModel("边缘系统通用VO")
 public class EdgeCommonVO {
 
-    @ApiModelProperty("终端ID")
+    @ApiModelProperty("机器人ID")
-    @NotEmpty(message = "终端ID不能为空")
+    @NotEmpty(message = "机器人ID不能为空")
-    private String  terminalId;
+    private String  robotId;
 
     @ApiModelProperty("设备ID")
     @NotEmpty(message = "设备ID不能为空")