diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
index 7ad12e3..b8e561d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
@@ -3,7 +3,7 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 
 /**
- * 业务消息处理
+ * 业务消息处理器
  */
 public interface IBaseMsgHandler {
     /**

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
index 7ad12e3..b8e561d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
@@ -3,7 +3,7 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 
 /**
- * 业务消息处理
+ * 业务消息处理器
  */
 public interface IBaseMsgHandler {
     /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
new file mode 100644
index 0000000..e69ee28
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -0,0 +1,60 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TRACK_LIST")
+public class TrackListCmdHandler extends AbstractCmdHandler<TrackListRequest, ResponseDataDTO> {
+    private final IRouteInfoService routeInfoService;
+
+    protected TrackListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(TrackListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TRACK_LIST, messageDTO);
+
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(TrackListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
index 7ad12e3..b8e561d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
@@ -3,7 +3,7 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 
 /**
- * 业务消息处理
+ * 业务消息处理器
  */
 public interface IBaseMsgHandler {
     /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
new file mode 100644
index 0000000..e69ee28
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -0,0 +1,60 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TRACK_LIST")
+public class TrackListCmdHandler extends AbstractCmdHandler<TrackListRequest, ResponseDataDTO> {
+    private final IRouteInfoService routeInfoService;
+
+    protected TrackListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(TrackListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TRACK_LIST, messageDTO);
+
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(TrackListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
deleted file mode 100644
index e4b2b7e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/app_nav_pause")
-public class AppNavPauseMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppNavPause(robotId,message);
-    }
-}

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
index 7ad12e3..b8e561d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
@@ -3,7 +3,7 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 
 /**
- * 业务消息处理
+ * 业务消息处理器
  */
 public interface IBaseMsgHandler {
     /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
new file mode 100644
index 0000000..e69ee28
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -0,0 +1,60 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TRACK_LIST")
+public class TrackListCmdHandler extends AbstractCmdHandler<TrackListRequest, ResponseDataDTO> {
+    private final IRouteInfoService routeInfoService;
+
+    protected TrackListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(TrackListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TRACK_LIST, messageDTO);
+
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(TrackListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
deleted file mode 100644
index e4b2b7e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/app_nav_pause")
-public class AppNavPauseMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppNavPause(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
deleted file mode 100644
index 59cdaa8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 停障状态实时接收器
- */
-@Slf4j
-@Component("/app_stop_navtrack")
-public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-
-    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppStopNavtrack(robotId,message);
-    }
-}

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
index 7ad12e3..b8e561d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
@@ -3,7 +3,7 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 
 /**
- * 业务消息处理
+ * 业务消息处理器
  */
 public interface IBaseMsgHandler {
     /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
new file mode 100644
index 0000000..e69ee28
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -0,0 +1,60 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TRACK_LIST")
+public class TrackListCmdHandler extends AbstractCmdHandler<TrackListRequest, ResponseDataDTO> {
+    private final IRouteInfoService routeInfoService;
+
+    protected TrackListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(TrackListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TRACK_LIST, messageDTO);
+
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(TrackListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
deleted file mode 100644
index e4b2b7e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/app_nav_pause")
-public class AppNavPauseMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppNavPause(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
deleted file mode 100644
index 59cdaa8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 停障状态实时接收器
- */
-@Slf4j
-@Component("/app_stop_navtrack")
-public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-
-    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppStopNavtrack(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
deleted file mode 100644
index b8df20e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
+++ /dev/null
@@ -1,28 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 实时位置接收器
- */
-@Slf4j
-@Component("/pose_message")
-public class PoseMessageMsgHandler implements IBaseMsgHandler {
-
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
-
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
-        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
-    }
-}

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
index 7ad12e3..b8e561d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
@@ -3,7 +3,7 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 
 /**
- * 业务消息处理
+ * 业务消息处理器
  */
 public interface IBaseMsgHandler {
     /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
new file mode 100644
index 0000000..e69ee28
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -0,0 +1,60 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TRACK_LIST")
+public class TrackListCmdHandler extends AbstractCmdHandler<TrackListRequest, ResponseDataDTO> {
+    private final IRouteInfoService routeInfoService;
+
+    protected TrackListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(TrackListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TRACK_LIST, messageDTO);
+
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(TrackListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
deleted file mode 100644
index e4b2b7e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/app_nav_pause")
-public class AppNavPauseMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppNavPause(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
deleted file mode 100644
index 59cdaa8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 停障状态实时接收器
- */
-@Slf4j
-@Component("/app_stop_navtrack")
-public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-
-    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppStopNavtrack(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
deleted file mode 100644
index b8df20e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
+++ /dev/null
@@ -1,28 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 实时位置接收器
- */
-@Slf4j
-@Component("/pose_message")
-public class PoseMessageMsgHandler implements IBaseMsgHandler {
-
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
-
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
-        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
deleted file mode 100644
index 75f63c5..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/process_message")
-public class ProcessMessageMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
-    }
-}

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
index 7ad12e3..b8e561d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
@@ -3,7 +3,7 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 
 /**
- * 业务消息处理
+ * 业务消息处理器
  */
 public interface IBaseMsgHandler {
     /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
new file mode 100644
index 0000000..e69ee28
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -0,0 +1,60 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TRACK_LIST")
+public class TrackListCmdHandler extends AbstractCmdHandler<TrackListRequest, ResponseDataDTO> {
+    private final IRouteInfoService routeInfoService;
+
+    protected TrackListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(TrackListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TRACK_LIST, messageDTO);
+
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(TrackListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
deleted file mode 100644
index e4b2b7e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/app_nav_pause")
-public class AppNavPauseMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppNavPause(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
deleted file mode 100644
index 59cdaa8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 停障状态实时接收器
- */
-@Slf4j
-@Component("/app_stop_navtrack")
-public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-
-    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppStopNavtrack(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
deleted file mode 100644
index b8df20e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
+++ /dev/null
@@ -1,28 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 实时位置接收器
- */
-@Slf4j
-@Component("/pose_message")
-public class PoseMessageMsgHandler implements IBaseMsgHandler {
-
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
-
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
-        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
deleted file mode 100644
index 75f63c5..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/process_message")
-public class ProcessMessageMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
deleted file mode 100644
index 5f07bd8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
+++ /dev/null
@@ -1,40 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 传感器状态
- */
-@Slf4j
-@Component("/sensor_status")
-public class SensorStatusMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        Integer val = index.get("index") + 1;
-        index.put("index", val);
-
-        if (val > 20) {
-            index.put("index", 0);
-            statusInfoService.saveSensorStatus(robotId,message);
-        }
-    }
-}

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
index 7ad12e3..b8e561d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
@@ -3,7 +3,7 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 
 /**
- * 业务消息处理
+ * 业务消息处理器
  */
 public interface IBaseMsgHandler {
     /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
new file mode 100644
index 0000000..e69ee28
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -0,0 +1,60 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TRACK_LIST")
+public class TrackListCmdHandler extends AbstractCmdHandler<TrackListRequest, ResponseDataDTO> {
+    private final IRouteInfoService routeInfoService;
+
+    protected TrackListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(TrackListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TRACK_LIST, messageDTO);
+
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(TrackListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
deleted file mode 100644
index e4b2b7e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/app_nav_pause")
-public class AppNavPauseMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppNavPause(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
deleted file mode 100644
index 59cdaa8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 停障状态实时接收器
- */
-@Slf4j
-@Component("/app_stop_navtrack")
-public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-
-    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppStopNavtrack(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
deleted file mode 100644
index b8df20e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
+++ /dev/null
@@ -1,28 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 实时位置接收器
- */
-@Slf4j
-@Component("/pose_message")
-public class PoseMessageMsgHandler implements IBaseMsgHandler {
-
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
-
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
-        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
deleted file mode 100644
index 75f63c5..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/process_message")
-public class ProcessMessageMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
deleted file mode 100644
index 5f07bd8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
+++ /dev/null
@@ -1,40 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 传感器状态
- */
-@Slf4j
-@Component("/sensor_status")
-public class SensorStatusMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        Integer val = index.get("index") + 1;
-        index.put("index", val);
-
-        if (val > 20) {
-            index.put("index", 0);
-            statusInfoService.saveSensorStatus(robotId,message);
-        }
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
new file mode 100644
index 0000000..aba1a57
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/app_nav_pause")
+public class AppNavPauseMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppNavPause(robotId,message);
+    }
+}

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
index 7ad12e3..b8e561d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
@@ -3,7 +3,7 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 
 /**
- * 业务消息处理
+ * 业务消息处理器
  */
 public interface IBaseMsgHandler {
     /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
new file mode 100644
index 0000000..e69ee28
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -0,0 +1,60 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TRACK_LIST")
+public class TrackListCmdHandler extends AbstractCmdHandler<TrackListRequest, ResponseDataDTO> {
+    private final IRouteInfoService routeInfoService;
+
+    protected TrackListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(TrackListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TRACK_LIST, messageDTO);
+
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(TrackListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
deleted file mode 100644
index e4b2b7e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/app_nav_pause")
-public class AppNavPauseMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppNavPause(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
deleted file mode 100644
index 59cdaa8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 停障状态实时接收器
- */
-@Slf4j
-@Component("/app_stop_navtrack")
-public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-
-    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppStopNavtrack(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
deleted file mode 100644
index b8df20e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
+++ /dev/null
@@ -1,28 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 实时位置接收器
- */
-@Slf4j
-@Component("/pose_message")
-public class PoseMessageMsgHandler implements IBaseMsgHandler {
-
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
-
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
-        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
deleted file mode 100644
index 75f63c5..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/process_message")
-public class ProcessMessageMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
deleted file mode 100644
index 5f07bd8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
+++ /dev/null
@@ -1,40 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 传感器状态
- */
-@Slf4j
-@Component("/sensor_status")
-public class SensorStatusMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        Integer val = index.get("index") + 1;
-        index.put("index", val);
-
-        if (val > 20) {
-            index.put("index", 0);
-            statusInfoService.saveSensorStatus(robotId,message);
-        }
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
new file mode 100644
index 0000000..aba1a57
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/app_nav_pause")
+public class AppNavPauseMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppNavPause(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
new file mode 100644
index 0000000..9bf1ce4
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 停障状态实时接收器
+ */
+@Slf4j
+@Component("/app_stop_navtrack")
+public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+
+    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppStopNavtrack(robotId,message);
+    }
+}

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
index 7ad12e3..b8e561d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
@@ -3,7 +3,7 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 
 /**
- * 业务消息处理
+ * 业务消息处理器
  */
 public interface IBaseMsgHandler {
     /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
new file mode 100644
index 0000000..e69ee28
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -0,0 +1,60 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TRACK_LIST")
+public class TrackListCmdHandler extends AbstractCmdHandler<TrackListRequest, ResponseDataDTO> {
+    private final IRouteInfoService routeInfoService;
+
+    protected TrackListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(TrackListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TRACK_LIST, messageDTO);
+
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(TrackListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
deleted file mode 100644
index e4b2b7e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/app_nav_pause")
-public class AppNavPauseMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppNavPause(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
deleted file mode 100644
index 59cdaa8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 停障状态实时接收器
- */
-@Slf4j
-@Component("/app_stop_navtrack")
-public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-
-    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppStopNavtrack(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
deleted file mode 100644
index b8df20e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
+++ /dev/null
@@ -1,28 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 实时位置接收器
- */
-@Slf4j
-@Component("/pose_message")
-public class PoseMessageMsgHandler implements IBaseMsgHandler {
-
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
-
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
-        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
deleted file mode 100644
index 75f63c5..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/process_message")
-public class ProcessMessageMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
deleted file mode 100644
index 5f07bd8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
+++ /dev/null
@@ -1,40 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 传感器状态
- */
-@Slf4j
-@Component("/sensor_status")
-public class SensorStatusMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        Integer val = index.get("index") + 1;
-        index.put("index", val);
-
-        if (val > 20) {
-            index.put("index", 0);
-            statusInfoService.saveSensorStatus(robotId,message);
-        }
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
new file mode 100644
index 0000000..aba1a57
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/app_nav_pause")
+public class AppNavPauseMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppNavPause(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
new file mode 100644
index 0000000..9bf1ce4
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 停障状态实时接收器
+ */
+@Slf4j
+@Component("/app_stop_navtrack")
+public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+
+    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppStopNavtrack(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
new file mode 100644
index 0000000..b389e01
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
@@ -0,0 +1,28 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 实时位置接收器
+ */
+@Slf4j
+@Component("/pose_message")
+public class PoseMessageMsgHandler implements IBaseMsgHandler {
+
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
+        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
+        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+    }
+}

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
index 7ad12e3..b8e561d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
@@ -3,7 +3,7 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 
 /**
- * 业务消息处理
+ * 业务消息处理器
  */
 public interface IBaseMsgHandler {
     /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
new file mode 100644
index 0000000..e69ee28
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -0,0 +1,60 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TRACK_LIST")
+public class TrackListCmdHandler extends AbstractCmdHandler<TrackListRequest, ResponseDataDTO> {
+    private final IRouteInfoService routeInfoService;
+
+    protected TrackListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(TrackListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TRACK_LIST, messageDTO);
+
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(TrackListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
deleted file mode 100644
index e4b2b7e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/app_nav_pause")
-public class AppNavPauseMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppNavPause(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
deleted file mode 100644
index 59cdaa8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 停障状态实时接收器
- */
-@Slf4j
-@Component("/app_stop_navtrack")
-public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-
-    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppStopNavtrack(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
deleted file mode 100644
index b8df20e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
+++ /dev/null
@@ -1,28 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 实时位置接收器
- */
-@Slf4j
-@Component("/pose_message")
-public class PoseMessageMsgHandler implements IBaseMsgHandler {
-
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
-
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
-        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
deleted file mode 100644
index 75f63c5..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/process_message")
-public class ProcessMessageMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
deleted file mode 100644
index 5f07bd8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
+++ /dev/null
@@ -1,40 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 传感器状态
- */
-@Slf4j
-@Component("/sensor_status")
-public class SensorStatusMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        Integer val = index.get("index") + 1;
-        index.put("index", val);
-
-        if (val > 20) {
-            index.put("index", 0);
-            statusInfoService.saveSensorStatus(robotId,message);
-        }
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
new file mode 100644
index 0000000..aba1a57
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/app_nav_pause")
+public class AppNavPauseMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppNavPause(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
new file mode 100644
index 0000000..9bf1ce4
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 停障状态实时接收器
+ */
+@Slf4j
+@Component("/app_stop_navtrack")
+public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+
+    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppStopNavtrack(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
new file mode 100644
index 0000000..b389e01
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
@@ -0,0 +1,28 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 实时位置接收器
+ */
+@Slf4j
+@Component("/pose_message")
+public class PoseMessageMsgHandler implements IBaseMsgHandler {
+
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
+        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
+        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
new file mode 100644
index 0000000..702c091
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
@@ -0,0 +1,30 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/process_message")
+public class ProcessMessageMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("建图进度:{}", message);
+        statusInfoService.saveProcessMessage(robotId, message);
+    }
+}

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
index 7ad12e3..b8e561d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
@@ -3,7 +3,7 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 
 /**
- * 业务消息处理
+ * 业务消息处理器
  */
 public interface IBaseMsgHandler {
     /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
new file mode 100644
index 0000000..e69ee28
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -0,0 +1,60 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TRACK_LIST")
+public class TrackListCmdHandler extends AbstractCmdHandler<TrackListRequest, ResponseDataDTO> {
+    private final IRouteInfoService routeInfoService;
+
+    protected TrackListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(TrackListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TRACK_LIST, messageDTO);
+
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(TrackListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
deleted file mode 100644
index e4b2b7e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/app_nav_pause")
-public class AppNavPauseMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppNavPause(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
deleted file mode 100644
index 59cdaa8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 停障状态实时接收器
- */
-@Slf4j
-@Component("/app_stop_navtrack")
-public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-
-    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppStopNavtrack(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
deleted file mode 100644
index b8df20e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
+++ /dev/null
@@ -1,28 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 实时位置接收器
- */
-@Slf4j
-@Component("/pose_message")
-public class PoseMessageMsgHandler implements IBaseMsgHandler {
-
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
-
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
-        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
deleted file mode 100644
index 75f63c5..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/process_message")
-public class ProcessMessageMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
deleted file mode 100644
index 5f07bd8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
+++ /dev/null
@@ -1,40 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 传感器状态
- */
-@Slf4j
-@Component("/sensor_status")
-public class SensorStatusMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        Integer val = index.get("index") + 1;
-        index.put("index", val);
-
-        if (val > 20) {
-            index.put("index", 0);
-            statusInfoService.saveSensorStatus(robotId,message);
-        }
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
new file mode 100644
index 0000000..aba1a57
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/app_nav_pause")
+public class AppNavPauseMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppNavPause(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
new file mode 100644
index 0000000..9bf1ce4
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 停障状态实时接收器
+ */
+@Slf4j
+@Component("/app_stop_navtrack")
+public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+
+    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppStopNavtrack(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
new file mode 100644
index 0000000..b389e01
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
@@ -0,0 +1,28 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 实时位置接收器
+ */
+@Slf4j
+@Component("/pose_message")
+public class PoseMessageMsgHandler implements IBaseMsgHandler {
+
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
+        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
+        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
new file mode 100644
index 0000000..702c091
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
@@ -0,0 +1,30 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/process_message")
+public class ProcessMessageMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("建图进度:{}", message);
+        statusInfoService.saveProcessMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
new file mode 100644
index 0000000..da02b69
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
@@ -0,0 +1,40 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 传感器状态
+ */
+@Slf4j
+@Component("/sensor_status")
+public class SensorStatusMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        Integer val = index.get("index") + 1;
+        index.put("index", val);
+
+        if (val > 20) {
+            index.put("index", 0);
+            statusInfoService.saveSensorStatus(robotId,message);
+        }
+    }
+}

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
index 7ad12e3..b8e561d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
@@ -3,7 +3,7 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 
 /**
- * 业务消息处理
+ * 业务消息处理器
  */
 public interface IBaseMsgHandler {
     /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
new file mode 100644
index 0000000..e69ee28
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -0,0 +1,60 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TRACK_LIST")
+public class TrackListCmdHandler extends AbstractCmdHandler<TrackListRequest, ResponseDataDTO> {
+    private final IRouteInfoService routeInfoService;
+
+    protected TrackListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(TrackListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TRACK_LIST, messageDTO);
+
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(TrackListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
deleted file mode 100644
index e4b2b7e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/app_nav_pause")
-public class AppNavPauseMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppNavPause(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
deleted file mode 100644
index 59cdaa8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 停障状态实时接收器
- */
-@Slf4j
-@Component("/app_stop_navtrack")
-public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-
-    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppStopNavtrack(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
deleted file mode 100644
index b8df20e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
+++ /dev/null
@@ -1,28 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 实时位置接收器
- */
-@Slf4j
-@Component("/pose_message")
-public class PoseMessageMsgHandler implements IBaseMsgHandler {
-
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
-
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
-        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
deleted file mode 100644
index 75f63c5..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/process_message")
-public class ProcessMessageMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
deleted file mode 100644
index 5f07bd8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
+++ /dev/null
@@ -1,40 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 传感器状态
- */
-@Slf4j
-@Component("/sensor_status")
-public class SensorStatusMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        Integer val = index.get("index") + 1;
-        index.put("index", val);
-
-        if (val > 20) {
-            index.put("index", 0);
-            statusInfoService.saveSensorStatus(robotId,message);
-        }
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
new file mode 100644
index 0000000..aba1a57
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/app_nav_pause")
+public class AppNavPauseMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppNavPause(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
new file mode 100644
index 0000000..9bf1ce4
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 停障状态实时接收器
+ */
+@Slf4j
+@Component("/app_stop_navtrack")
+public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+
+    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppStopNavtrack(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
new file mode 100644
index 0000000..b389e01
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
@@ -0,0 +1,28 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 实时位置接收器
+ */
+@Slf4j
+@Component("/pose_message")
+public class PoseMessageMsgHandler implements IBaseMsgHandler {
+
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
+        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
+        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
new file mode 100644
index 0000000..702c091
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
@@ -0,0 +1,30 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/process_message")
+public class ProcessMessageMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("建图进度:{}", message);
+        statusInfoService.saveProcessMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
new file mode 100644
index 0000000..da02b69
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
@@ -0,0 +1,40 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 传感器状态
+ */
+@Slf4j
+@Component("/sensor_status")
+public class SensorStatusMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        Integer val = index.get("index") + 1;
+        index.put("index", val);
+
+        if (val > 20) {
+            index.put("index", 0);
+            statusInfoService.saveSensorStatus(robotId,message);
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 58d9941..5f77817 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,13 +1,26 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.mqtt.config.MqttClientConnection;
 import lombok.SneakyThrows;
 import org.eclipse.paho.client.mqttv3.MqttClient;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 
 /**
  * 机器人操作实现
@@ -15,9 +28,13 @@
 @Service
 public class RobotOptServiceImpl implements IBaseRobotService {
     private final IRobotRouteOptService robotRouteOptService;
+    private final IRobotInfoService robotInfoService;
+    private final ITaskInfoService taskInfoService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
         this.robotRouteOptService = robotRouteOptService;
+        this.robotInfoService = robotInfoService;
+        this.taskInfoService = taskInfoService;
     }
 
     @Override
@@ -51,6 +68,49 @@
         }
     }
 
+    /**
+     * 开启循迹任务
+     *
+     * @param request 请求体
+     * @return
+     */
+    @Transactional
+    @Override
+    public ResponseDataDTO<Integer> startTrack(StartTrackRequest request) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> list = robotRouteOptService.robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, info);
+
+        return list;
+    }
+
+    @Override
+    public ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request) {
+        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setPriority(request.getPriority());
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        messageDTO.setMsg(request);
+        ResponseDataDTO<AppCmdVelResponse> responseDataDTO = robotRouteOptService.robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
+        return responseDataDTO;
+    }
+
+    @Transactional
+    @Override
+    public <T, R> ResponseDataDTO<T> execCmdHandler(R request, InstructCodeEnums enums) {
+        IBaseCmdHandler cmdHandler = SpringContextHolder.getBean(enums.name());
+        cmdHandler.initHandler((BaseRobotCmdDTO) request);
+        ResponseDataDTO result = (ResponseDataDTO) cmdHandler.senderCmd((BaseRobotCmdDTO) request, InstructCodeEnums.TRACK_LIST);
+        result = (ResponseDataDTO) cmdHandler.afterInvoke((BaseRobotCmdDTO) request, result);
+        return result;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
index 7ad12e3..b8e561d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
@@ -3,7 +3,7 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 
 /**
- * 业务消息处理
+ * 业务消息处理器
  */
 public interface IBaseMsgHandler {
     /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
new file mode 100644
index 0000000..e69ee28
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -0,0 +1,60 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TRACK_LIST")
+public class TrackListCmdHandler extends AbstractCmdHandler<TrackListRequest, ResponseDataDTO> {
+    private final IRouteInfoService routeInfoService;
+
+    protected TrackListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(TrackListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TRACK_LIST, messageDTO);
+
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(TrackListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
deleted file mode 100644
index e4b2b7e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/app_nav_pause")
-public class AppNavPauseMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppNavPause(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
deleted file mode 100644
index 59cdaa8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 停障状态实时接收器
- */
-@Slf4j
-@Component("/app_stop_navtrack")
-public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-
-    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppStopNavtrack(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
deleted file mode 100644
index b8df20e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
+++ /dev/null
@@ -1,28 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 实时位置接收器
- */
-@Slf4j
-@Component("/pose_message")
-public class PoseMessageMsgHandler implements IBaseMsgHandler {
-
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
-
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
-        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
deleted file mode 100644
index 75f63c5..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/process_message")
-public class ProcessMessageMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
deleted file mode 100644
index 5f07bd8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
+++ /dev/null
@@ -1,40 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 传感器状态
- */
-@Slf4j
-@Component("/sensor_status")
-public class SensorStatusMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        Integer val = index.get("index") + 1;
-        index.put("index", val);
-
-        if (val > 20) {
-            index.put("index", 0);
-            statusInfoService.saveSensorStatus(robotId,message);
-        }
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
new file mode 100644
index 0000000..aba1a57
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/app_nav_pause")
+public class AppNavPauseMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppNavPause(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
new file mode 100644
index 0000000..9bf1ce4
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 停障状态实时接收器
+ */
+@Slf4j
+@Component("/app_stop_navtrack")
+public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+
+    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppStopNavtrack(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
new file mode 100644
index 0000000..b389e01
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
@@ -0,0 +1,28 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 实时位置接收器
+ */
+@Slf4j
+@Component("/pose_message")
+public class PoseMessageMsgHandler implements IBaseMsgHandler {
+
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
+        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
+        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
new file mode 100644
index 0000000..702c091
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
@@ -0,0 +1,30 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/process_message")
+public class ProcessMessageMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("建图进度:{}", message);
+        statusInfoService.saveProcessMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
new file mode 100644
index 0000000..da02b69
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
@@ -0,0 +1,40 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 传感器状态
+ */
+@Slf4j
+@Component("/sensor_status")
+public class SensorStatusMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        Integer val = index.get("index") + 1;
+        index.put("index", val);
+
+        if (val > 20) {
+            index.put("index", 0);
+            statusInfoService.saveSensorStatus(robotId,message);
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 58d9941..5f77817 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,13 +1,26 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.mqtt.config.MqttClientConnection;
 import lombok.SneakyThrows;
 import org.eclipse.paho.client.mqttv3.MqttClient;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 
 /**
  * 机器人操作实现
@@ -15,9 +28,13 @@
 @Service
 public class RobotOptServiceImpl implements IBaseRobotService {
     private final IRobotRouteOptService robotRouteOptService;
+    private final IRobotInfoService robotInfoService;
+    private final ITaskInfoService taskInfoService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
         this.robotRouteOptService = robotRouteOptService;
+        this.robotInfoService = robotInfoService;
+        this.taskInfoService = taskInfoService;
     }
 
     @Override
@@ -51,6 +68,49 @@
         }
     }
 
+    /**
+     * 开启循迹任务
+     *
+     * @param request 请求体
+     * @return
+     */
+    @Transactional
+    @Override
+    public ResponseDataDTO<Integer> startTrack(StartTrackRequest request) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> list = robotRouteOptService.robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, info);
+
+        return list;
+    }
+
+    @Override
+    public ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request) {
+        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setPriority(request.getPriority());
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        messageDTO.setMsg(request);
+        ResponseDataDTO<AppCmdVelResponse> responseDataDTO = robotRouteOptService.robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
+        return responseDataDTO;
+    }
+
+    @Transactional
+    @Override
+    public <T, R> ResponseDataDTO<T> execCmdHandler(R request, InstructCodeEnums enums) {
+        IBaseCmdHandler cmdHandler = SpringContextHolder.getBean(enums.name());
+        cmdHandler.initHandler((BaseRobotCmdDTO) request);
+        ResponseDataDTO result = (ResponseDataDTO) cmdHandler.senderCmd((BaseRobotCmdDTO) request, InstructCodeEnums.TRACK_LIST);
+        result = (ResponseDataDTO) cmdHandler.afterInvoke((BaseRobotCmdDTO) request, result);
+        return result;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
index 00581fe..8f66f8d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
@@ -6,8 +6,8 @@
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.MapListRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
@@ -56,7 +56,7 @@
         messageDTO.setMsg(request);
 
         RobotMsgResponseDTO<List<String>> result = MsgUtils.senMsg(mqttClient, InstructCodeEnums.TRACK_LIST, messageDTO);
-        if (result != null) {
+        if (result != null&&result.getMsg()!=null) {
             //机器人路线更新至表中
             return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(robotInfo, result.getMsg().getResult()));
         }

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
index 7ad12e3..b8e561d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
@@ -3,7 +3,7 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 
 /**
- * 业务消息处理
+ * 业务消息处理器
  */
 public interface IBaseMsgHandler {
     /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
new file mode 100644
index 0000000..e69ee28
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -0,0 +1,60 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TRACK_LIST")
+public class TrackListCmdHandler extends AbstractCmdHandler<TrackListRequest, ResponseDataDTO> {
+    private final IRouteInfoService routeInfoService;
+
+    protected TrackListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(TrackListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TRACK_LIST, messageDTO);
+
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(TrackListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
deleted file mode 100644
index e4b2b7e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/app_nav_pause")
-public class AppNavPauseMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppNavPause(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
deleted file mode 100644
index 59cdaa8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 停障状态实时接收器
- */
-@Slf4j
-@Component("/app_stop_navtrack")
-public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-
-    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppStopNavtrack(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
deleted file mode 100644
index b8df20e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
+++ /dev/null
@@ -1,28 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 实时位置接收器
- */
-@Slf4j
-@Component("/pose_message")
-public class PoseMessageMsgHandler implements IBaseMsgHandler {
-
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
-
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
-        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
deleted file mode 100644
index 75f63c5..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/process_message")
-public class ProcessMessageMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
deleted file mode 100644
index 5f07bd8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
+++ /dev/null
@@ -1,40 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 传感器状态
- */
-@Slf4j
-@Component("/sensor_status")
-public class SensorStatusMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        Integer val = index.get("index") + 1;
-        index.put("index", val);
-
-        if (val > 20) {
-            index.put("index", 0);
-            statusInfoService.saveSensorStatus(robotId,message);
-        }
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
new file mode 100644
index 0000000..aba1a57
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/app_nav_pause")
+public class AppNavPauseMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppNavPause(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
new file mode 100644
index 0000000..9bf1ce4
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 停障状态实时接收器
+ */
+@Slf4j
+@Component("/app_stop_navtrack")
+public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+
+    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppStopNavtrack(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
new file mode 100644
index 0000000..b389e01
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
@@ -0,0 +1,28 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 实时位置接收器
+ */
+@Slf4j
+@Component("/pose_message")
+public class PoseMessageMsgHandler implements IBaseMsgHandler {
+
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
+        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
+        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
new file mode 100644
index 0000000..702c091
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
@@ -0,0 +1,30 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/process_message")
+public class ProcessMessageMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("建图进度:{}", message);
+        statusInfoService.saveProcessMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
new file mode 100644
index 0000000..da02b69
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
@@ -0,0 +1,40 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 传感器状态
+ */
+@Slf4j
+@Component("/sensor_status")
+public class SensorStatusMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        Integer val = index.get("index") + 1;
+        index.put("index", val);
+
+        if (val > 20) {
+            index.put("index", 0);
+            statusInfoService.saveSensorStatus(robotId,message);
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 58d9941..5f77817 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,13 +1,26 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.mqtt.config.MqttClientConnection;
 import lombok.SneakyThrows;
 import org.eclipse.paho.client.mqttv3.MqttClient;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 
 /**
  * 机器人操作实现
@@ -15,9 +28,13 @@
 @Service
 public class RobotOptServiceImpl implements IBaseRobotService {
     private final IRobotRouteOptService robotRouteOptService;
+    private final IRobotInfoService robotInfoService;
+    private final ITaskInfoService taskInfoService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
         this.robotRouteOptService = robotRouteOptService;
+        this.robotInfoService = robotInfoService;
+        this.taskInfoService = taskInfoService;
     }
 
     @Override
@@ -51,6 +68,49 @@
         }
     }
 
+    /**
+     * 开启循迹任务
+     *
+     * @param request 请求体
+     * @return
+     */
+    @Transactional
+    @Override
+    public ResponseDataDTO<Integer> startTrack(StartTrackRequest request) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> list = robotRouteOptService.robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, info);
+
+        return list;
+    }
+
+    @Override
+    public ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request) {
+        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setPriority(request.getPriority());
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        messageDTO.setMsg(request);
+        ResponseDataDTO<AppCmdVelResponse> responseDataDTO = robotRouteOptService.robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
+        return responseDataDTO;
+    }
+
+    @Transactional
+    @Override
+    public <T, R> ResponseDataDTO<T> execCmdHandler(R request, InstructCodeEnums enums) {
+        IBaseCmdHandler cmdHandler = SpringContextHolder.getBean(enums.name());
+        cmdHandler.initHandler((BaseRobotCmdDTO) request);
+        ResponseDataDTO result = (ResponseDataDTO) cmdHandler.senderCmd((BaseRobotCmdDTO) request, InstructCodeEnums.TRACK_LIST);
+        result = (ResponseDataDTO) cmdHandler.afterInvoke((BaseRobotCmdDTO) request, result);
+        return result;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
index 00581fe..8f66f8d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
@@ -6,8 +6,8 @@
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.MapListRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
@@ -56,7 +56,7 @@
         messageDTO.setMsg(request);
 
         RobotMsgResponseDTO<List<String>> result = MsgUtils.senMsg(mqttClient, InstructCodeEnums.TRACK_LIST, messageDTO);
-        if (result != null) {
+        if (result != null&&result.getMsg()!=null) {
             //机器人路线更新至表中
             return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(robotInfo, result.getMsg().getResult()));
         }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
deleted file mode 100644
index f445171..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
+++ /dev/null
@@ -1,17 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-import java.io.Serializable;
-
-/**
- * 机器人消息请求体
- */
-@Data
-public class MessageRequestDTO<T> implements Serializable {
-    private T msg;
-
-    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
-    private Integer priority;
-}

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
index 7ad12e3..b8e561d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
@@ -3,7 +3,7 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 
 /**
- * 业务消息处理
+ * 业务消息处理器
  */
 public interface IBaseMsgHandler {
     /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
new file mode 100644
index 0000000..e69ee28
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -0,0 +1,60 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TRACK_LIST")
+public class TrackListCmdHandler extends AbstractCmdHandler<TrackListRequest, ResponseDataDTO> {
+    private final IRouteInfoService routeInfoService;
+
+    protected TrackListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(TrackListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TRACK_LIST, messageDTO);
+
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(TrackListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
deleted file mode 100644
index e4b2b7e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/app_nav_pause")
-public class AppNavPauseMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppNavPause(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
deleted file mode 100644
index 59cdaa8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 停障状态实时接收器
- */
-@Slf4j
-@Component("/app_stop_navtrack")
-public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-
-    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppStopNavtrack(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
deleted file mode 100644
index b8df20e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
+++ /dev/null
@@ -1,28 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 实时位置接收器
- */
-@Slf4j
-@Component("/pose_message")
-public class PoseMessageMsgHandler implements IBaseMsgHandler {
-
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
-
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
-        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
deleted file mode 100644
index 75f63c5..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/process_message")
-public class ProcessMessageMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
deleted file mode 100644
index 5f07bd8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
+++ /dev/null
@@ -1,40 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 传感器状态
- */
-@Slf4j
-@Component("/sensor_status")
-public class SensorStatusMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        Integer val = index.get("index") + 1;
-        index.put("index", val);
-
-        if (val > 20) {
-            index.put("index", 0);
-            statusInfoService.saveSensorStatus(robotId,message);
-        }
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
new file mode 100644
index 0000000..aba1a57
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/app_nav_pause")
+public class AppNavPauseMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppNavPause(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
new file mode 100644
index 0000000..9bf1ce4
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 停障状态实时接收器
+ */
+@Slf4j
+@Component("/app_stop_navtrack")
+public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+
+    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppStopNavtrack(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
new file mode 100644
index 0000000..b389e01
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
@@ -0,0 +1,28 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 实时位置接收器
+ */
+@Slf4j
+@Component("/pose_message")
+public class PoseMessageMsgHandler implements IBaseMsgHandler {
+
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
+        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
+        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
new file mode 100644
index 0000000..702c091
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
@@ -0,0 +1,30 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/process_message")
+public class ProcessMessageMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("建图进度:{}", message);
+        statusInfoService.saveProcessMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
new file mode 100644
index 0000000..da02b69
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
@@ -0,0 +1,40 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 传感器状态
+ */
+@Slf4j
+@Component("/sensor_status")
+public class SensorStatusMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        Integer val = index.get("index") + 1;
+        index.put("index", val);
+
+        if (val > 20) {
+            index.put("index", 0);
+            statusInfoService.saveSensorStatus(robotId,message);
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 58d9941..5f77817 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,13 +1,26 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.mqtt.config.MqttClientConnection;
 import lombok.SneakyThrows;
 import org.eclipse.paho.client.mqttv3.MqttClient;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 
 /**
  * 机器人操作实现
@@ -15,9 +28,13 @@
 @Service
 public class RobotOptServiceImpl implements IBaseRobotService {
     private final IRobotRouteOptService robotRouteOptService;
+    private final IRobotInfoService robotInfoService;
+    private final ITaskInfoService taskInfoService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
         this.robotRouteOptService = robotRouteOptService;
+        this.robotInfoService = robotInfoService;
+        this.taskInfoService = taskInfoService;
     }
 
     @Override
@@ -51,6 +68,49 @@
         }
     }
 
+    /**
+     * 开启循迹任务
+     *
+     * @param request 请求体
+     * @return
+     */
+    @Transactional
+    @Override
+    public ResponseDataDTO<Integer> startTrack(StartTrackRequest request) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> list = robotRouteOptService.robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, info);
+
+        return list;
+    }
+
+    @Override
+    public ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request) {
+        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setPriority(request.getPriority());
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        messageDTO.setMsg(request);
+        ResponseDataDTO<AppCmdVelResponse> responseDataDTO = robotRouteOptService.robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
+        return responseDataDTO;
+    }
+
+    @Transactional
+    @Override
+    public <T, R> ResponseDataDTO<T> execCmdHandler(R request, InstructCodeEnums enums) {
+        IBaseCmdHandler cmdHandler = SpringContextHolder.getBean(enums.name());
+        cmdHandler.initHandler((BaseRobotCmdDTO) request);
+        ResponseDataDTO result = (ResponseDataDTO) cmdHandler.senderCmd((BaseRobotCmdDTO) request, InstructCodeEnums.TRACK_LIST);
+        result = (ResponseDataDTO) cmdHandler.afterInvoke((BaseRobotCmdDTO) request, result);
+        return result;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
index 00581fe..8f66f8d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
@@ -6,8 +6,8 @@
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.MapListRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
@@ -56,7 +56,7 @@
         messageDTO.setMsg(request);
 
         RobotMsgResponseDTO<List<String>> result = MsgUtils.senMsg(mqttClient, InstructCodeEnums.TRACK_LIST, messageDTO);
-        if (result != null) {
+        if (result != null&&result.getMsg()!=null) {
             //机器人路线更新至表中
             return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(robotInfo, result.getMsg().getResult()));
         }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
deleted file mode 100644
index f445171..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
+++ /dev/null
@@ -1,17 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-import java.io.Serializable;
-
-/**
- * 机器人消息请求体
- */
-@Data
-public class MessageRequestDTO<T> implements Serializable {
-    private T msg;
-
-    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
-    private Integer priority;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
new file mode 100644
index 0000000..8cb6f05
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
@@ -0,0 +1,7 @@
+package com.casic.missiles.modular.robot.opt.instruct.base;
+
+/**
+ * 指令回复定义
+ */
+public interface RobotBaseMsg {
+}

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
index 7ad12e3..b8e561d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
@@ -3,7 +3,7 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 
 /**
- * 业务消息处理
+ * 业务消息处理器
  */
 public interface IBaseMsgHandler {
     /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
new file mode 100644
index 0000000..e69ee28
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -0,0 +1,60 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TRACK_LIST")
+public class TrackListCmdHandler extends AbstractCmdHandler<TrackListRequest, ResponseDataDTO> {
+    private final IRouteInfoService routeInfoService;
+
+    protected TrackListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(TrackListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TRACK_LIST, messageDTO);
+
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(TrackListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
deleted file mode 100644
index e4b2b7e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/app_nav_pause")
-public class AppNavPauseMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppNavPause(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
deleted file mode 100644
index 59cdaa8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 停障状态实时接收器
- */
-@Slf4j
-@Component("/app_stop_navtrack")
-public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-
-    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppStopNavtrack(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
deleted file mode 100644
index b8df20e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
+++ /dev/null
@@ -1,28 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 实时位置接收器
- */
-@Slf4j
-@Component("/pose_message")
-public class PoseMessageMsgHandler implements IBaseMsgHandler {
-
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
-
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
-        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
deleted file mode 100644
index 75f63c5..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/process_message")
-public class ProcessMessageMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
deleted file mode 100644
index 5f07bd8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
+++ /dev/null
@@ -1,40 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 传感器状态
- */
-@Slf4j
-@Component("/sensor_status")
-public class SensorStatusMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        Integer val = index.get("index") + 1;
-        index.put("index", val);
-
-        if (val > 20) {
-            index.put("index", 0);
-            statusInfoService.saveSensorStatus(robotId,message);
-        }
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
new file mode 100644
index 0000000..aba1a57
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/app_nav_pause")
+public class AppNavPauseMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppNavPause(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
new file mode 100644
index 0000000..9bf1ce4
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 停障状态实时接收器
+ */
+@Slf4j
+@Component("/app_stop_navtrack")
+public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+
+    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppStopNavtrack(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
new file mode 100644
index 0000000..b389e01
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
@@ -0,0 +1,28 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 实时位置接收器
+ */
+@Slf4j
+@Component("/pose_message")
+public class PoseMessageMsgHandler implements IBaseMsgHandler {
+
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
+        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
+        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
new file mode 100644
index 0000000..702c091
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
@@ -0,0 +1,30 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/process_message")
+public class ProcessMessageMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("建图进度:{}", message);
+        statusInfoService.saveProcessMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
new file mode 100644
index 0000000..da02b69
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
@@ -0,0 +1,40 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 传感器状态
+ */
+@Slf4j
+@Component("/sensor_status")
+public class SensorStatusMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        Integer val = index.get("index") + 1;
+        index.put("index", val);
+
+        if (val > 20) {
+            index.put("index", 0);
+            statusInfoService.saveSensorStatus(robotId,message);
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 58d9941..5f77817 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,13 +1,26 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.mqtt.config.MqttClientConnection;
 import lombok.SneakyThrows;
 import org.eclipse.paho.client.mqttv3.MqttClient;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 
 /**
  * 机器人操作实现
@@ -15,9 +28,13 @@
 @Service
 public class RobotOptServiceImpl implements IBaseRobotService {
     private final IRobotRouteOptService robotRouteOptService;
+    private final IRobotInfoService robotInfoService;
+    private final ITaskInfoService taskInfoService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
         this.robotRouteOptService = robotRouteOptService;
+        this.robotInfoService = robotInfoService;
+        this.taskInfoService = taskInfoService;
     }
 
     @Override
@@ -51,6 +68,49 @@
         }
     }
 
+    /**
+     * 开启循迹任务
+     *
+     * @param request 请求体
+     * @return
+     */
+    @Transactional
+    @Override
+    public ResponseDataDTO<Integer> startTrack(StartTrackRequest request) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> list = robotRouteOptService.robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, info);
+
+        return list;
+    }
+
+    @Override
+    public ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request) {
+        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setPriority(request.getPriority());
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        messageDTO.setMsg(request);
+        ResponseDataDTO<AppCmdVelResponse> responseDataDTO = robotRouteOptService.robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
+        return responseDataDTO;
+    }
+
+    @Transactional
+    @Override
+    public <T, R> ResponseDataDTO<T> execCmdHandler(R request, InstructCodeEnums enums) {
+        IBaseCmdHandler cmdHandler = SpringContextHolder.getBean(enums.name());
+        cmdHandler.initHandler((BaseRobotCmdDTO) request);
+        ResponseDataDTO result = (ResponseDataDTO) cmdHandler.senderCmd((BaseRobotCmdDTO) request, InstructCodeEnums.TRACK_LIST);
+        result = (ResponseDataDTO) cmdHandler.afterInvoke((BaseRobotCmdDTO) request, result);
+        return result;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
index 00581fe..8f66f8d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
@@ -6,8 +6,8 @@
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.MapListRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
@@ -56,7 +56,7 @@
         messageDTO.setMsg(request);
 
         RobotMsgResponseDTO<List<String>> result = MsgUtils.senMsg(mqttClient, InstructCodeEnums.TRACK_LIST, messageDTO);
-        if (result != null) {
+        if (result != null&&result.getMsg()!=null) {
             //机器人路线更新至表中
             return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(robotInfo, result.getMsg().getResult()));
         }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
deleted file mode 100644
index f445171..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
+++ /dev/null
@@ -1,17 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-import java.io.Serializable;
-
-/**
- * 机器人消息请求体
- */
-@Data
-public class MessageRequestDTO<T> implements Serializable {
-    private T msg;
-
-    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
-    private Integer priority;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
new file mode 100644
index 0000000..8cb6f05
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
@@ -0,0 +1,7 @@
+package com.casic.missiles.modular.robot.opt.instruct.base;
+
+/**
+ * 指令回复定义
+ */
+public interface RobotBaseMsg {
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
deleted file mode 100644
index 7b516ba..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
+++ /dev/null
@@ -1,38 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import com.alibaba.fastjson.annotation.JSONField;
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-@Data
-public class RobotMsgDTO<T> {
-    /**
-     * 消息编码
-     */
-    @ApiModelProperty(value = "消息编码", dataType = "String")
-    @JSONField(name = "error_code")
-    private String errorCode;
-    /**
-     * 错误消息
-     */
-    @ApiModelProperty(value = "错误消息", dataType = "String")
-    @JSONField(name = "error_msg")
-    private String errorMsg;
-    @ApiModelProperty(value = "返回结果")
-    private T result;
-
-    /**
-     * 机器人上传map
-     */
-    @JSONField(name = "map_name")
-    private String mapName;
-
-    private String x;
-    private String y;
-    private String z;
-    private String theta;
-
-    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
-    @JSONField(name = "get_speed")
-    private Float getSpeed;
-}

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
index 7ad12e3..b8e561d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
@@ -3,7 +3,7 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 
 /**
- * 业务消息处理
+ * 业务消息处理器
  */
 public interface IBaseMsgHandler {
     /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
new file mode 100644
index 0000000..e69ee28
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -0,0 +1,60 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TRACK_LIST")
+public class TrackListCmdHandler extends AbstractCmdHandler<TrackListRequest, ResponseDataDTO> {
+    private final IRouteInfoService routeInfoService;
+
+    protected TrackListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(TrackListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TRACK_LIST, messageDTO);
+
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(TrackListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
deleted file mode 100644
index e4b2b7e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/app_nav_pause")
-public class AppNavPauseMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppNavPause(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
deleted file mode 100644
index 59cdaa8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 停障状态实时接收器
- */
-@Slf4j
-@Component("/app_stop_navtrack")
-public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-
-    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppStopNavtrack(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
deleted file mode 100644
index b8df20e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
+++ /dev/null
@@ -1,28 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 实时位置接收器
- */
-@Slf4j
-@Component("/pose_message")
-public class PoseMessageMsgHandler implements IBaseMsgHandler {
-
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
-
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
-        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
deleted file mode 100644
index 75f63c5..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/process_message")
-public class ProcessMessageMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
deleted file mode 100644
index 5f07bd8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
+++ /dev/null
@@ -1,40 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 传感器状态
- */
-@Slf4j
-@Component("/sensor_status")
-public class SensorStatusMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        Integer val = index.get("index") + 1;
-        index.put("index", val);
-
-        if (val > 20) {
-            index.put("index", 0);
-            statusInfoService.saveSensorStatus(robotId,message);
-        }
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
new file mode 100644
index 0000000..aba1a57
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/app_nav_pause")
+public class AppNavPauseMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppNavPause(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
new file mode 100644
index 0000000..9bf1ce4
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 停障状态实时接收器
+ */
+@Slf4j
+@Component("/app_stop_navtrack")
+public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+
+    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppStopNavtrack(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
new file mode 100644
index 0000000..b389e01
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
@@ -0,0 +1,28 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 实时位置接收器
+ */
+@Slf4j
+@Component("/pose_message")
+public class PoseMessageMsgHandler implements IBaseMsgHandler {
+
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
+        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
+        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
new file mode 100644
index 0000000..702c091
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
@@ -0,0 +1,30 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/process_message")
+public class ProcessMessageMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("建图进度:{}", message);
+        statusInfoService.saveProcessMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
new file mode 100644
index 0000000..da02b69
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
@@ -0,0 +1,40 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 传感器状态
+ */
+@Slf4j
+@Component("/sensor_status")
+public class SensorStatusMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        Integer val = index.get("index") + 1;
+        index.put("index", val);
+
+        if (val > 20) {
+            index.put("index", 0);
+            statusInfoService.saveSensorStatus(robotId,message);
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 58d9941..5f77817 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,13 +1,26 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.mqtt.config.MqttClientConnection;
 import lombok.SneakyThrows;
 import org.eclipse.paho.client.mqttv3.MqttClient;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 
 /**
  * 机器人操作实现
@@ -15,9 +28,13 @@
 @Service
 public class RobotOptServiceImpl implements IBaseRobotService {
     private final IRobotRouteOptService robotRouteOptService;
+    private final IRobotInfoService robotInfoService;
+    private final ITaskInfoService taskInfoService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
         this.robotRouteOptService = robotRouteOptService;
+        this.robotInfoService = robotInfoService;
+        this.taskInfoService = taskInfoService;
     }
 
     @Override
@@ -51,6 +68,49 @@
         }
     }
 
+    /**
+     * 开启循迹任务
+     *
+     * @param request 请求体
+     * @return
+     */
+    @Transactional
+    @Override
+    public ResponseDataDTO<Integer> startTrack(StartTrackRequest request) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> list = robotRouteOptService.robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, info);
+
+        return list;
+    }
+
+    @Override
+    public ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request) {
+        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setPriority(request.getPriority());
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        messageDTO.setMsg(request);
+        ResponseDataDTO<AppCmdVelResponse> responseDataDTO = robotRouteOptService.robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
+        return responseDataDTO;
+    }
+
+    @Transactional
+    @Override
+    public <T, R> ResponseDataDTO<T> execCmdHandler(R request, InstructCodeEnums enums) {
+        IBaseCmdHandler cmdHandler = SpringContextHolder.getBean(enums.name());
+        cmdHandler.initHandler((BaseRobotCmdDTO) request);
+        ResponseDataDTO result = (ResponseDataDTO) cmdHandler.senderCmd((BaseRobotCmdDTO) request, InstructCodeEnums.TRACK_LIST);
+        result = (ResponseDataDTO) cmdHandler.afterInvoke((BaseRobotCmdDTO) request, result);
+        return result;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
index 00581fe..8f66f8d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
@@ -6,8 +6,8 @@
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.MapListRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
@@ -56,7 +56,7 @@
         messageDTO.setMsg(request);
 
         RobotMsgResponseDTO<List<String>> result = MsgUtils.senMsg(mqttClient, InstructCodeEnums.TRACK_LIST, messageDTO);
-        if (result != null) {
+        if (result != null&&result.getMsg()!=null) {
             //机器人路线更新至表中
             return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(robotInfo, result.getMsg().getResult()));
         }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
deleted file mode 100644
index f445171..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
+++ /dev/null
@@ -1,17 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-import java.io.Serializable;
-
-/**
- * 机器人消息请求体
- */
-@Data
-public class MessageRequestDTO<T> implements Serializable {
-    private T msg;
-
-    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
-    private Integer priority;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
new file mode 100644
index 0000000..8cb6f05
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
@@ -0,0 +1,7 @@
+package com.casic.missiles.modular.robot.opt.instruct.base;
+
+/**
+ * 指令回复定义
+ */
+public interface RobotBaseMsg {
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
deleted file mode 100644
index 7b516ba..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
+++ /dev/null
@@ -1,38 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import com.alibaba.fastjson.annotation.JSONField;
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-@Data
-public class RobotMsgDTO<T> {
-    /**
-     * 消息编码
-     */
-    @ApiModelProperty(value = "消息编码", dataType = "String")
-    @JSONField(name = "error_code")
-    private String errorCode;
-    /**
-     * 错误消息
-     */
-    @ApiModelProperty(value = "错误消息", dataType = "String")
-    @JSONField(name = "error_msg")
-    private String errorMsg;
-    @ApiModelProperty(value = "返回结果")
-    private T result;
-
-    /**
-     * 机器人上传map
-     */
-    @JSONField(name = "map_name")
-    private String mapName;
-
-    private String x;
-    private String y;
-    private String z;
-    private String theta;
-
-    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
-    @JSONField(name = "get_speed")
-    private Float getSpeed;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
new file mode 100644
index 0000000..4efaf84
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
@@ -0,0 +1,17 @@
+package com.casic.missiles.modular.robot.opt.instruct.base.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * 机器人消息请求体
+ */
+@Data
+public class MessageRequestDTO<T> implements Serializable {
+    private T msg;
+
+    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
+    private Integer priority;
+}

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
index 7ad12e3..b8e561d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
@@ -3,7 +3,7 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 
 /**
- * 业务消息处理
+ * 业务消息处理器
  */
 public interface IBaseMsgHandler {
     /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
new file mode 100644
index 0000000..e69ee28
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -0,0 +1,60 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TRACK_LIST")
+public class TrackListCmdHandler extends AbstractCmdHandler<TrackListRequest, ResponseDataDTO> {
+    private final IRouteInfoService routeInfoService;
+
+    protected TrackListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(TrackListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TRACK_LIST, messageDTO);
+
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(TrackListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
deleted file mode 100644
index e4b2b7e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/app_nav_pause")
-public class AppNavPauseMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppNavPause(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
deleted file mode 100644
index 59cdaa8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 停障状态实时接收器
- */
-@Slf4j
-@Component("/app_stop_navtrack")
-public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-
-    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppStopNavtrack(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
deleted file mode 100644
index b8df20e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
+++ /dev/null
@@ -1,28 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 实时位置接收器
- */
-@Slf4j
-@Component("/pose_message")
-public class PoseMessageMsgHandler implements IBaseMsgHandler {
-
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
-
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
-        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
deleted file mode 100644
index 75f63c5..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/process_message")
-public class ProcessMessageMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
deleted file mode 100644
index 5f07bd8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
+++ /dev/null
@@ -1,40 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 传感器状态
- */
-@Slf4j
-@Component("/sensor_status")
-public class SensorStatusMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        Integer val = index.get("index") + 1;
-        index.put("index", val);
-
-        if (val > 20) {
-            index.put("index", 0);
-            statusInfoService.saveSensorStatus(robotId,message);
-        }
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
new file mode 100644
index 0000000..aba1a57
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/app_nav_pause")
+public class AppNavPauseMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppNavPause(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
new file mode 100644
index 0000000..9bf1ce4
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 停障状态实时接收器
+ */
+@Slf4j
+@Component("/app_stop_navtrack")
+public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+
+    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppStopNavtrack(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
new file mode 100644
index 0000000..b389e01
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
@@ -0,0 +1,28 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 实时位置接收器
+ */
+@Slf4j
+@Component("/pose_message")
+public class PoseMessageMsgHandler implements IBaseMsgHandler {
+
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
+        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
+        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
new file mode 100644
index 0000000..702c091
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
@@ -0,0 +1,30 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/process_message")
+public class ProcessMessageMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("建图进度:{}", message);
+        statusInfoService.saveProcessMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
new file mode 100644
index 0000000..da02b69
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
@@ -0,0 +1,40 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 传感器状态
+ */
+@Slf4j
+@Component("/sensor_status")
+public class SensorStatusMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        Integer val = index.get("index") + 1;
+        index.put("index", val);
+
+        if (val > 20) {
+            index.put("index", 0);
+            statusInfoService.saveSensorStatus(robotId,message);
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 58d9941..5f77817 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,13 +1,26 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.mqtt.config.MqttClientConnection;
 import lombok.SneakyThrows;
 import org.eclipse.paho.client.mqttv3.MqttClient;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 
 /**
  * 机器人操作实现
@@ -15,9 +28,13 @@
 @Service
 public class RobotOptServiceImpl implements IBaseRobotService {
     private final IRobotRouteOptService robotRouteOptService;
+    private final IRobotInfoService robotInfoService;
+    private final ITaskInfoService taskInfoService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
         this.robotRouteOptService = robotRouteOptService;
+        this.robotInfoService = robotInfoService;
+        this.taskInfoService = taskInfoService;
     }
 
     @Override
@@ -51,6 +68,49 @@
         }
     }
 
+    /**
+     * 开启循迹任务
+     *
+     * @param request 请求体
+     * @return
+     */
+    @Transactional
+    @Override
+    public ResponseDataDTO<Integer> startTrack(StartTrackRequest request) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> list = robotRouteOptService.robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, info);
+
+        return list;
+    }
+
+    @Override
+    public ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request) {
+        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setPriority(request.getPriority());
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        messageDTO.setMsg(request);
+        ResponseDataDTO<AppCmdVelResponse> responseDataDTO = robotRouteOptService.robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
+        return responseDataDTO;
+    }
+
+    @Transactional
+    @Override
+    public <T, R> ResponseDataDTO<T> execCmdHandler(R request, InstructCodeEnums enums) {
+        IBaseCmdHandler cmdHandler = SpringContextHolder.getBean(enums.name());
+        cmdHandler.initHandler((BaseRobotCmdDTO) request);
+        ResponseDataDTO result = (ResponseDataDTO) cmdHandler.senderCmd((BaseRobotCmdDTO) request, InstructCodeEnums.TRACK_LIST);
+        result = (ResponseDataDTO) cmdHandler.afterInvoke((BaseRobotCmdDTO) request, result);
+        return result;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
index 00581fe..8f66f8d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
@@ -6,8 +6,8 @@
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.MapListRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
@@ -56,7 +56,7 @@
         messageDTO.setMsg(request);
 
         RobotMsgResponseDTO<List<String>> result = MsgUtils.senMsg(mqttClient, InstructCodeEnums.TRACK_LIST, messageDTO);
-        if (result != null) {
+        if (result != null&&result.getMsg()!=null) {
             //机器人路线更新至表中
             return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(robotInfo, result.getMsg().getResult()));
         }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
deleted file mode 100644
index f445171..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
+++ /dev/null
@@ -1,17 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-import java.io.Serializable;
-
-/**
- * 机器人消息请求体
- */
-@Data
-public class MessageRequestDTO<T> implements Serializable {
-    private T msg;
-
-    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
-    private Integer priority;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
new file mode 100644
index 0000000..8cb6f05
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
@@ -0,0 +1,7 @@
+package com.casic.missiles.modular.robot.opt.instruct.base;
+
+/**
+ * 指令回复定义
+ */
+public interface RobotBaseMsg {
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
deleted file mode 100644
index 7b516ba..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
+++ /dev/null
@@ -1,38 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import com.alibaba.fastjson.annotation.JSONField;
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-@Data
-public class RobotMsgDTO<T> {
-    /**
-     * 消息编码
-     */
-    @ApiModelProperty(value = "消息编码", dataType = "String")
-    @JSONField(name = "error_code")
-    private String errorCode;
-    /**
-     * 错误消息
-     */
-    @ApiModelProperty(value = "错误消息", dataType = "String")
-    @JSONField(name = "error_msg")
-    private String errorMsg;
-    @ApiModelProperty(value = "返回结果")
-    private T result;
-
-    /**
-     * 机器人上传map
-     */
-    @JSONField(name = "map_name")
-    private String mapName;
-
-    private String x;
-    private String y;
-    private String z;
-    private String theta;
-
-    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
-    @JSONField(name = "get_speed")
-    private Float getSpeed;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
new file mode 100644
index 0000000..4efaf84
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
@@ -0,0 +1,17 @@
+package com.casic.missiles.modular.robot.opt.instruct.base.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * 机器人消息请求体
+ */
+@Data
+public class MessageRequestDTO<T> implements Serializable {
+    private T msg;
+
+    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
+    private Integer priority;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java
new file mode 100644
index 0000000..8f7ba24
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.instruct.base.dto;
+
+import com.alibaba.fastjson.annotation.JSONField;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+@Data
+public class RobotMsgDTO<T> {
+    /**
+     * 消息编码
+     */
+    @ApiModelProperty(value = "消息编码", dataType = "String")
+    @JSONField(name = "error_code")
+    private String errorCode;
+    /**
+     * 错误消息
+     */
+    @ApiModelProperty(value = "错误消息", dataType = "String")
+    @JSONField(name = "error_msg")
+    private String errorMsg;
+    @ApiModelProperty(value = "返回结果")
+    private T result;
+
+    /**
+     * 机器人上传map
+     */
+    @JSONField(name = "map_name")
+    private String mapName;
+
+
+    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
+    @JSONField(name = "get_speed")
+    private Float getSpeed;
+}

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
index 7ad12e3..b8e561d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
@@ -3,7 +3,7 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 
 /**
- * 业务消息处理
+ * 业务消息处理器
  */
 public interface IBaseMsgHandler {
     /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
new file mode 100644
index 0000000..e69ee28
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -0,0 +1,60 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TRACK_LIST")
+public class TrackListCmdHandler extends AbstractCmdHandler<TrackListRequest, ResponseDataDTO> {
+    private final IRouteInfoService routeInfoService;
+
+    protected TrackListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(TrackListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TRACK_LIST, messageDTO);
+
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(TrackListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
deleted file mode 100644
index e4b2b7e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/app_nav_pause")
-public class AppNavPauseMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppNavPause(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
deleted file mode 100644
index 59cdaa8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 停障状态实时接收器
- */
-@Slf4j
-@Component("/app_stop_navtrack")
-public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-
-    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppStopNavtrack(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
deleted file mode 100644
index b8df20e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
+++ /dev/null
@@ -1,28 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 实时位置接收器
- */
-@Slf4j
-@Component("/pose_message")
-public class PoseMessageMsgHandler implements IBaseMsgHandler {
-
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
-
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
-        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
deleted file mode 100644
index 75f63c5..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/process_message")
-public class ProcessMessageMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
deleted file mode 100644
index 5f07bd8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
+++ /dev/null
@@ -1,40 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 传感器状态
- */
-@Slf4j
-@Component("/sensor_status")
-public class SensorStatusMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        Integer val = index.get("index") + 1;
-        index.put("index", val);
-
-        if (val > 20) {
-            index.put("index", 0);
-            statusInfoService.saveSensorStatus(robotId,message);
-        }
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
new file mode 100644
index 0000000..aba1a57
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/app_nav_pause")
+public class AppNavPauseMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppNavPause(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
new file mode 100644
index 0000000..9bf1ce4
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 停障状态实时接收器
+ */
+@Slf4j
+@Component("/app_stop_navtrack")
+public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+
+    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppStopNavtrack(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
new file mode 100644
index 0000000..b389e01
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
@@ -0,0 +1,28 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 实时位置接收器
+ */
+@Slf4j
+@Component("/pose_message")
+public class PoseMessageMsgHandler implements IBaseMsgHandler {
+
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
+        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
+        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
new file mode 100644
index 0000000..702c091
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
@@ -0,0 +1,30 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/process_message")
+public class ProcessMessageMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("建图进度:{}", message);
+        statusInfoService.saveProcessMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
new file mode 100644
index 0000000..da02b69
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
@@ -0,0 +1,40 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 传感器状态
+ */
+@Slf4j
+@Component("/sensor_status")
+public class SensorStatusMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        Integer val = index.get("index") + 1;
+        index.put("index", val);
+
+        if (val > 20) {
+            index.put("index", 0);
+            statusInfoService.saveSensorStatus(robotId,message);
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 58d9941..5f77817 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,13 +1,26 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.mqtt.config.MqttClientConnection;
 import lombok.SneakyThrows;
 import org.eclipse.paho.client.mqttv3.MqttClient;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 
 /**
  * 机器人操作实现
@@ -15,9 +28,13 @@
 @Service
 public class RobotOptServiceImpl implements IBaseRobotService {
     private final IRobotRouteOptService robotRouteOptService;
+    private final IRobotInfoService robotInfoService;
+    private final ITaskInfoService taskInfoService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
         this.robotRouteOptService = robotRouteOptService;
+        this.robotInfoService = robotInfoService;
+        this.taskInfoService = taskInfoService;
     }
 
     @Override
@@ -51,6 +68,49 @@
         }
     }
 
+    /**
+     * 开启循迹任务
+     *
+     * @param request 请求体
+     * @return
+     */
+    @Transactional
+    @Override
+    public ResponseDataDTO<Integer> startTrack(StartTrackRequest request) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> list = robotRouteOptService.robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, info);
+
+        return list;
+    }
+
+    @Override
+    public ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request) {
+        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setPriority(request.getPriority());
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        messageDTO.setMsg(request);
+        ResponseDataDTO<AppCmdVelResponse> responseDataDTO = robotRouteOptService.robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
+        return responseDataDTO;
+    }
+
+    @Transactional
+    @Override
+    public <T, R> ResponseDataDTO<T> execCmdHandler(R request, InstructCodeEnums enums) {
+        IBaseCmdHandler cmdHandler = SpringContextHolder.getBean(enums.name());
+        cmdHandler.initHandler((BaseRobotCmdDTO) request);
+        ResponseDataDTO result = (ResponseDataDTO) cmdHandler.senderCmd((BaseRobotCmdDTO) request, InstructCodeEnums.TRACK_LIST);
+        result = (ResponseDataDTO) cmdHandler.afterInvoke((BaseRobotCmdDTO) request, result);
+        return result;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
index 00581fe..8f66f8d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
@@ -6,8 +6,8 @@
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.MapListRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
@@ -56,7 +56,7 @@
         messageDTO.setMsg(request);
 
         RobotMsgResponseDTO<List<String>> result = MsgUtils.senMsg(mqttClient, InstructCodeEnums.TRACK_LIST, messageDTO);
-        if (result != null) {
+        if (result != null&&result.getMsg()!=null) {
             //机器人路线更新至表中
             return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(robotInfo, result.getMsg().getResult()));
         }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
deleted file mode 100644
index f445171..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
+++ /dev/null
@@ -1,17 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-import java.io.Serializable;
-
-/**
- * 机器人消息请求体
- */
-@Data
-public class MessageRequestDTO<T> implements Serializable {
-    private T msg;
-
-    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
-    private Integer priority;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
new file mode 100644
index 0000000..8cb6f05
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
@@ -0,0 +1,7 @@
+package com.casic.missiles.modular.robot.opt.instruct.base;
+
+/**
+ * 指令回复定义
+ */
+public interface RobotBaseMsg {
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
deleted file mode 100644
index 7b516ba..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
+++ /dev/null
@@ -1,38 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import com.alibaba.fastjson.annotation.JSONField;
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-@Data
-public class RobotMsgDTO<T> {
-    /**
-     * 消息编码
-     */
-    @ApiModelProperty(value = "消息编码", dataType = "String")
-    @JSONField(name = "error_code")
-    private String errorCode;
-    /**
-     * 错误消息
-     */
-    @ApiModelProperty(value = "错误消息", dataType = "String")
-    @JSONField(name = "error_msg")
-    private String errorMsg;
-    @ApiModelProperty(value = "返回结果")
-    private T result;
-
-    /**
-     * 机器人上传map
-     */
-    @JSONField(name = "map_name")
-    private String mapName;
-
-    private String x;
-    private String y;
-    private String z;
-    private String theta;
-
-    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
-    @JSONField(name = "get_speed")
-    private Float getSpeed;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
new file mode 100644
index 0000000..4efaf84
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
@@ -0,0 +1,17 @@
+package com.casic.missiles.modular.robot.opt.instruct.base.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * 机器人消息请求体
+ */
+@Data
+public class MessageRequestDTO<T> implements Serializable {
+    private T msg;
+
+    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
+    private Integer priority;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java
new file mode 100644
index 0000000..8f7ba24
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.instruct.base.dto;
+
+import com.alibaba.fastjson.annotation.JSONField;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+@Data
+public class RobotMsgDTO<T> {
+    /**
+     * 消息编码
+     */
+    @ApiModelProperty(value = "消息编码", dataType = "String")
+    @JSONField(name = "error_code")
+    private String errorCode;
+    /**
+     * 错误消息
+     */
+    @ApiModelProperty(value = "错误消息", dataType = "String")
+    @JSONField(name = "error_msg")
+    private String errorMsg;
+    @ApiModelProperty(value = "返回结果")
+    private T result;
+
+    /**
+     * 机器人上传map
+     */
+    @JSONField(name = "map_name")
+    private String mapName;
+
+
+    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
+    @JSONField(name = "get_speed")
+    private Float getSpeed;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java
new file mode 100644
index 0000000..ee41289
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java
@@ -0,0 +1,17 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import com.alibaba.fastjson.annotation.JSONField;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 删除路线
+ */
+@Data
+public class DeleteTrackRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "sn编码(可不填 默认机器ID)", dataType = "String")
+    private String sn;
+
+    @ApiModelProperty(value = "下发状态 1:开启 0:关闭", dataType = "String")
+    private String track_name;
+}

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
index 7ad12e3..b8e561d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
@@ -3,7 +3,7 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 
 /**
- * 业务消息处理
+ * 业务消息处理器
  */
 public interface IBaseMsgHandler {
     /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
new file mode 100644
index 0000000..e69ee28
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -0,0 +1,60 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TRACK_LIST")
+public class TrackListCmdHandler extends AbstractCmdHandler<TrackListRequest, ResponseDataDTO> {
+    private final IRouteInfoService routeInfoService;
+
+    protected TrackListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(TrackListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TRACK_LIST, messageDTO);
+
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(TrackListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
deleted file mode 100644
index e4b2b7e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/app_nav_pause")
-public class AppNavPauseMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppNavPause(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
deleted file mode 100644
index 59cdaa8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 停障状态实时接收器
- */
-@Slf4j
-@Component("/app_stop_navtrack")
-public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-
-    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppStopNavtrack(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
deleted file mode 100644
index b8df20e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
+++ /dev/null
@@ -1,28 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 实时位置接收器
- */
-@Slf4j
-@Component("/pose_message")
-public class PoseMessageMsgHandler implements IBaseMsgHandler {
-
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
-
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
-        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
deleted file mode 100644
index 75f63c5..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/process_message")
-public class ProcessMessageMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
deleted file mode 100644
index 5f07bd8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
+++ /dev/null
@@ -1,40 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 传感器状态
- */
-@Slf4j
-@Component("/sensor_status")
-public class SensorStatusMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        Integer val = index.get("index") + 1;
-        index.put("index", val);
-
-        if (val > 20) {
-            index.put("index", 0);
-            statusInfoService.saveSensorStatus(robotId,message);
-        }
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
new file mode 100644
index 0000000..aba1a57
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/app_nav_pause")
+public class AppNavPauseMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppNavPause(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
new file mode 100644
index 0000000..9bf1ce4
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 停障状态实时接收器
+ */
+@Slf4j
+@Component("/app_stop_navtrack")
+public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+
+    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppStopNavtrack(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
new file mode 100644
index 0000000..b389e01
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
@@ -0,0 +1,28 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 实时位置接收器
+ */
+@Slf4j
+@Component("/pose_message")
+public class PoseMessageMsgHandler implements IBaseMsgHandler {
+
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
+        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
+        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
new file mode 100644
index 0000000..702c091
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
@@ -0,0 +1,30 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/process_message")
+public class ProcessMessageMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("建图进度:{}", message);
+        statusInfoService.saveProcessMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
new file mode 100644
index 0000000..da02b69
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
@@ -0,0 +1,40 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 传感器状态
+ */
+@Slf4j
+@Component("/sensor_status")
+public class SensorStatusMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        Integer val = index.get("index") + 1;
+        index.put("index", val);
+
+        if (val > 20) {
+            index.put("index", 0);
+            statusInfoService.saveSensorStatus(robotId,message);
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 58d9941..5f77817 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,13 +1,26 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.mqtt.config.MqttClientConnection;
 import lombok.SneakyThrows;
 import org.eclipse.paho.client.mqttv3.MqttClient;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 
 /**
  * 机器人操作实现
@@ -15,9 +28,13 @@
 @Service
 public class RobotOptServiceImpl implements IBaseRobotService {
     private final IRobotRouteOptService robotRouteOptService;
+    private final IRobotInfoService robotInfoService;
+    private final ITaskInfoService taskInfoService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
         this.robotRouteOptService = robotRouteOptService;
+        this.robotInfoService = robotInfoService;
+        this.taskInfoService = taskInfoService;
     }
 
     @Override
@@ -51,6 +68,49 @@
         }
     }
 
+    /**
+     * 开启循迹任务
+     *
+     * @param request 请求体
+     * @return
+     */
+    @Transactional
+    @Override
+    public ResponseDataDTO<Integer> startTrack(StartTrackRequest request) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> list = robotRouteOptService.robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, info);
+
+        return list;
+    }
+
+    @Override
+    public ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request) {
+        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setPriority(request.getPriority());
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        messageDTO.setMsg(request);
+        ResponseDataDTO<AppCmdVelResponse> responseDataDTO = robotRouteOptService.robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
+        return responseDataDTO;
+    }
+
+    @Transactional
+    @Override
+    public <T, R> ResponseDataDTO<T> execCmdHandler(R request, InstructCodeEnums enums) {
+        IBaseCmdHandler cmdHandler = SpringContextHolder.getBean(enums.name());
+        cmdHandler.initHandler((BaseRobotCmdDTO) request);
+        ResponseDataDTO result = (ResponseDataDTO) cmdHandler.senderCmd((BaseRobotCmdDTO) request, InstructCodeEnums.TRACK_LIST);
+        result = (ResponseDataDTO) cmdHandler.afterInvoke((BaseRobotCmdDTO) request, result);
+        return result;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
index 00581fe..8f66f8d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
@@ -6,8 +6,8 @@
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.MapListRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
@@ -56,7 +56,7 @@
         messageDTO.setMsg(request);
 
         RobotMsgResponseDTO<List<String>> result = MsgUtils.senMsg(mqttClient, InstructCodeEnums.TRACK_LIST, messageDTO);
-        if (result != null) {
+        if (result != null&&result.getMsg()!=null) {
             //机器人路线更新至表中
             return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(robotInfo, result.getMsg().getResult()));
         }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
deleted file mode 100644
index f445171..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
+++ /dev/null
@@ -1,17 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-import java.io.Serializable;
-
-/**
- * 机器人消息请求体
- */
-@Data
-public class MessageRequestDTO<T> implements Serializable {
-    private T msg;
-
-    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
-    private Integer priority;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
new file mode 100644
index 0000000..8cb6f05
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
@@ -0,0 +1,7 @@
+package com.casic.missiles.modular.robot.opt.instruct.base;
+
+/**
+ * 指令回复定义
+ */
+public interface RobotBaseMsg {
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
deleted file mode 100644
index 7b516ba..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
+++ /dev/null
@@ -1,38 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import com.alibaba.fastjson.annotation.JSONField;
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-@Data
-public class RobotMsgDTO<T> {
-    /**
-     * 消息编码
-     */
-    @ApiModelProperty(value = "消息编码", dataType = "String")
-    @JSONField(name = "error_code")
-    private String errorCode;
-    /**
-     * 错误消息
-     */
-    @ApiModelProperty(value = "错误消息", dataType = "String")
-    @JSONField(name = "error_msg")
-    private String errorMsg;
-    @ApiModelProperty(value = "返回结果")
-    private T result;
-
-    /**
-     * 机器人上传map
-     */
-    @JSONField(name = "map_name")
-    private String mapName;
-
-    private String x;
-    private String y;
-    private String z;
-    private String theta;
-
-    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
-    @JSONField(name = "get_speed")
-    private Float getSpeed;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
new file mode 100644
index 0000000..4efaf84
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
@@ -0,0 +1,17 @@
+package com.casic.missiles.modular.robot.opt.instruct.base.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * 机器人消息请求体
+ */
+@Data
+public class MessageRequestDTO<T> implements Serializable {
+    private T msg;
+
+    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
+    private Integer priority;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java
new file mode 100644
index 0000000..8f7ba24
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.instruct.base.dto;
+
+import com.alibaba.fastjson.annotation.JSONField;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+@Data
+public class RobotMsgDTO<T> {
+    /**
+     * 消息编码
+     */
+    @ApiModelProperty(value = "消息编码", dataType = "String")
+    @JSONField(name = "error_code")
+    private String errorCode;
+    /**
+     * 错误消息
+     */
+    @ApiModelProperty(value = "错误消息", dataType = "String")
+    @JSONField(name = "error_msg")
+    private String errorMsg;
+    @ApiModelProperty(value = "返回结果")
+    private T result;
+
+    /**
+     * 机器人上传map
+     */
+    @JSONField(name = "map_name")
+    private String mapName;
+
+
+    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
+    @JSONField(name = "get_speed")
+    private Float getSpeed;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java
new file mode 100644
index 0000000..ee41289
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java
@@ -0,0 +1,17 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import com.alibaba.fastjson.annotation.JSONField;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 删除路线
+ */
+@Data
+public class DeleteTrackRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "sn编码(可不填 默认机器ID)", dataType = "String")
+    private String sn;
+
+    @ApiModelProperty(value = "下发状态 1:开启 0:关闭", dataType = "String")
+    private String track_name;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
index ec55a85..50a3536 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
@@ -1,6 +1,5 @@
 package com.casic.missiles.modular.robot.opt.instruct.dto;
 
-import com.alibaba.fastjson.annotation.JSONField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,11 +15,11 @@
     private Integer action;
     @ApiModelProperty(value = "等待状态 1:等待 0:不等待", dataType = "String")
     private Integer wait;
-    @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "track_name")
-    private String tracName;
 
     @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "taskpoint_name")
-    private String taskpointName;
+    private String track_name;
+
+    @ApiModelProperty(value = "轨迹名称", dataType = "String")
+    private String taskpoint_name;
+
 }

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
index 7ad12e3..b8e561d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
@@ -3,7 +3,7 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 
 /**
- * 业务消息处理
+ * 业务消息处理器
  */
 public interface IBaseMsgHandler {
     /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
new file mode 100644
index 0000000..e69ee28
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -0,0 +1,60 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TRACK_LIST")
+public class TrackListCmdHandler extends AbstractCmdHandler<TrackListRequest, ResponseDataDTO> {
+    private final IRouteInfoService routeInfoService;
+
+    protected TrackListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(TrackListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TRACK_LIST, messageDTO);
+
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(TrackListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
deleted file mode 100644
index e4b2b7e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/app_nav_pause")
-public class AppNavPauseMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppNavPause(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
deleted file mode 100644
index 59cdaa8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 停障状态实时接收器
- */
-@Slf4j
-@Component("/app_stop_navtrack")
-public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-
-    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppStopNavtrack(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
deleted file mode 100644
index b8df20e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
+++ /dev/null
@@ -1,28 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 实时位置接收器
- */
-@Slf4j
-@Component("/pose_message")
-public class PoseMessageMsgHandler implements IBaseMsgHandler {
-
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
-
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
-        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
deleted file mode 100644
index 75f63c5..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/process_message")
-public class ProcessMessageMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
deleted file mode 100644
index 5f07bd8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
+++ /dev/null
@@ -1,40 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 传感器状态
- */
-@Slf4j
-@Component("/sensor_status")
-public class SensorStatusMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        Integer val = index.get("index") + 1;
-        index.put("index", val);
-
-        if (val > 20) {
-            index.put("index", 0);
-            statusInfoService.saveSensorStatus(robotId,message);
-        }
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
new file mode 100644
index 0000000..aba1a57
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/app_nav_pause")
+public class AppNavPauseMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppNavPause(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
new file mode 100644
index 0000000..9bf1ce4
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 停障状态实时接收器
+ */
+@Slf4j
+@Component("/app_stop_navtrack")
+public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+
+    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppStopNavtrack(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
new file mode 100644
index 0000000..b389e01
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
@@ -0,0 +1,28 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 实时位置接收器
+ */
+@Slf4j
+@Component("/pose_message")
+public class PoseMessageMsgHandler implements IBaseMsgHandler {
+
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
+        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
+        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
new file mode 100644
index 0000000..702c091
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
@@ -0,0 +1,30 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/process_message")
+public class ProcessMessageMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("建图进度:{}", message);
+        statusInfoService.saveProcessMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
new file mode 100644
index 0000000..da02b69
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
@@ -0,0 +1,40 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 传感器状态
+ */
+@Slf4j
+@Component("/sensor_status")
+public class SensorStatusMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        Integer val = index.get("index") + 1;
+        index.put("index", val);
+
+        if (val > 20) {
+            index.put("index", 0);
+            statusInfoService.saveSensorStatus(robotId,message);
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 58d9941..5f77817 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,13 +1,26 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.mqtt.config.MqttClientConnection;
 import lombok.SneakyThrows;
 import org.eclipse.paho.client.mqttv3.MqttClient;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 
 /**
  * 机器人操作实现
@@ -15,9 +28,13 @@
 @Service
 public class RobotOptServiceImpl implements IBaseRobotService {
     private final IRobotRouteOptService robotRouteOptService;
+    private final IRobotInfoService robotInfoService;
+    private final ITaskInfoService taskInfoService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
         this.robotRouteOptService = robotRouteOptService;
+        this.robotInfoService = robotInfoService;
+        this.taskInfoService = taskInfoService;
     }
 
     @Override
@@ -51,6 +68,49 @@
         }
     }
 
+    /**
+     * 开启循迹任务
+     *
+     * @param request 请求体
+     * @return
+     */
+    @Transactional
+    @Override
+    public ResponseDataDTO<Integer> startTrack(StartTrackRequest request) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> list = robotRouteOptService.robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, info);
+
+        return list;
+    }
+
+    @Override
+    public ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request) {
+        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setPriority(request.getPriority());
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        messageDTO.setMsg(request);
+        ResponseDataDTO<AppCmdVelResponse> responseDataDTO = robotRouteOptService.robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
+        return responseDataDTO;
+    }
+
+    @Transactional
+    @Override
+    public <T, R> ResponseDataDTO<T> execCmdHandler(R request, InstructCodeEnums enums) {
+        IBaseCmdHandler cmdHandler = SpringContextHolder.getBean(enums.name());
+        cmdHandler.initHandler((BaseRobotCmdDTO) request);
+        ResponseDataDTO result = (ResponseDataDTO) cmdHandler.senderCmd((BaseRobotCmdDTO) request, InstructCodeEnums.TRACK_LIST);
+        result = (ResponseDataDTO) cmdHandler.afterInvoke((BaseRobotCmdDTO) request, result);
+        return result;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
index 00581fe..8f66f8d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
@@ -6,8 +6,8 @@
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.MapListRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
@@ -56,7 +56,7 @@
         messageDTO.setMsg(request);
 
         RobotMsgResponseDTO<List<String>> result = MsgUtils.senMsg(mqttClient, InstructCodeEnums.TRACK_LIST, messageDTO);
-        if (result != null) {
+        if (result != null&&result.getMsg()!=null) {
             //机器人路线更新至表中
             return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(robotInfo, result.getMsg().getResult()));
         }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
deleted file mode 100644
index f445171..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
+++ /dev/null
@@ -1,17 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-import java.io.Serializable;
-
-/**
- * 机器人消息请求体
- */
-@Data
-public class MessageRequestDTO<T> implements Serializable {
-    private T msg;
-
-    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
-    private Integer priority;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
new file mode 100644
index 0000000..8cb6f05
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
@@ -0,0 +1,7 @@
+package com.casic.missiles.modular.robot.opt.instruct.base;
+
+/**
+ * 指令回复定义
+ */
+public interface RobotBaseMsg {
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
deleted file mode 100644
index 7b516ba..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
+++ /dev/null
@@ -1,38 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import com.alibaba.fastjson.annotation.JSONField;
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-@Data
-public class RobotMsgDTO<T> {
-    /**
-     * 消息编码
-     */
-    @ApiModelProperty(value = "消息编码", dataType = "String")
-    @JSONField(name = "error_code")
-    private String errorCode;
-    /**
-     * 错误消息
-     */
-    @ApiModelProperty(value = "错误消息", dataType = "String")
-    @JSONField(name = "error_msg")
-    private String errorMsg;
-    @ApiModelProperty(value = "返回结果")
-    private T result;
-
-    /**
-     * 机器人上传map
-     */
-    @JSONField(name = "map_name")
-    private String mapName;
-
-    private String x;
-    private String y;
-    private String z;
-    private String theta;
-
-    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
-    @JSONField(name = "get_speed")
-    private Float getSpeed;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
new file mode 100644
index 0000000..4efaf84
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
@@ -0,0 +1,17 @@
+package com.casic.missiles.modular.robot.opt.instruct.base.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * 机器人消息请求体
+ */
+@Data
+public class MessageRequestDTO<T> implements Serializable {
+    private T msg;
+
+    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
+    private Integer priority;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java
new file mode 100644
index 0000000..8f7ba24
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.instruct.base.dto;
+
+import com.alibaba.fastjson.annotation.JSONField;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+@Data
+public class RobotMsgDTO<T> {
+    /**
+     * 消息编码
+     */
+    @ApiModelProperty(value = "消息编码", dataType = "String")
+    @JSONField(name = "error_code")
+    private String errorCode;
+    /**
+     * 错误消息
+     */
+    @ApiModelProperty(value = "错误消息", dataType = "String")
+    @JSONField(name = "error_msg")
+    private String errorMsg;
+    @ApiModelProperty(value = "返回结果")
+    private T result;
+
+    /**
+     * 机器人上传map
+     */
+    @JSONField(name = "map_name")
+    private String mapName;
+
+
+    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
+    @JSONField(name = "get_speed")
+    private Float getSpeed;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java
new file mode 100644
index 0000000..ee41289
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java
@@ -0,0 +1,17 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import com.alibaba.fastjson.annotation.JSONField;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 删除路线
+ */
+@Data
+public class DeleteTrackRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "sn编码(可不填 默认机器ID)", dataType = "String")
+    private String sn;
+
+    @ApiModelProperty(value = "下发状态 1:开启 0:关闭", dataType = "String")
+    private String track_name;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
index ec55a85..50a3536 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
@@ -1,6 +1,5 @@
 package com.casic.missiles.modular.robot.opt.instruct.dto;
 
-import com.alibaba.fastjson.annotation.JSONField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,11 +15,11 @@
     private Integer action;
     @ApiModelProperty(value = "等待状态 1:等待 0:不等待", dataType = "String")
     private Integer wait;
-    @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "track_name")
-    private String tracName;
 
     @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "taskpoint_name")
-    private String taskpointName;
+    private String track_name;
+
+    @ApiModelProperty(value = "轨迹名称", dataType = "String")
+    private String taskpoint_name;
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
index 21b9112..bbb3c0c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
@@ -1,6 +1,5 @@
 package com.casic.missiles.modular.robot.opt.instruct.dto;
 
-import com.alibaba.fastjson.annotation.JSONField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,6 +15,5 @@
     private Integer action;
 
     @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "track_name")
-    private String tracName;
+    private String track_name;
 }

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
index 7ad12e3..b8e561d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
@@ -3,7 +3,7 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 
 /**
- * 业务消息处理
+ * 业务消息处理器
  */
 public interface IBaseMsgHandler {
     /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
new file mode 100644
index 0000000..e69ee28
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -0,0 +1,60 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TRACK_LIST")
+public class TrackListCmdHandler extends AbstractCmdHandler<TrackListRequest, ResponseDataDTO> {
+    private final IRouteInfoService routeInfoService;
+
+    protected TrackListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(TrackListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TRACK_LIST, messageDTO);
+
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(TrackListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
deleted file mode 100644
index e4b2b7e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/app_nav_pause")
-public class AppNavPauseMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppNavPause(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
deleted file mode 100644
index 59cdaa8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 停障状态实时接收器
- */
-@Slf4j
-@Component("/app_stop_navtrack")
-public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-
-    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppStopNavtrack(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
deleted file mode 100644
index b8df20e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
+++ /dev/null
@@ -1,28 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 实时位置接收器
- */
-@Slf4j
-@Component("/pose_message")
-public class PoseMessageMsgHandler implements IBaseMsgHandler {
-
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
-
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
-        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
deleted file mode 100644
index 75f63c5..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/process_message")
-public class ProcessMessageMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
deleted file mode 100644
index 5f07bd8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
+++ /dev/null
@@ -1,40 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 传感器状态
- */
-@Slf4j
-@Component("/sensor_status")
-public class SensorStatusMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        Integer val = index.get("index") + 1;
-        index.put("index", val);
-
-        if (val > 20) {
-            index.put("index", 0);
-            statusInfoService.saveSensorStatus(robotId,message);
-        }
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
new file mode 100644
index 0000000..aba1a57
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/app_nav_pause")
+public class AppNavPauseMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppNavPause(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
new file mode 100644
index 0000000..9bf1ce4
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 停障状态实时接收器
+ */
+@Slf4j
+@Component("/app_stop_navtrack")
+public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+
+    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppStopNavtrack(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
new file mode 100644
index 0000000..b389e01
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
@@ -0,0 +1,28 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 实时位置接收器
+ */
+@Slf4j
+@Component("/pose_message")
+public class PoseMessageMsgHandler implements IBaseMsgHandler {
+
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
+        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
+        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
new file mode 100644
index 0000000..702c091
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
@@ -0,0 +1,30 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/process_message")
+public class ProcessMessageMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("建图进度:{}", message);
+        statusInfoService.saveProcessMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
new file mode 100644
index 0000000..da02b69
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
@@ -0,0 +1,40 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 传感器状态
+ */
+@Slf4j
+@Component("/sensor_status")
+public class SensorStatusMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        Integer val = index.get("index") + 1;
+        index.put("index", val);
+
+        if (val > 20) {
+            index.put("index", 0);
+            statusInfoService.saveSensorStatus(robotId,message);
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 58d9941..5f77817 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,13 +1,26 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.mqtt.config.MqttClientConnection;
 import lombok.SneakyThrows;
 import org.eclipse.paho.client.mqttv3.MqttClient;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 
 /**
  * 机器人操作实现
@@ -15,9 +28,13 @@
 @Service
 public class RobotOptServiceImpl implements IBaseRobotService {
     private final IRobotRouteOptService robotRouteOptService;
+    private final IRobotInfoService robotInfoService;
+    private final ITaskInfoService taskInfoService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
         this.robotRouteOptService = robotRouteOptService;
+        this.robotInfoService = robotInfoService;
+        this.taskInfoService = taskInfoService;
     }
 
     @Override
@@ -51,6 +68,49 @@
         }
     }
 
+    /**
+     * 开启循迹任务
+     *
+     * @param request 请求体
+     * @return
+     */
+    @Transactional
+    @Override
+    public ResponseDataDTO<Integer> startTrack(StartTrackRequest request) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> list = robotRouteOptService.robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, info);
+
+        return list;
+    }
+
+    @Override
+    public ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request) {
+        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setPriority(request.getPriority());
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        messageDTO.setMsg(request);
+        ResponseDataDTO<AppCmdVelResponse> responseDataDTO = robotRouteOptService.robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
+        return responseDataDTO;
+    }
+
+    @Transactional
+    @Override
+    public <T, R> ResponseDataDTO<T> execCmdHandler(R request, InstructCodeEnums enums) {
+        IBaseCmdHandler cmdHandler = SpringContextHolder.getBean(enums.name());
+        cmdHandler.initHandler((BaseRobotCmdDTO) request);
+        ResponseDataDTO result = (ResponseDataDTO) cmdHandler.senderCmd((BaseRobotCmdDTO) request, InstructCodeEnums.TRACK_LIST);
+        result = (ResponseDataDTO) cmdHandler.afterInvoke((BaseRobotCmdDTO) request, result);
+        return result;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
index 00581fe..8f66f8d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
@@ -6,8 +6,8 @@
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.MapListRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
@@ -56,7 +56,7 @@
         messageDTO.setMsg(request);
 
         RobotMsgResponseDTO<List<String>> result = MsgUtils.senMsg(mqttClient, InstructCodeEnums.TRACK_LIST, messageDTO);
-        if (result != null) {
+        if (result != null&&result.getMsg()!=null) {
             //机器人路线更新至表中
             return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(robotInfo, result.getMsg().getResult()));
         }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
deleted file mode 100644
index f445171..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
+++ /dev/null
@@ -1,17 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-import java.io.Serializable;
-
-/**
- * 机器人消息请求体
- */
-@Data
-public class MessageRequestDTO<T> implements Serializable {
-    private T msg;
-
-    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
-    private Integer priority;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
new file mode 100644
index 0000000..8cb6f05
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
@@ -0,0 +1,7 @@
+package com.casic.missiles.modular.robot.opt.instruct.base;
+
+/**
+ * 指令回复定义
+ */
+public interface RobotBaseMsg {
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
deleted file mode 100644
index 7b516ba..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
+++ /dev/null
@@ -1,38 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import com.alibaba.fastjson.annotation.JSONField;
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-@Data
-public class RobotMsgDTO<T> {
-    /**
-     * 消息编码
-     */
-    @ApiModelProperty(value = "消息编码", dataType = "String")
-    @JSONField(name = "error_code")
-    private String errorCode;
-    /**
-     * 错误消息
-     */
-    @ApiModelProperty(value = "错误消息", dataType = "String")
-    @JSONField(name = "error_msg")
-    private String errorMsg;
-    @ApiModelProperty(value = "返回结果")
-    private T result;
-
-    /**
-     * 机器人上传map
-     */
-    @JSONField(name = "map_name")
-    private String mapName;
-
-    private String x;
-    private String y;
-    private String z;
-    private String theta;
-
-    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
-    @JSONField(name = "get_speed")
-    private Float getSpeed;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
new file mode 100644
index 0000000..4efaf84
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
@@ -0,0 +1,17 @@
+package com.casic.missiles.modular.robot.opt.instruct.base.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * 机器人消息请求体
+ */
+@Data
+public class MessageRequestDTO<T> implements Serializable {
+    private T msg;
+
+    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
+    private Integer priority;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java
new file mode 100644
index 0000000..8f7ba24
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.instruct.base.dto;
+
+import com.alibaba.fastjson.annotation.JSONField;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+@Data
+public class RobotMsgDTO<T> {
+    /**
+     * 消息编码
+     */
+    @ApiModelProperty(value = "消息编码", dataType = "String")
+    @JSONField(name = "error_code")
+    private String errorCode;
+    /**
+     * 错误消息
+     */
+    @ApiModelProperty(value = "错误消息", dataType = "String")
+    @JSONField(name = "error_msg")
+    private String errorMsg;
+    @ApiModelProperty(value = "返回结果")
+    private T result;
+
+    /**
+     * 机器人上传map
+     */
+    @JSONField(name = "map_name")
+    private String mapName;
+
+
+    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
+    @JSONField(name = "get_speed")
+    private Float getSpeed;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java
new file mode 100644
index 0000000..ee41289
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java
@@ -0,0 +1,17 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import com.alibaba.fastjson.annotation.JSONField;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 删除路线
+ */
+@Data
+public class DeleteTrackRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "sn编码(可不填 默认机器ID)", dataType = "String")
+    private String sn;
+
+    @ApiModelProperty(value = "下发状态 1:开启 0:关闭", dataType = "String")
+    private String track_name;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
index ec55a85..50a3536 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
@@ -1,6 +1,5 @@
 package com.casic.missiles.modular.robot.opt.instruct.dto;
 
-import com.alibaba.fastjson.annotation.JSONField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,11 +15,11 @@
     private Integer action;
     @ApiModelProperty(value = "等待状态 1:等待 0:不等待", dataType = "String")
     private Integer wait;
-    @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "track_name")
-    private String tracName;
 
     @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "taskpoint_name")
-    private String taskpointName;
+    private String track_name;
+
+    @ApiModelProperty(value = "轨迹名称", dataType = "String")
+    private String taskpoint_name;
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
index 21b9112..bbb3c0c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
@@ -1,6 +1,5 @@
 package com.casic.missiles.modular.robot.opt.instruct.dto;
 
-import com.alibaba.fastjson.annotation.JSONField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,6 +15,5 @@
     private Integer action;
 
     @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "track_name")
-    private String tracName;
+    private String track_name;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
index e029be4..ed384a0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
@@ -4,6 +4,7 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.IService;
 import com.casic.missiles.modular.robot.model.AlarmRecord;
+import com.casic.missiles.modular.robot.vo.AlarmRecordVO;
 
 import java.util.List;
 
@@ -21,4 +22,12 @@
      * 告警记录 分页检索
      */
     List<AlarmRecord> selectAlarmRecordPage(Page<AlarmRecord> page, QueryWrapper<AlarmRecord> query);
+
+    /**
+     * 根据任务ID查询报警总数
+     *
+     * @param id 任务ID
+     * @return
+     */
+    Integer selectCountByTaskId(Long id,Long robotId);
 }

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
index 7ad12e3..b8e561d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
@@ -3,7 +3,7 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 
 /**
- * 业务消息处理
+ * 业务消息处理器
  */
 public interface IBaseMsgHandler {
     /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
new file mode 100644
index 0000000..e69ee28
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -0,0 +1,60 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TRACK_LIST")
+public class TrackListCmdHandler extends AbstractCmdHandler<TrackListRequest, ResponseDataDTO> {
+    private final IRouteInfoService routeInfoService;
+
+    protected TrackListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(TrackListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TRACK_LIST, messageDTO);
+
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(TrackListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
deleted file mode 100644
index e4b2b7e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/app_nav_pause")
-public class AppNavPauseMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppNavPause(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
deleted file mode 100644
index 59cdaa8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 停障状态实时接收器
- */
-@Slf4j
-@Component("/app_stop_navtrack")
-public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-
-    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppStopNavtrack(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
deleted file mode 100644
index b8df20e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
+++ /dev/null
@@ -1,28 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 实时位置接收器
- */
-@Slf4j
-@Component("/pose_message")
-public class PoseMessageMsgHandler implements IBaseMsgHandler {
-
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
-
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
-        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
deleted file mode 100644
index 75f63c5..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/process_message")
-public class ProcessMessageMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
deleted file mode 100644
index 5f07bd8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
+++ /dev/null
@@ -1,40 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 传感器状态
- */
-@Slf4j
-@Component("/sensor_status")
-public class SensorStatusMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        Integer val = index.get("index") + 1;
-        index.put("index", val);
-
-        if (val > 20) {
-            index.put("index", 0);
-            statusInfoService.saveSensorStatus(robotId,message);
-        }
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
new file mode 100644
index 0000000..aba1a57
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/app_nav_pause")
+public class AppNavPauseMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppNavPause(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
new file mode 100644
index 0000000..9bf1ce4
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 停障状态实时接收器
+ */
+@Slf4j
+@Component("/app_stop_navtrack")
+public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+
+    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppStopNavtrack(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
new file mode 100644
index 0000000..b389e01
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
@@ -0,0 +1,28 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 实时位置接收器
+ */
+@Slf4j
+@Component("/pose_message")
+public class PoseMessageMsgHandler implements IBaseMsgHandler {
+
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
+        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
+        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
new file mode 100644
index 0000000..702c091
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
@@ -0,0 +1,30 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/process_message")
+public class ProcessMessageMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("建图进度:{}", message);
+        statusInfoService.saveProcessMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
new file mode 100644
index 0000000..da02b69
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
@@ -0,0 +1,40 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 传感器状态
+ */
+@Slf4j
+@Component("/sensor_status")
+public class SensorStatusMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        Integer val = index.get("index") + 1;
+        index.put("index", val);
+
+        if (val > 20) {
+            index.put("index", 0);
+            statusInfoService.saveSensorStatus(robotId,message);
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 58d9941..5f77817 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,13 +1,26 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.mqtt.config.MqttClientConnection;
 import lombok.SneakyThrows;
 import org.eclipse.paho.client.mqttv3.MqttClient;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 
 /**
  * 机器人操作实现
@@ -15,9 +28,13 @@
 @Service
 public class RobotOptServiceImpl implements IBaseRobotService {
     private final IRobotRouteOptService robotRouteOptService;
+    private final IRobotInfoService robotInfoService;
+    private final ITaskInfoService taskInfoService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
         this.robotRouteOptService = robotRouteOptService;
+        this.robotInfoService = robotInfoService;
+        this.taskInfoService = taskInfoService;
     }
 
     @Override
@@ -51,6 +68,49 @@
         }
     }
 
+    /**
+     * 开启循迹任务
+     *
+     * @param request 请求体
+     * @return
+     */
+    @Transactional
+    @Override
+    public ResponseDataDTO<Integer> startTrack(StartTrackRequest request) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> list = robotRouteOptService.robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, info);
+
+        return list;
+    }
+
+    @Override
+    public ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request) {
+        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setPriority(request.getPriority());
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        messageDTO.setMsg(request);
+        ResponseDataDTO<AppCmdVelResponse> responseDataDTO = robotRouteOptService.robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
+        return responseDataDTO;
+    }
+
+    @Transactional
+    @Override
+    public <T, R> ResponseDataDTO<T> execCmdHandler(R request, InstructCodeEnums enums) {
+        IBaseCmdHandler cmdHandler = SpringContextHolder.getBean(enums.name());
+        cmdHandler.initHandler((BaseRobotCmdDTO) request);
+        ResponseDataDTO result = (ResponseDataDTO) cmdHandler.senderCmd((BaseRobotCmdDTO) request, InstructCodeEnums.TRACK_LIST);
+        result = (ResponseDataDTO) cmdHandler.afterInvoke((BaseRobotCmdDTO) request, result);
+        return result;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
index 00581fe..8f66f8d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
@@ -6,8 +6,8 @@
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.MapListRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
@@ -56,7 +56,7 @@
         messageDTO.setMsg(request);
 
         RobotMsgResponseDTO<List<String>> result = MsgUtils.senMsg(mqttClient, InstructCodeEnums.TRACK_LIST, messageDTO);
-        if (result != null) {
+        if (result != null&&result.getMsg()!=null) {
             //机器人路线更新至表中
             return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(robotInfo, result.getMsg().getResult()));
         }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
deleted file mode 100644
index f445171..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
+++ /dev/null
@@ -1,17 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-import java.io.Serializable;
-
-/**
- * 机器人消息请求体
- */
-@Data
-public class MessageRequestDTO<T> implements Serializable {
-    private T msg;
-
-    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
-    private Integer priority;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
new file mode 100644
index 0000000..8cb6f05
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
@@ -0,0 +1,7 @@
+package com.casic.missiles.modular.robot.opt.instruct.base;
+
+/**
+ * 指令回复定义
+ */
+public interface RobotBaseMsg {
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
deleted file mode 100644
index 7b516ba..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
+++ /dev/null
@@ -1,38 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import com.alibaba.fastjson.annotation.JSONField;
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-@Data
-public class RobotMsgDTO<T> {
-    /**
-     * 消息编码
-     */
-    @ApiModelProperty(value = "消息编码", dataType = "String")
-    @JSONField(name = "error_code")
-    private String errorCode;
-    /**
-     * 错误消息
-     */
-    @ApiModelProperty(value = "错误消息", dataType = "String")
-    @JSONField(name = "error_msg")
-    private String errorMsg;
-    @ApiModelProperty(value = "返回结果")
-    private T result;
-
-    /**
-     * 机器人上传map
-     */
-    @JSONField(name = "map_name")
-    private String mapName;
-
-    private String x;
-    private String y;
-    private String z;
-    private String theta;
-
-    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
-    @JSONField(name = "get_speed")
-    private Float getSpeed;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
new file mode 100644
index 0000000..4efaf84
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
@@ -0,0 +1,17 @@
+package com.casic.missiles.modular.robot.opt.instruct.base.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * 机器人消息请求体
+ */
+@Data
+public class MessageRequestDTO<T> implements Serializable {
+    private T msg;
+
+    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
+    private Integer priority;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java
new file mode 100644
index 0000000..8f7ba24
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.instruct.base.dto;
+
+import com.alibaba.fastjson.annotation.JSONField;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+@Data
+public class RobotMsgDTO<T> {
+    /**
+     * 消息编码
+     */
+    @ApiModelProperty(value = "消息编码", dataType = "String")
+    @JSONField(name = "error_code")
+    private String errorCode;
+    /**
+     * 错误消息
+     */
+    @ApiModelProperty(value = "错误消息", dataType = "String")
+    @JSONField(name = "error_msg")
+    private String errorMsg;
+    @ApiModelProperty(value = "返回结果")
+    private T result;
+
+    /**
+     * 机器人上传map
+     */
+    @JSONField(name = "map_name")
+    private String mapName;
+
+
+    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
+    @JSONField(name = "get_speed")
+    private Float getSpeed;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java
new file mode 100644
index 0000000..ee41289
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java
@@ -0,0 +1,17 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import com.alibaba.fastjson.annotation.JSONField;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 删除路线
+ */
+@Data
+public class DeleteTrackRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "sn编码(可不填 默认机器ID)", dataType = "String")
+    private String sn;
+
+    @ApiModelProperty(value = "下发状态 1:开启 0:关闭", dataType = "String")
+    private String track_name;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
index ec55a85..50a3536 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
@@ -1,6 +1,5 @@
 package com.casic.missiles.modular.robot.opt.instruct.dto;
 
-import com.alibaba.fastjson.annotation.JSONField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,11 +15,11 @@
     private Integer action;
     @ApiModelProperty(value = "等待状态 1:等待 0:不等待", dataType = "String")
     private Integer wait;
-    @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "track_name")
-    private String tracName;
 
     @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "taskpoint_name")
-    private String taskpointName;
+    private String track_name;
+
+    @ApiModelProperty(value = "轨迹名称", dataType = "String")
+    private String taskpoint_name;
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
index 21b9112..bbb3c0c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
@@ -1,6 +1,5 @@
 package com.casic.missiles.modular.robot.opt.instruct.dto;
 
-import com.alibaba.fastjson.annotation.JSONField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,6 +15,5 @@
     private Integer action;
 
     @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "track_name")
-    private String tracName;
+    private String track_name;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
index e029be4..ed384a0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
@@ -4,6 +4,7 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.IService;
 import com.casic.missiles.modular.robot.model.AlarmRecord;
+import com.casic.missiles.modular.robot.vo.AlarmRecordVO;
 
 import java.util.List;
 
@@ -21,4 +22,12 @@
      * 告警记录 分页检索
      */
     List<AlarmRecord> selectAlarmRecordPage(Page<AlarmRecord> page, QueryWrapper<AlarmRecord> query);
+
+    /**
+     * 根据任务ID查询报警总数
+     *
+     * @param id 任务ID
+     * @return
+     */
+    Integer selectCountByTaskId(Long id,Long robotId);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index fe9af27..e3bb91c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -1,9 +1,10 @@
 package com.casic.missiles.modular.robot.service;
 
-import com.baomidou.mybatisplus.extension.service.IService;
-import  com.casic.missiles.modular.robot.model.RobotInfo;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotInfo;
+
 import java.util.List;
 
 
@@ -19,5 +20,12 @@
     /**
      * 机器人信息管理 分页检索
      */
-    List<RobotInfo> selectRobotInfoPage(Page<RobotInfo> page,QueryWrapper<RobotInfo> query);
+    List<RobotInfo> selectRobotInfoPage(Page<RobotInfo> page, QueryWrapper<RobotInfo> query);
+
+    /**
+     * 机器人速度设置
+     *
+     * @param robotInfo 机器信息
+     */
+    void updateSpeed(RobotInfo robotInfo);
 }

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
index 7ad12e3..b8e561d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
@@ -3,7 +3,7 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 
 /**
- * 业务消息处理
+ * 业务消息处理器
  */
 public interface IBaseMsgHandler {
     /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
new file mode 100644
index 0000000..e69ee28
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -0,0 +1,60 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TRACK_LIST")
+public class TrackListCmdHandler extends AbstractCmdHandler<TrackListRequest, ResponseDataDTO> {
+    private final IRouteInfoService routeInfoService;
+
+    protected TrackListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(TrackListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TRACK_LIST, messageDTO);
+
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(TrackListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
deleted file mode 100644
index e4b2b7e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/app_nav_pause")
-public class AppNavPauseMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppNavPause(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
deleted file mode 100644
index 59cdaa8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 停障状态实时接收器
- */
-@Slf4j
-@Component("/app_stop_navtrack")
-public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-
-    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppStopNavtrack(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
deleted file mode 100644
index b8df20e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
+++ /dev/null
@@ -1,28 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 实时位置接收器
- */
-@Slf4j
-@Component("/pose_message")
-public class PoseMessageMsgHandler implements IBaseMsgHandler {
-
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
-
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
-        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
deleted file mode 100644
index 75f63c5..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/process_message")
-public class ProcessMessageMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
deleted file mode 100644
index 5f07bd8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
+++ /dev/null
@@ -1,40 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 传感器状态
- */
-@Slf4j
-@Component("/sensor_status")
-public class SensorStatusMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        Integer val = index.get("index") + 1;
-        index.put("index", val);
-
-        if (val > 20) {
-            index.put("index", 0);
-            statusInfoService.saveSensorStatus(robotId,message);
-        }
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
new file mode 100644
index 0000000..aba1a57
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/app_nav_pause")
+public class AppNavPauseMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppNavPause(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
new file mode 100644
index 0000000..9bf1ce4
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 停障状态实时接收器
+ */
+@Slf4j
+@Component("/app_stop_navtrack")
+public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+
+    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppStopNavtrack(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
new file mode 100644
index 0000000..b389e01
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
@@ -0,0 +1,28 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 实时位置接收器
+ */
+@Slf4j
+@Component("/pose_message")
+public class PoseMessageMsgHandler implements IBaseMsgHandler {
+
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
+        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
+        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
new file mode 100644
index 0000000..702c091
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
@@ -0,0 +1,30 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/process_message")
+public class ProcessMessageMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("建图进度:{}", message);
+        statusInfoService.saveProcessMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
new file mode 100644
index 0000000..da02b69
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
@@ -0,0 +1,40 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 传感器状态
+ */
+@Slf4j
+@Component("/sensor_status")
+public class SensorStatusMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        Integer val = index.get("index") + 1;
+        index.put("index", val);
+
+        if (val > 20) {
+            index.put("index", 0);
+            statusInfoService.saveSensorStatus(robotId,message);
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 58d9941..5f77817 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,13 +1,26 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.mqtt.config.MqttClientConnection;
 import lombok.SneakyThrows;
 import org.eclipse.paho.client.mqttv3.MqttClient;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 
 /**
  * 机器人操作实现
@@ -15,9 +28,13 @@
 @Service
 public class RobotOptServiceImpl implements IBaseRobotService {
     private final IRobotRouteOptService robotRouteOptService;
+    private final IRobotInfoService robotInfoService;
+    private final ITaskInfoService taskInfoService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
         this.robotRouteOptService = robotRouteOptService;
+        this.robotInfoService = robotInfoService;
+        this.taskInfoService = taskInfoService;
     }
 
     @Override
@@ -51,6 +68,49 @@
         }
     }
 
+    /**
+     * 开启循迹任务
+     *
+     * @param request 请求体
+     * @return
+     */
+    @Transactional
+    @Override
+    public ResponseDataDTO<Integer> startTrack(StartTrackRequest request) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> list = robotRouteOptService.robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, info);
+
+        return list;
+    }
+
+    @Override
+    public ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request) {
+        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setPriority(request.getPriority());
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        messageDTO.setMsg(request);
+        ResponseDataDTO<AppCmdVelResponse> responseDataDTO = robotRouteOptService.robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
+        return responseDataDTO;
+    }
+
+    @Transactional
+    @Override
+    public <T, R> ResponseDataDTO<T> execCmdHandler(R request, InstructCodeEnums enums) {
+        IBaseCmdHandler cmdHandler = SpringContextHolder.getBean(enums.name());
+        cmdHandler.initHandler((BaseRobotCmdDTO) request);
+        ResponseDataDTO result = (ResponseDataDTO) cmdHandler.senderCmd((BaseRobotCmdDTO) request, InstructCodeEnums.TRACK_LIST);
+        result = (ResponseDataDTO) cmdHandler.afterInvoke((BaseRobotCmdDTO) request, result);
+        return result;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
index 00581fe..8f66f8d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
@@ -6,8 +6,8 @@
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.MapListRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
@@ -56,7 +56,7 @@
         messageDTO.setMsg(request);
 
         RobotMsgResponseDTO<List<String>> result = MsgUtils.senMsg(mqttClient, InstructCodeEnums.TRACK_LIST, messageDTO);
-        if (result != null) {
+        if (result != null&&result.getMsg()!=null) {
             //机器人路线更新至表中
             return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(robotInfo, result.getMsg().getResult()));
         }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
deleted file mode 100644
index f445171..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
+++ /dev/null
@@ -1,17 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-import java.io.Serializable;
-
-/**
- * 机器人消息请求体
- */
-@Data
-public class MessageRequestDTO<T> implements Serializable {
-    private T msg;
-
-    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
-    private Integer priority;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
new file mode 100644
index 0000000..8cb6f05
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
@@ -0,0 +1,7 @@
+package com.casic.missiles.modular.robot.opt.instruct.base;
+
+/**
+ * 指令回复定义
+ */
+public interface RobotBaseMsg {
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
deleted file mode 100644
index 7b516ba..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
+++ /dev/null
@@ -1,38 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import com.alibaba.fastjson.annotation.JSONField;
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-@Data
-public class RobotMsgDTO<T> {
-    /**
-     * 消息编码
-     */
-    @ApiModelProperty(value = "消息编码", dataType = "String")
-    @JSONField(name = "error_code")
-    private String errorCode;
-    /**
-     * 错误消息
-     */
-    @ApiModelProperty(value = "错误消息", dataType = "String")
-    @JSONField(name = "error_msg")
-    private String errorMsg;
-    @ApiModelProperty(value = "返回结果")
-    private T result;
-
-    /**
-     * 机器人上传map
-     */
-    @JSONField(name = "map_name")
-    private String mapName;
-
-    private String x;
-    private String y;
-    private String z;
-    private String theta;
-
-    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
-    @JSONField(name = "get_speed")
-    private Float getSpeed;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
new file mode 100644
index 0000000..4efaf84
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
@@ -0,0 +1,17 @@
+package com.casic.missiles.modular.robot.opt.instruct.base.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * 机器人消息请求体
+ */
+@Data
+public class MessageRequestDTO<T> implements Serializable {
+    private T msg;
+
+    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
+    private Integer priority;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java
new file mode 100644
index 0000000..8f7ba24
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.instruct.base.dto;
+
+import com.alibaba.fastjson.annotation.JSONField;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+@Data
+public class RobotMsgDTO<T> {
+    /**
+     * 消息编码
+     */
+    @ApiModelProperty(value = "消息编码", dataType = "String")
+    @JSONField(name = "error_code")
+    private String errorCode;
+    /**
+     * 错误消息
+     */
+    @ApiModelProperty(value = "错误消息", dataType = "String")
+    @JSONField(name = "error_msg")
+    private String errorMsg;
+    @ApiModelProperty(value = "返回结果")
+    private T result;
+
+    /**
+     * 机器人上传map
+     */
+    @JSONField(name = "map_name")
+    private String mapName;
+
+
+    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
+    @JSONField(name = "get_speed")
+    private Float getSpeed;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java
new file mode 100644
index 0000000..ee41289
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java
@@ -0,0 +1,17 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import com.alibaba.fastjson.annotation.JSONField;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 删除路线
+ */
+@Data
+public class DeleteTrackRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "sn编码(可不填 默认机器ID)", dataType = "String")
+    private String sn;
+
+    @ApiModelProperty(value = "下发状态 1:开启 0:关闭", dataType = "String")
+    private String track_name;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
index ec55a85..50a3536 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
@@ -1,6 +1,5 @@
 package com.casic.missiles.modular.robot.opt.instruct.dto;
 
-import com.alibaba.fastjson.annotation.JSONField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,11 +15,11 @@
     private Integer action;
     @ApiModelProperty(value = "等待状态 1:等待 0:不等待", dataType = "String")
     private Integer wait;
-    @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "track_name")
-    private String tracName;
 
     @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "taskpoint_name")
-    private String taskpointName;
+    private String track_name;
+
+    @ApiModelProperty(value = "轨迹名称", dataType = "String")
+    private String taskpoint_name;
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
index 21b9112..bbb3c0c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
@@ -1,6 +1,5 @@
 package com.casic.missiles.modular.robot.opt.instruct.dto;
 
-import com.alibaba.fastjson.annotation.JSONField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,6 +15,5 @@
     private Integer action;
 
     @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "track_name")
-    private String tracName;
+    private String track_name;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
index e029be4..ed384a0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
@@ -4,6 +4,7 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.IService;
 import com.casic.missiles.modular.robot.model.AlarmRecord;
+import com.casic.missiles.modular.robot.vo.AlarmRecordVO;
 
 import java.util.List;
 
@@ -21,4 +22,12 @@
      * 告警记录 分页检索
      */
     List<AlarmRecord> selectAlarmRecordPage(Page<AlarmRecord> page, QueryWrapper<AlarmRecord> query);
+
+    /**
+     * 根据任务ID查询报警总数
+     *
+     * @param id 任务ID
+     * @return
+     */
+    Integer selectCountByTaskId(Long id,Long robotId);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index fe9af27..e3bb91c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -1,9 +1,10 @@
 package com.casic.missiles.modular.robot.service;
 
-import com.baomidou.mybatisplus.extension.service.IService;
-import  com.casic.missiles.modular.robot.model.RobotInfo;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotInfo;
+
 import java.util.List;
 
 
@@ -19,5 +20,12 @@
     /**
      * 机器人信息管理 分页检索
      */
-    List<RobotInfo> selectRobotInfoPage(Page<RobotInfo> page,QueryWrapper<RobotInfo> query);
+    List<RobotInfo> selectRobotInfoPage(Page<RobotInfo> page, QueryWrapper<RobotInfo> query);
+
+    /**
+     * 机器人速度设置
+     *
+     * @param robotInfo 机器信息
+     */
+    void updateSpeed(RobotInfo robotInfo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
index 6552038..4cfeccf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
@@ -62,4 +62,15 @@
      * @param message 消息体
      */
     void saveAppStopNavtrack(String robotId, MqttMessage message);
+
+    /**
+     * 更新车辆路线及任务信息
+     *
+     * @param currRouteId 当前路线信息
+     * @param currTaskId  当前任务信息
+     */
+    void updateCurrTask(String robotId,Long currRouteId, Long currTaskId);
+
+    RobotStatusInfo getStatusByRobotId(String robotId);
+
 }

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
index 7ad12e3..b8e561d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
@@ -3,7 +3,7 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 
 /**
- * 业务消息处理
+ * 业务消息处理器
  */
 public interface IBaseMsgHandler {
     /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
new file mode 100644
index 0000000..e69ee28
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -0,0 +1,60 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TRACK_LIST")
+public class TrackListCmdHandler extends AbstractCmdHandler<TrackListRequest, ResponseDataDTO> {
+    private final IRouteInfoService routeInfoService;
+
+    protected TrackListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(TrackListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TRACK_LIST, messageDTO);
+
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(TrackListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
deleted file mode 100644
index e4b2b7e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/app_nav_pause")
-public class AppNavPauseMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppNavPause(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
deleted file mode 100644
index 59cdaa8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 停障状态实时接收器
- */
-@Slf4j
-@Component("/app_stop_navtrack")
-public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-
-    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppStopNavtrack(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
deleted file mode 100644
index b8df20e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
+++ /dev/null
@@ -1,28 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 实时位置接收器
- */
-@Slf4j
-@Component("/pose_message")
-public class PoseMessageMsgHandler implements IBaseMsgHandler {
-
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
-
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
-        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
deleted file mode 100644
index 75f63c5..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/process_message")
-public class ProcessMessageMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
deleted file mode 100644
index 5f07bd8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
+++ /dev/null
@@ -1,40 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 传感器状态
- */
-@Slf4j
-@Component("/sensor_status")
-public class SensorStatusMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        Integer val = index.get("index") + 1;
-        index.put("index", val);
-
-        if (val > 20) {
-            index.put("index", 0);
-            statusInfoService.saveSensorStatus(robotId,message);
-        }
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
new file mode 100644
index 0000000..aba1a57
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/app_nav_pause")
+public class AppNavPauseMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppNavPause(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
new file mode 100644
index 0000000..9bf1ce4
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 停障状态实时接收器
+ */
+@Slf4j
+@Component("/app_stop_navtrack")
+public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+
+    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppStopNavtrack(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
new file mode 100644
index 0000000..b389e01
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
@@ -0,0 +1,28 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 实时位置接收器
+ */
+@Slf4j
+@Component("/pose_message")
+public class PoseMessageMsgHandler implements IBaseMsgHandler {
+
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
+        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
+        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
new file mode 100644
index 0000000..702c091
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
@@ -0,0 +1,30 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/process_message")
+public class ProcessMessageMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("建图进度:{}", message);
+        statusInfoService.saveProcessMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
new file mode 100644
index 0000000..da02b69
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
@@ -0,0 +1,40 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 传感器状态
+ */
+@Slf4j
+@Component("/sensor_status")
+public class SensorStatusMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        Integer val = index.get("index") + 1;
+        index.put("index", val);
+
+        if (val > 20) {
+            index.put("index", 0);
+            statusInfoService.saveSensorStatus(robotId,message);
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 58d9941..5f77817 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,13 +1,26 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.mqtt.config.MqttClientConnection;
 import lombok.SneakyThrows;
 import org.eclipse.paho.client.mqttv3.MqttClient;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 
 /**
  * 机器人操作实现
@@ -15,9 +28,13 @@
 @Service
 public class RobotOptServiceImpl implements IBaseRobotService {
     private final IRobotRouteOptService robotRouteOptService;
+    private final IRobotInfoService robotInfoService;
+    private final ITaskInfoService taskInfoService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
         this.robotRouteOptService = robotRouteOptService;
+        this.robotInfoService = robotInfoService;
+        this.taskInfoService = taskInfoService;
     }
 
     @Override
@@ -51,6 +68,49 @@
         }
     }
 
+    /**
+     * 开启循迹任务
+     *
+     * @param request 请求体
+     * @return
+     */
+    @Transactional
+    @Override
+    public ResponseDataDTO<Integer> startTrack(StartTrackRequest request) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> list = robotRouteOptService.robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, info);
+
+        return list;
+    }
+
+    @Override
+    public ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request) {
+        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setPriority(request.getPriority());
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        messageDTO.setMsg(request);
+        ResponseDataDTO<AppCmdVelResponse> responseDataDTO = robotRouteOptService.robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
+        return responseDataDTO;
+    }
+
+    @Transactional
+    @Override
+    public <T, R> ResponseDataDTO<T> execCmdHandler(R request, InstructCodeEnums enums) {
+        IBaseCmdHandler cmdHandler = SpringContextHolder.getBean(enums.name());
+        cmdHandler.initHandler((BaseRobotCmdDTO) request);
+        ResponseDataDTO result = (ResponseDataDTO) cmdHandler.senderCmd((BaseRobotCmdDTO) request, InstructCodeEnums.TRACK_LIST);
+        result = (ResponseDataDTO) cmdHandler.afterInvoke((BaseRobotCmdDTO) request, result);
+        return result;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
index 00581fe..8f66f8d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
@@ -6,8 +6,8 @@
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.MapListRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
@@ -56,7 +56,7 @@
         messageDTO.setMsg(request);
 
         RobotMsgResponseDTO<List<String>> result = MsgUtils.senMsg(mqttClient, InstructCodeEnums.TRACK_LIST, messageDTO);
-        if (result != null) {
+        if (result != null&&result.getMsg()!=null) {
             //机器人路线更新至表中
             return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(robotInfo, result.getMsg().getResult()));
         }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
deleted file mode 100644
index f445171..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
+++ /dev/null
@@ -1,17 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-import java.io.Serializable;
-
-/**
- * 机器人消息请求体
- */
-@Data
-public class MessageRequestDTO<T> implements Serializable {
-    private T msg;
-
-    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
-    private Integer priority;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
new file mode 100644
index 0000000..8cb6f05
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
@@ -0,0 +1,7 @@
+package com.casic.missiles.modular.robot.opt.instruct.base;
+
+/**
+ * 指令回复定义
+ */
+public interface RobotBaseMsg {
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
deleted file mode 100644
index 7b516ba..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
+++ /dev/null
@@ -1,38 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import com.alibaba.fastjson.annotation.JSONField;
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-@Data
-public class RobotMsgDTO<T> {
-    /**
-     * 消息编码
-     */
-    @ApiModelProperty(value = "消息编码", dataType = "String")
-    @JSONField(name = "error_code")
-    private String errorCode;
-    /**
-     * 错误消息
-     */
-    @ApiModelProperty(value = "错误消息", dataType = "String")
-    @JSONField(name = "error_msg")
-    private String errorMsg;
-    @ApiModelProperty(value = "返回结果")
-    private T result;
-
-    /**
-     * 机器人上传map
-     */
-    @JSONField(name = "map_name")
-    private String mapName;
-
-    private String x;
-    private String y;
-    private String z;
-    private String theta;
-
-    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
-    @JSONField(name = "get_speed")
-    private Float getSpeed;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
new file mode 100644
index 0000000..4efaf84
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
@@ -0,0 +1,17 @@
+package com.casic.missiles.modular.robot.opt.instruct.base.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * 机器人消息请求体
+ */
+@Data
+public class MessageRequestDTO<T> implements Serializable {
+    private T msg;
+
+    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
+    private Integer priority;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java
new file mode 100644
index 0000000..8f7ba24
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.instruct.base.dto;
+
+import com.alibaba.fastjson.annotation.JSONField;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+@Data
+public class RobotMsgDTO<T> {
+    /**
+     * 消息编码
+     */
+    @ApiModelProperty(value = "消息编码", dataType = "String")
+    @JSONField(name = "error_code")
+    private String errorCode;
+    /**
+     * 错误消息
+     */
+    @ApiModelProperty(value = "错误消息", dataType = "String")
+    @JSONField(name = "error_msg")
+    private String errorMsg;
+    @ApiModelProperty(value = "返回结果")
+    private T result;
+
+    /**
+     * 机器人上传map
+     */
+    @JSONField(name = "map_name")
+    private String mapName;
+
+
+    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
+    @JSONField(name = "get_speed")
+    private Float getSpeed;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java
new file mode 100644
index 0000000..ee41289
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java
@@ -0,0 +1,17 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import com.alibaba.fastjson.annotation.JSONField;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 删除路线
+ */
+@Data
+public class DeleteTrackRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "sn编码(可不填 默认机器ID)", dataType = "String")
+    private String sn;
+
+    @ApiModelProperty(value = "下发状态 1:开启 0:关闭", dataType = "String")
+    private String track_name;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
index ec55a85..50a3536 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
@@ -1,6 +1,5 @@
 package com.casic.missiles.modular.robot.opt.instruct.dto;
 
-import com.alibaba.fastjson.annotation.JSONField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,11 +15,11 @@
     private Integer action;
     @ApiModelProperty(value = "等待状态 1:等待 0:不等待", dataType = "String")
     private Integer wait;
-    @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "track_name")
-    private String tracName;
 
     @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "taskpoint_name")
-    private String taskpointName;
+    private String track_name;
+
+    @ApiModelProperty(value = "轨迹名称", dataType = "String")
+    private String taskpoint_name;
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
index 21b9112..bbb3c0c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
@@ -1,6 +1,5 @@
 package com.casic.missiles.modular.robot.opt.instruct.dto;
 
-import com.alibaba.fastjson.annotation.JSONField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,6 +15,5 @@
     private Integer action;
 
     @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "track_name")
-    private String tracName;
+    private String track_name;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
index e029be4..ed384a0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
@@ -4,6 +4,7 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.IService;
 import com.casic.missiles.modular.robot.model.AlarmRecord;
+import com.casic.missiles.modular.robot.vo.AlarmRecordVO;
 
 import java.util.List;
 
@@ -21,4 +22,12 @@
      * 告警记录 分页检索
      */
     List<AlarmRecord> selectAlarmRecordPage(Page<AlarmRecord> page, QueryWrapper<AlarmRecord> query);
+
+    /**
+     * 根据任务ID查询报警总数
+     *
+     * @param id 任务ID
+     * @return
+     */
+    Integer selectCountByTaskId(Long id,Long robotId);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index fe9af27..e3bb91c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -1,9 +1,10 @@
 package com.casic.missiles.modular.robot.service;
 
-import com.baomidou.mybatisplus.extension.service.IService;
-import  com.casic.missiles.modular.robot.model.RobotInfo;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotInfo;
+
 import java.util.List;
 
 
@@ -19,5 +20,12 @@
     /**
      * 机器人信息管理 分页检索
      */
-    List<RobotInfo> selectRobotInfoPage(Page<RobotInfo> page,QueryWrapper<RobotInfo> query);
+    List<RobotInfo> selectRobotInfoPage(Page<RobotInfo> page, QueryWrapper<RobotInfo> query);
+
+    /**
+     * 机器人速度设置
+     *
+     * @param robotInfo 机器信息
+     */
+    void updateSpeed(RobotInfo robotInfo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
index 6552038..4cfeccf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
@@ -62,4 +62,15 @@
      * @param message 消息体
      */
     void saveAppStopNavtrack(String robotId, MqttMessage message);
+
+    /**
+     * 更新车辆路线及任务信息
+     *
+     * @param currRouteId 当前路线信息
+     * @param currTaskId  当前任务信息
+     */
+    void updateCurrTask(String robotId,Long currRouteId, Long currTaskId);
+
+    RobotStatusInfo getStatusByRobotId(String robotId);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java
index f048fa2..ff145c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java
@@ -1,9 +1,12 @@
 package com.casic.missiles.modular.robot.service;
 
-import com.baomidou.mybatisplus.extension.service.IService;
-import  com.casic.missiles.modular.robot.model.TaskInfo;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+
 import java.util.List;
 
 
@@ -19,5 +22,13 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage(Page<TaskInfo> page,QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(Page<TaskInfo> page, QueryWrapper<TaskInfo> query);
+
+    /**
+     * 启动循迹任务后 保存循迹任务信息
+     *
+     * @param request 循迹任务请求体
+     * @param info    机器信息
+     */
+    void reloadTask(StartTrackRequest request, RobotInfo info);
 }

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
index 7ad12e3..b8e561d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
@@ -3,7 +3,7 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 
 /**
- * 业务消息处理
+ * 业务消息处理器
  */
 public interface IBaseMsgHandler {
     /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
new file mode 100644
index 0000000..e69ee28
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -0,0 +1,60 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TRACK_LIST")
+public class TrackListCmdHandler extends AbstractCmdHandler<TrackListRequest, ResponseDataDTO> {
+    private final IRouteInfoService routeInfoService;
+
+    protected TrackListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(TrackListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TRACK_LIST, messageDTO);
+
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(TrackListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
deleted file mode 100644
index e4b2b7e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/app_nav_pause")
-public class AppNavPauseMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppNavPause(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
deleted file mode 100644
index 59cdaa8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 停障状态实时接收器
- */
-@Slf4j
-@Component("/app_stop_navtrack")
-public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-
-    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppStopNavtrack(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
deleted file mode 100644
index b8df20e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
+++ /dev/null
@@ -1,28 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 实时位置接收器
- */
-@Slf4j
-@Component("/pose_message")
-public class PoseMessageMsgHandler implements IBaseMsgHandler {
-
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
-
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
-        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
deleted file mode 100644
index 75f63c5..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/process_message")
-public class ProcessMessageMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
deleted file mode 100644
index 5f07bd8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
+++ /dev/null
@@ -1,40 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 传感器状态
- */
-@Slf4j
-@Component("/sensor_status")
-public class SensorStatusMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        Integer val = index.get("index") + 1;
-        index.put("index", val);
-
-        if (val > 20) {
-            index.put("index", 0);
-            statusInfoService.saveSensorStatus(robotId,message);
-        }
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
new file mode 100644
index 0000000..aba1a57
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/app_nav_pause")
+public class AppNavPauseMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppNavPause(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
new file mode 100644
index 0000000..9bf1ce4
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 停障状态实时接收器
+ */
+@Slf4j
+@Component("/app_stop_navtrack")
+public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+
+    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppStopNavtrack(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
new file mode 100644
index 0000000..b389e01
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
@@ -0,0 +1,28 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 实时位置接收器
+ */
+@Slf4j
+@Component("/pose_message")
+public class PoseMessageMsgHandler implements IBaseMsgHandler {
+
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
+        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
+        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
new file mode 100644
index 0000000..702c091
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
@@ -0,0 +1,30 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/process_message")
+public class ProcessMessageMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("建图进度:{}", message);
+        statusInfoService.saveProcessMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
new file mode 100644
index 0000000..da02b69
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
@@ -0,0 +1,40 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 传感器状态
+ */
+@Slf4j
+@Component("/sensor_status")
+public class SensorStatusMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        Integer val = index.get("index") + 1;
+        index.put("index", val);
+
+        if (val > 20) {
+            index.put("index", 0);
+            statusInfoService.saveSensorStatus(robotId,message);
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 58d9941..5f77817 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,13 +1,26 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.mqtt.config.MqttClientConnection;
 import lombok.SneakyThrows;
 import org.eclipse.paho.client.mqttv3.MqttClient;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 
 /**
  * 机器人操作实现
@@ -15,9 +28,13 @@
 @Service
 public class RobotOptServiceImpl implements IBaseRobotService {
     private final IRobotRouteOptService robotRouteOptService;
+    private final IRobotInfoService robotInfoService;
+    private final ITaskInfoService taskInfoService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
         this.robotRouteOptService = robotRouteOptService;
+        this.robotInfoService = robotInfoService;
+        this.taskInfoService = taskInfoService;
     }
 
     @Override
@@ -51,6 +68,49 @@
         }
     }
 
+    /**
+     * 开启循迹任务
+     *
+     * @param request 请求体
+     * @return
+     */
+    @Transactional
+    @Override
+    public ResponseDataDTO<Integer> startTrack(StartTrackRequest request) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> list = robotRouteOptService.robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, info);
+
+        return list;
+    }
+
+    @Override
+    public ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request) {
+        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setPriority(request.getPriority());
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        messageDTO.setMsg(request);
+        ResponseDataDTO<AppCmdVelResponse> responseDataDTO = robotRouteOptService.robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
+        return responseDataDTO;
+    }
+
+    @Transactional
+    @Override
+    public <T, R> ResponseDataDTO<T> execCmdHandler(R request, InstructCodeEnums enums) {
+        IBaseCmdHandler cmdHandler = SpringContextHolder.getBean(enums.name());
+        cmdHandler.initHandler((BaseRobotCmdDTO) request);
+        ResponseDataDTO result = (ResponseDataDTO) cmdHandler.senderCmd((BaseRobotCmdDTO) request, InstructCodeEnums.TRACK_LIST);
+        result = (ResponseDataDTO) cmdHandler.afterInvoke((BaseRobotCmdDTO) request, result);
+        return result;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
index 00581fe..8f66f8d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
@@ -6,8 +6,8 @@
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.MapListRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
@@ -56,7 +56,7 @@
         messageDTO.setMsg(request);
 
         RobotMsgResponseDTO<List<String>> result = MsgUtils.senMsg(mqttClient, InstructCodeEnums.TRACK_LIST, messageDTO);
-        if (result != null) {
+        if (result != null&&result.getMsg()!=null) {
             //机器人路线更新至表中
             return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(robotInfo, result.getMsg().getResult()));
         }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
deleted file mode 100644
index f445171..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
+++ /dev/null
@@ -1,17 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-import java.io.Serializable;
-
-/**
- * 机器人消息请求体
- */
-@Data
-public class MessageRequestDTO<T> implements Serializable {
-    private T msg;
-
-    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
-    private Integer priority;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
new file mode 100644
index 0000000..8cb6f05
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
@@ -0,0 +1,7 @@
+package com.casic.missiles.modular.robot.opt.instruct.base;
+
+/**
+ * 指令回复定义
+ */
+public interface RobotBaseMsg {
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
deleted file mode 100644
index 7b516ba..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
+++ /dev/null
@@ -1,38 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import com.alibaba.fastjson.annotation.JSONField;
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-@Data
-public class RobotMsgDTO<T> {
-    /**
-     * 消息编码
-     */
-    @ApiModelProperty(value = "消息编码", dataType = "String")
-    @JSONField(name = "error_code")
-    private String errorCode;
-    /**
-     * 错误消息
-     */
-    @ApiModelProperty(value = "错误消息", dataType = "String")
-    @JSONField(name = "error_msg")
-    private String errorMsg;
-    @ApiModelProperty(value = "返回结果")
-    private T result;
-
-    /**
-     * 机器人上传map
-     */
-    @JSONField(name = "map_name")
-    private String mapName;
-
-    private String x;
-    private String y;
-    private String z;
-    private String theta;
-
-    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
-    @JSONField(name = "get_speed")
-    private Float getSpeed;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
new file mode 100644
index 0000000..4efaf84
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
@@ -0,0 +1,17 @@
+package com.casic.missiles.modular.robot.opt.instruct.base.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * 机器人消息请求体
+ */
+@Data
+public class MessageRequestDTO<T> implements Serializable {
+    private T msg;
+
+    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
+    private Integer priority;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java
new file mode 100644
index 0000000..8f7ba24
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.instruct.base.dto;
+
+import com.alibaba.fastjson.annotation.JSONField;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+@Data
+public class RobotMsgDTO<T> {
+    /**
+     * 消息编码
+     */
+    @ApiModelProperty(value = "消息编码", dataType = "String")
+    @JSONField(name = "error_code")
+    private String errorCode;
+    /**
+     * 错误消息
+     */
+    @ApiModelProperty(value = "错误消息", dataType = "String")
+    @JSONField(name = "error_msg")
+    private String errorMsg;
+    @ApiModelProperty(value = "返回结果")
+    private T result;
+
+    /**
+     * 机器人上传map
+     */
+    @JSONField(name = "map_name")
+    private String mapName;
+
+
+    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
+    @JSONField(name = "get_speed")
+    private Float getSpeed;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java
new file mode 100644
index 0000000..ee41289
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java
@@ -0,0 +1,17 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import com.alibaba.fastjson.annotation.JSONField;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 删除路线
+ */
+@Data
+public class DeleteTrackRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "sn编码(可不填 默认机器ID)", dataType = "String")
+    private String sn;
+
+    @ApiModelProperty(value = "下发状态 1:开启 0:关闭", dataType = "String")
+    private String track_name;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
index ec55a85..50a3536 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
@@ -1,6 +1,5 @@
 package com.casic.missiles.modular.robot.opt.instruct.dto;
 
-import com.alibaba.fastjson.annotation.JSONField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,11 +15,11 @@
     private Integer action;
     @ApiModelProperty(value = "等待状态 1:等待 0:不等待", dataType = "String")
     private Integer wait;
-    @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "track_name")
-    private String tracName;
 
     @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "taskpoint_name")
-    private String taskpointName;
+    private String track_name;
+
+    @ApiModelProperty(value = "轨迹名称", dataType = "String")
+    private String taskpoint_name;
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
index 21b9112..bbb3c0c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
@@ -1,6 +1,5 @@
 package com.casic.missiles.modular.robot.opt.instruct.dto;
 
-import com.alibaba.fastjson.annotation.JSONField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,6 +15,5 @@
     private Integer action;
 
     @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "track_name")
-    private String tracName;
+    private String track_name;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
index e029be4..ed384a0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
@@ -4,6 +4,7 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.IService;
 import com.casic.missiles.modular.robot.model.AlarmRecord;
+import com.casic.missiles.modular.robot.vo.AlarmRecordVO;
 
 import java.util.List;
 
@@ -21,4 +22,12 @@
      * 告警记录 分页检索
      */
     List<AlarmRecord> selectAlarmRecordPage(Page<AlarmRecord> page, QueryWrapper<AlarmRecord> query);
+
+    /**
+     * 根据任务ID查询报警总数
+     *
+     * @param id 任务ID
+     * @return
+     */
+    Integer selectCountByTaskId(Long id,Long robotId);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index fe9af27..e3bb91c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -1,9 +1,10 @@
 package com.casic.missiles.modular.robot.service;
 
-import com.baomidou.mybatisplus.extension.service.IService;
-import  com.casic.missiles.modular.robot.model.RobotInfo;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotInfo;
+
 import java.util.List;
 
 
@@ -19,5 +20,12 @@
     /**
      * 机器人信息管理 分页检索
      */
-    List<RobotInfo> selectRobotInfoPage(Page<RobotInfo> page,QueryWrapper<RobotInfo> query);
+    List<RobotInfo> selectRobotInfoPage(Page<RobotInfo> page, QueryWrapper<RobotInfo> query);
+
+    /**
+     * 机器人速度设置
+     *
+     * @param robotInfo 机器信息
+     */
+    void updateSpeed(RobotInfo robotInfo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
index 6552038..4cfeccf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
@@ -62,4 +62,15 @@
      * @param message 消息体
      */
     void saveAppStopNavtrack(String robotId, MqttMessage message);
+
+    /**
+     * 更新车辆路线及任务信息
+     *
+     * @param currRouteId 当前路线信息
+     * @param currTaskId  当前任务信息
+     */
+    void updateCurrTask(String robotId,Long currRouteId, Long currTaskId);
+
+    RobotStatusInfo getStatusByRobotId(String robotId);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java
index f048fa2..ff145c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java
@@ -1,9 +1,12 @@
 package com.casic.missiles.modular.robot.service;
 
-import com.baomidou.mybatisplus.extension.service.IService;
-import  com.casic.missiles.modular.robot.model.TaskInfo;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+
 import java.util.List;
 
 
@@ -19,5 +22,13 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage(Page<TaskInfo> page,QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(Page<TaskInfo> page, QueryWrapper<TaskInfo> query);
+
+    /**
+     * 启动循迹任务后 保存循迹任务信息
+     *
+     * @param request 循迹任务请求体
+     * @param info    机器信息
+     */
+    void reloadTask(StartTrackRequest request, RobotInfo info);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java
index 71c030f..0463880 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java
@@ -5,9 +5,14 @@
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.modular.robot.dao.AlarmRecordMapper;
 import com.casic.missiles.modular.robot.model.AlarmRecord;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.service.IAlarmRecordService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.vo.AlarmRecordVO;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 
@@ -21,10 +26,41 @@
  */
 @Service
 public class AlarmRecordServiceImpl extends ServiceImpl<AlarmRecordMapper, AlarmRecord> implements IAlarmRecordService {
+    private final IRobotInfoService robotInfoService;
+
+    public AlarmRecordServiceImpl(@Lazy IRobotInfoService robotInfoService) {
+        this.robotInfoService = robotInfoService;
+    }
 
     @Override
     public List<AlarmRecord> selectAlarmRecordPage(Page<AlarmRecord> page, QueryWrapper<AlarmRecord> query) {
-        return this.baseMapper.selectAlarmRecordPage(page, query);
+        List<AlarmRecord> records = this.baseMapper.selectAlarmRecordPage(page, query);
+        records.forEach(this::wrapRecord);
+        return records;
+    }
+
+    private void wrapRecord(AlarmRecord record) {
+        //判断是否有检测值
+        record.setMonitorValStatus("无");
+        if (record.getAlarmThreshold() == null) {
+            record.setAlarmThreshold(new BigDecimal(0));
+        }
+        if (record.getAlarmThreshold().compareTo(record.getMonitorVal()) <= 0) {
+            record.setMonitorValStatus("有");
+        }
+    }
+
+    @Override
+    public Integer selectCountByTaskId(Long id, Long robotId) {
+        RobotInfo robotInfo = robotInfoService.getById(robotId);
+
+        QueryWrapper<AlarmRecord> query = new QueryWrapper<>();
+        query.eq("task_id", id);
+        if (robotInfo.getAlarmThreshold() != null) {
+            query.ge("monitor_val", robotInfo.getAlarmThreshold());
+        }
+        Integer num = this.count(query);
+        return num;
     }
 
 }

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
index 7ad12e3..b8e561d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
@@ -3,7 +3,7 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 
 /**
- * 业务消息处理
+ * 业务消息处理器
  */
 public interface IBaseMsgHandler {
     /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
new file mode 100644
index 0000000..e69ee28
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -0,0 +1,60 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TRACK_LIST")
+public class TrackListCmdHandler extends AbstractCmdHandler<TrackListRequest, ResponseDataDTO> {
+    private final IRouteInfoService routeInfoService;
+
+    protected TrackListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(TrackListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TRACK_LIST, messageDTO);
+
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(TrackListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
deleted file mode 100644
index e4b2b7e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/app_nav_pause")
-public class AppNavPauseMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppNavPause(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
deleted file mode 100644
index 59cdaa8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 停障状态实时接收器
- */
-@Slf4j
-@Component("/app_stop_navtrack")
-public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-
-    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppStopNavtrack(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
deleted file mode 100644
index b8df20e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
+++ /dev/null
@@ -1,28 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 实时位置接收器
- */
-@Slf4j
-@Component("/pose_message")
-public class PoseMessageMsgHandler implements IBaseMsgHandler {
-
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
-
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
-        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
deleted file mode 100644
index 75f63c5..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/process_message")
-public class ProcessMessageMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
deleted file mode 100644
index 5f07bd8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
+++ /dev/null
@@ -1,40 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 传感器状态
- */
-@Slf4j
-@Component("/sensor_status")
-public class SensorStatusMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        Integer val = index.get("index") + 1;
-        index.put("index", val);
-
-        if (val > 20) {
-            index.put("index", 0);
-            statusInfoService.saveSensorStatus(robotId,message);
-        }
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
new file mode 100644
index 0000000..aba1a57
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/app_nav_pause")
+public class AppNavPauseMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppNavPause(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
new file mode 100644
index 0000000..9bf1ce4
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 停障状态实时接收器
+ */
+@Slf4j
+@Component("/app_stop_navtrack")
+public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+
+    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppStopNavtrack(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
new file mode 100644
index 0000000..b389e01
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
@@ -0,0 +1,28 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 实时位置接收器
+ */
+@Slf4j
+@Component("/pose_message")
+public class PoseMessageMsgHandler implements IBaseMsgHandler {
+
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
+        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
+        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
new file mode 100644
index 0000000..702c091
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
@@ -0,0 +1,30 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/process_message")
+public class ProcessMessageMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("建图进度:{}", message);
+        statusInfoService.saveProcessMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
new file mode 100644
index 0000000..da02b69
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
@@ -0,0 +1,40 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 传感器状态
+ */
+@Slf4j
+@Component("/sensor_status")
+public class SensorStatusMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        Integer val = index.get("index") + 1;
+        index.put("index", val);
+
+        if (val > 20) {
+            index.put("index", 0);
+            statusInfoService.saveSensorStatus(robotId,message);
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 58d9941..5f77817 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,13 +1,26 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.mqtt.config.MqttClientConnection;
 import lombok.SneakyThrows;
 import org.eclipse.paho.client.mqttv3.MqttClient;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 
 /**
  * 机器人操作实现
@@ -15,9 +28,13 @@
 @Service
 public class RobotOptServiceImpl implements IBaseRobotService {
     private final IRobotRouteOptService robotRouteOptService;
+    private final IRobotInfoService robotInfoService;
+    private final ITaskInfoService taskInfoService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
         this.robotRouteOptService = robotRouteOptService;
+        this.robotInfoService = robotInfoService;
+        this.taskInfoService = taskInfoService;
     }
 
     @Override
@@ -51,6 +68,49 @@
         }
     }
 
+    /**
+     * 开启循迹任务
+     *
+     * @param request 请求体
+     * @return
+     */
+    @Transactional
+    @Override
+    public ResponseDataDTO<Integer> startTrack(StartTrackRequest request) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> list = robotRouteOptService.robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, info);
+
+        return list;
+    }
+
+    @Override
+    public ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request) {
+        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setPriority(request.getPriority());
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        messageDTO.setMsg(request);
+        ResponseDataDTO<AppCmdVelResponse> responseDataDTO = robotRouteOptService.robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
+        return responseDataDTO;
+    }
+
+    @Transactional
+    @Override
+    public <T, R> ResponseDataDTO<T> execCmdHandler(R request, InstructCodeEnums enums) {
+        IBaseCmdHandler cmdHandler = SpringContextHolder.getBean(enums.name());
+        cmdHandler.initHandler((BaseRobotCmdDTO) request);
+        ResponseDataDTO result = (ResponseDataDTO) cmdHandler.senderCmd((BaseRobotCmdDTO) request, InstructCodeEnums.TRACK_LIST);
+        result = (ResponseDataDTO) cmdHandler.afterInvoke((BaseRobotCmdDTO) request, result);
+        return result;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
index 00581fe..8f66f8d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
@@ -6,8 +6,8 @@
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.MapListRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
@@ -56,7 +56,7 @@
         messageDTO.setMsg(request);
 
         RobotMsgResponseDTO<List<String>> result = MsgUtils.senMsg(mqttClient, InstructCodeEnums.TRACK_LIST, messageDTO);
-        if (result != null) {
+        if (result != null&&result.getMsg()!=null) {
             //机器人路线更新至表中
             return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(robotInfo, result.getMsg().getResult()));
         }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
deleted file mode 100644
index f445171..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
+++ /dev/null
@@ -1,17 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-import java.io.Serializable;
-
-/**
- * 机器人消息请求体
- */
-@Data
-public class MessageRequestDTO<T> implements Serializable {
-    private T msg;
-
-    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
-    private Integer priority;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
new file mode 100644
index 0000000..8cb6f05
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
@@ -0,0 +1,7 @@
+package com.casic.missiles.modular.robot.opt.instruct.base;
+
+/**
+ * 指令回复定义
+ */
+public interface RobotBaseMsg {
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
deleted file mode 100644
index 7b516ba..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
+++ /dev/null
@@ -1,38 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import com.alibaba.fastjson.annotation.JSONField;
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-@Data
-public class RobotMsgDTO<T> {
-    /**
-     * 消息编码
-     */
-    @ApiModelProperty(value = "消息编码", dataType = "String")
-    @JSONField(name = "error_code")
-    private String errorCode;
-    /**
-     * 错误消息
-     */
-    @ApiModelProperty(value = "错误消息", dataType = "String")
-    @JSONField(name = "error_msg")
-    private String errorMsg;
-    @ApiModelProperty(value = "返回结果")
-    private T result;
-
-    /**
-     * 机器人上传map
-     */
-    @JSONField(name = "map_name")
-    private String mapName;
-
-    private String x;
-    private String y;
-    private String z;
-    private String theta;
-
-    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
-    @JSONField(name = "get_speed")
-    private Float getSpeed;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
new file mode 100644
index 0000000..4efaf84
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
@@ -0,0 +1,17 @@
+package com.casic.missiles.modular.robot.opt.instruct.base.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * 机器人消息请求体
+ */
+@Data
+public class MessageRequestDTO<T> implements Serializable {
+    private T msg;
+
+    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
+    private Integer priority;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java
new file mode 100644
index 0000000..8f7ba24
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.instruct.base.dto;
+
+import com.alibaba.fastjson.annotation.JSONField;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+@Data
+public class RobotMsgDTO<T> {
+    /**
+     * 消息编码
+     */
+    @ApiModelProperty(value = "消息编码", dataType = "String")
+    @JSONField(name = "error_code")
+    private String errorCode;
+    /**
+     * 错误消息
+     */
+    @ApiModelProperty(value = "错误消息", dataType = "String")
+    @JSONField(name = "error_msg")
+    private String errorMsg;
+    @ApiModelProperty(value = "返回结果")
+    private T result;
+
+    /**
+     * 机器人上传map
+     */
+    @JSONField(name = "map_name")
+    private String mapName;
+
+
+    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
+    @JSONField(name = "get_speed")
+    private Float getSpeed;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java
new file mode 100644
index 0000000..ee41289
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java
@@ -0,0 +1,17 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import com.alibaba.fastjson.annotation.JSONField;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 删除路线
+ */
+@Data
+public class DeleteTrackRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "sn编码(可不填 默认机器ID)", dataType = "String")
+    private String sn;
+
+    @ApiModelProperty(value = "下发状态 1:开启 0:关闭", dataType = "String")
+    private String track_name;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
index ec55a85..50a3536 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
@@ -1,6 +1,5 @@
 package com.casic.missiles.modular.robot.opt.instruct.dto;
 
-import com.alibaba.fastjson.annotation.JSONField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,11 +15,11 @@
     private Integer action;
     @ApiModelProperty(value = "等待状态 1:等待 0:不等待", dataType = "String")
     private Integer wait;
-    @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "track_name")
-    private String tracName;
 
     @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "taskpoint_name")
-    private String taskpointName;
+    private String track_name;
+
+    @ApiModelProperty(value = "轨迹名称", dataType = "String")
+    private String taskpoint_name;
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
index 21b9112..bbb3c0c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
@@ -1,6 +1,5 @@
 package com.casic.missiles.modular.robot.opt.instruct.dto;
 
-import com.alibaba.fastjson.annotation.JSONField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,6 +15,5 @@
     private Integer action;
 
     @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "track_name")
-    private String tracName;
+    private String track_name;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
index e029be4..ed384a0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
@@ -4,6 +4,7 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.IService;
 import com.casic.missiles.modular.robot.model.AlarmRecord;
+import com.casic.missiles.modular.robot.vo.AlarmRecordVO;
 
 import java.util.List;
 
@@ -21,4 +22,12 @@
      * 告警记录 分页检索
      */
     List<AlarmRecord> selectAlarmRecordPage(Page<AlarmRecord> page, QueryWrapper<AlarmRecord> query);
+
+    /**
+     * 根据任务ID查询报警总数
+     *
+     * @param id 任务ID
+     * @return
+     */
+    Integer selectCountByTaskId(Long id,Long robotId);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index fe9af27..e3bb91c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -1,9 +1,10 @@
 package com.casic.missiles.modular.robot.service;
 
-import com.baomidou.mybatisplus.extension.service.IService;
-import  com.casic.missiles.modular.robot.model.RobotInfo;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotInfo;
+
 import java.util.List;
 
 
@@ -19,5 +20,12 @@
     /**
      * 机器人信息管理 分页检索
      */
-    List<RobotInfo> selectRobotInfoPage(Page<RobotInfo> page,QueryWrapper<RobotInfo> query);
+    List<RobotInfo> selectRobotInfoPage(Page<RobotInfo> page, QueryWrapper<RobotInfo> query);
+
+    /**
+     * 机器人速度设置
+     *
+     * @param robotInfo 机器信息
+     */
+    void updateSpeed(RobotInfo robotInfo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
index 6552038..4cfeccf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
@@ -62,4 +62,15 @@
      * @param message 消息体
      */
     void saveAppStopNavtrack(String robotId, MqttMessage message);
+
+    /**
+     * 更新车辆路线及任务信息
+     *
+     * @param currRouteId 当前路线信息
+     * @param currTaskId  当前任务信息
+     */
+    void updateCurrTask(String robotId,Long currRouteId, Long currTaskId);
+
+    RobotStatusInfo getStatusByRobotId(String robotId);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java
index f048fa2..ff145c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java
@@ -1,9 +1,12 @@
 package com.casic.missiles.modular.robot.service;
 
-import com.baomidou.mybatisplus.extension.service.IService;
-import  com.casic.missiles.modular.robot.model.TaskInfo;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+
 import java.util.List;
 
 
@@ -19,5 +22,13 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage(Page<TaskInfo> page,QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(Page<TaskInfo> page, QueryWrapper<TaskInfo> query);
+
+    /**
+     * 启动循迹任务后 保存循迹任务信息
+     *
+     * @param request 循迹任务请求体
+     * @param info    机器信息
+     */
+    void reloadTask(StartTrackRequest request, RobotInfo info);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java
index 71c030f..0463880 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java
@@ -5,9 +5,14 @@
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.modular.robot.dao.AlarmRecordMapper;
 import com.casic.missiles.modular.robot.model.AlarmRecord;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.service.IAlarmRecordService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.vo.AlarmRecordVO;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 
@@ -21,10 +26,41 @@
  */
 @Service
 public class AlarmRecordServiceImpl extends ServiceImpl<AlarmRecordMapper, AlarmRecord> implements IAlarmRecordService {
+    private final IRobotInfoService robotInfoService;
+
+    public AlarmRecordServiceImpl(@Lazy IRobotInfoService robotInfoService) {
+        this.robotInfoService = robotInfoService;
+    }
 
     @Override
     public List<AlarmRecord> selectAlarmRecordPage(Page<AlarmRecord> page, QueryWrapper<AlarmRecord> query) {
-        return this.baseMapper.selectAlarmRecordPage(page, query);
+        List<AlarmRecord> records = this.baseMapper.selectAlarmRecordPage(page, query);
+        records.forEach(this::wrapRecord);
+        return records;
+    }
+
+    private void wrapRecord(AlarmRecord record) {
+        //判断是否有检测值
+        record.setMonitorValStatus("无");
+        if (record.getAlarmThreshold() == null) {
+            record.setAlarmThreshold(new BigDecimal(0));
+        }
+        if (record.getAlarmThreshold().compareTo(record.getMonitorVal()) <= 0) {
+            record.setMonitorValStatus("有");
+        }
+    }
+
+    @Override
+    public Integer selectCountByTaskId(Long id, Long robotId) {
+        RobotInfo robotInfo = robotInfoService.getById(robotId);
+
+        QueryWrapper<AlarmRecord> query = new QueryWrapper<>();
+        query.eq("task_id", id);
+        if (robotInfo.getAlarmThreshold() != null) {
+            query.ge("monitor_val", robotInfo.getAlarmThreshold());
+        }
+        Integer num = this.count(query);
+        return num;
     }
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index 7531811..c405c9b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -3,6 +3,7 @@
 import cn.hutool.core.collection.CollectionUtil;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.core.application.service.AbstractDictService;
@@ -44,6 +45,15 @@
     }
 
     @Override
+    public void updateSpeed(RobotInfo robotInfo) {
+        UpdateWrapper<RobotInfo> update = new UpdateWrapper<>();
+        update.set("conf_v", robotInfo.getConfV());
+        update.set("conf_w", robotInfo.getConfW());
+        update.eq("id", robotInfo.getId());
+        update(update);
+    }
+
+    @Override
     public List<RobotInfo> list(Wrapper<RobotInfo> queryWrapper) {
         List<RobotInfo> robotInfos = super.list(queryWrapper);
         robotInfos.forEach(this::wrapRobotInfo);

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
index 7ad12e3..b8e561d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
@@ -3,7 +3,7 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 
 /**
- * 业务消息处理
+ * 业务消息处理器
  */
 public interface IBaseMsgHandler {
     /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
new file mode 100644
index 0000000..e69ee28
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -0,0 +1,60 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TRACK_LIST")
+public class TrackListCmdHandler extends AbstractCmdHandler<TrackListRequest, ResponseDataDTO> {
+    private final IRouteInfoService routeInfoService;
+
+    protected TrackListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(TrackListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TRACK_LIST, messageDTO);
+
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(TrackListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
deleted file mode 100644
index e4b2b7e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/app_nav_pause")
-public class AppNavPauseMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppNavPause(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
deleted file mode 100644
index 59cdaa8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 停障状态实时接收器
- */
-@Slf4j
-@Component("/app_stop_navtrack")
-public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-
-    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppStopNavtrack(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
deleted file mode 100644
index b8df20e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
+++ /dev/null
@@ -1,28 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 实时位置接收器
- */
-@Slf4j
-@Component("/pose_message")
-public class PoseMessageMsgHandler implements IBaseMsgHandler {
-
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
-
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
-        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
deleted file mode 100644
index 75f63c5..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/process_message")
-public class ProcessMessageMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
deleted file mode 100644
index 5f07bd8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
+++ /dev/null
@@ -1,40 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 传感器状态
- */
-@Slf4j
-@Component("/sensor_status")
-public class SensorStatusMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        Integer val = index.get("index") + 1;
-        index.put("index", val);
-
-        if (val > 20) {
-            index.put("index", 0);
-            statusInfoService.saveSensorStatus(robotId,message);
-        }
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
new file mode 100644
index 0000000..aba1a57
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/app_nav_pause")
+public class AppNavPauseMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppNavPause(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
new file mode 100644
index 0000000..9bf1ce4
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 停障状态实时接收器
+ */
+@Slf4j
+@Component("/app_stop_navtrack")
+public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+
+    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppStopNavtrack(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
new file mode 100644
index 0000000..b389e01
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
@@ -0,0 +1,28 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 实时位置接收器
+ */
+@Slf4j
+@Component("/pose_message")
+public class PoseMessageMsgHandler implements IBaseMsgHandler {
+
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
+        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
+        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
new file mode 100644
index 0000000..702c091
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
@@ -0,0 +1,30 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/process_message")
+public class ProcessMessageMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("建图进度:{}", message);
+        statusInfoService.saveProcessMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
new file mode 100644
index 0000000..da02b69
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
@@ -0,0 +1,40 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 传感器状态
+ */
+@Slf4j
+@Component("/sensor_status")
+public class SensorStatusMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        Integer val = index.get("index") + 1;
+        index.put("index", val);
+
+        if (val > 20) {
+            index.put("index", 0);
+            statusInfoService.saveSensorStatus(robotId,message);
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 58d9941..5f77817 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,13 +1,26 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.mqtt.config.MqttClientConnection;
 import lombok.SneakyThrows;
 import org.eclipse.paho.client.mqttv3.MqttClient;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 
 /**
  * 机器人操作实现
@@ -15,9 +28,13 @@
 @Service
 public class RobotOptServiceImpl implements IBaseRobotService {
     private final IRobotRouteOptService robotRouteOptService;
+    private final IRobotInfoService robotInfoService;
+    private final ITaskInfoService taskInfoService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
         this.robotRouteOptService = robotRouteOptService;
+        this.robotInfoService = robotInfoService;
+        this.taskInfoService = taskInfoService;
     }
 
     @Override
@@ -51,6 +68,49 @@
         }
     }
 
+    /**
+     * 开启循迹任务
+     *
+     * @param request 请求体
+     * @return
+     */
+    @Transactional
+    @Override
+    public ResponseDataDTO<Integer> startTrack(StartTrackRequest request) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> list = robotRouteOptService.robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, info);
+
+        return list;
+    }
+
+    @Override
+    public ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request) {
+        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setPriority(request.getPriority());
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        messageDTO.setMsg(request);
+        ResponseDataDTO<AppCmdVelResponse> responseDataDTO = robotRouteOptService.robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
+        return responseDataDTO;
+    }
+
+    @Transactional
+    @Override
+    public <T, R> ResponseDataDTO<T> execCmdHandler(R request, InstructCodeEnums enums) {
+        IBaseCmdHandler cmdHandler = SpringContextHolder.getBean(enums.name());
+        cmdHandler.initHandler((BaseRobotCmdDTO) request);
+        ResponseDataDTO result = (ResponseDataDTO) cmdHandler.senderCmd((BaseRobotCmdDTO) request, InstructCodeEnums.TRACK_LIST);
+        result = (ResponseDataDTO) cmdHandler.afterInvoke((BaseRobotCmdDTO) request, result);
+        return result;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
index 00581fe..8f66f8d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
@@ -6,8 +6,8 @@
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.MapListRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
@@ -56,7 +56,7 @@
         messageDTO.setMsg(request);
 
         RobotMsgResponseDTO<List<String>> result = MsgUtils.senMsg(mqttClient, InstructCodeEnums.TRACK_LIST, messageDTO);
-        if (result != null) {
+        if (result != null&&result.getMsg()!=null) {
             //机器人路线更新至表中
             return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(robotInfo, result.getMsg().getResult()));
         }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
deleted file mode 100644
index f445171..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
+++ /dev/null
@@ -1,17 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-import java.io.Serializable;
-
-/**
- * 机器人消息请求体
- */
-@Data
-public class MessageRequestDTO<T> implements Serializable {
-    private T msg;
-
-    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
-    private Integer priority;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
new file mode 100644
index 0000000..8cb6f05
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
@@ -0,0 +1,7 @@
+package com.casic.missiles.modular.robot.opt.instruct.base;
+
+/**
+ * 指令回复定义
+ */
+public interface RobotBaseMsg {
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
deleted file mode 100644
index 7b516ba..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
+++ /dev/null
@@ -1,38 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import com.alibaba.fastjson.annotation.JSONField;
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-@Data
-public class RobotMsgDTO<T> {
-    /**
-     * 消息编码
-     */
-    @ApiModelProperty(value = "消息编码", dataType = "String")
-    @JSONField(name = "error_code")
-    private String errorCode;
-    /**
-     * 错误消息
-     */
-    @ApiModelProperty(value = "错误消息", dataType = "String")
-    @JSONField(name = "error_msg")
-    private String errorMsg;
-    @ApiModelProperty(value = "返回结果")
-    private T result;
-
-    /**
-     * 机器人上传map
-     */
-    @JSONField(name = "map_name")
-    private String mapName;
-
-    private String x;
-    private String y;
-    private String z;
-    private String theta;
-
-    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
-    @JSONField(name = "get_speed")
-    private Float getSpeed;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
new file mode 100644
index 0000000..4efaf84
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
@@ -0,0 +1,17 @@
+package com.casic.missiles.modular.robot.opt.instruct.base.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * 机器人消息请求体
+ */
+@Data
+public class MessageRequestDTO<T> implements Serializable {
+    private T msg;
+
+    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
+    private Integer priority;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java
new file mode 100644
index 0000000..8f7ba24
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.instruct.base.dto;
+
+import com.alibaba.fastjson.annotation.JSONField;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+@Data
+public class RobotMsgDTO<T> {
+    /**
+     * 消息编码
+     */
+    @ApiModelProperty(value = "消息编码", dataType = "String")
+    @JSONField(name = "error_code")
+    private String errorCode;
+    /**
+     * 错误消息
+     */
+    @ApiModelProperty(value = "错误消息", dataType = "String")
+    @JSONField(name = "error_msg")
+    private String errorMsg;
+    @ApiModelProperty(value = "返回结果")
+    private T result;
+
+    /**
+     * 机器人上传map
+     */
+    @JSONField(name = "map_name")
+    private String mapName;
+
+
+    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
+    @JSONField(name = "get_speed")
+    private Float getSpeed;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java
new file mode 100644
index 0000000..ee41289
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java
@@ -0,0 +1,17 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import com.alibaba.fastjson.annotation.JSONField;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 删除路线
+ */
+@Data
+public class DeleteTrackRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "sn编码(可不填 默认机器ID)", dataType = "String")
+    private String sn;
+
+    @ApiModelProperty(value = "下发状态 1:开启 0:关闭", dataType = "String")
+    private String track_name;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
index ec55a85..50a3536 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
@@ -1,6 +1,5 @@
 package com.casic.missiles.modular.robot.opt.instruct.dto;
 
-import com.alibaba.fastjson.annotation.JSONField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,11 +15,11 @@
     private Integer action;
     @ApiModelProperty(value = "等待状态 1:等待 0:不等待", dataType = "String")
     private Integer wait;
-    @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "track_name")
-    private String tracName;
 
     @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "taskpoint_name")
-    private String taskpointName;
+    private String track_name;
+
+    @ApiModelProperty(value = "轨迹名称", dataType = "String")
+    private String taskpoint_name;
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
index 21b9112..bbb3c0c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
@@ -1,6 +1,5 @@
 package com.casic.missiles.modular.robot.opt.instruct.dto;
 
-import com.alibaba.fastjson.annotation.JSONField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,6 +15,5 @@
     private Integer action;
 
     @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "track_name")
-    private String tracName;
+    private String track_name;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
index e029be4..ed384a0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
@@ -4,6 +4,7 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.IService;
 import com.casic.missiles.modular.robot.model.AlarmRecord;
+import com.casic.missiles.modular.robot.vo.AlarmRecordVO;
 
 import java.util.List;
 
@@ -21,4 +22,12 @@
      * 告警记录 分页检索
      */
     List<AlarmRecord> selectAlarmRecordPage(Page<AlarmRecord> page, QueryWrapper<AlarmRecord> query);
+
+    /**
+     * 根据任务ID查询报警总数
+     *
+     * @param id 任务ID
+     * @return
+     */
+    Integer selectCountByTaskId(Long id,Long robotId);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index fe9af27..e3bb91c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -1,9 +1,10 @@
 package com.casic.missiles.modular.robot.service;
 
-import com.baomidou.mybatisplus.extension.service.IService;
-import  com.casic.missiles.modular.robot.model.RobotInfo;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotInfo;
+
 import java.util.List;
 
 
@@ -19,5 +20,12 @@
     /**
      * 机器人信息管理 分页检索
      */
-    List<RobotInfo> selectRobotInfoPage(Page<RobotInfo> page,QueryWrapper<RobotInfo> query);
+    List<RobotInfo> selectRobotInfoPage(Page<RobotInfo> page, QueryWrapper<RobotInfo> query);
+
+    /**
+     * 机器人速度设置
+     *
+     * @param robotInfo 机器信息
+     */
+    void updateSpeed(RobotInfo robotInfo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
index 6552038..4cfeccf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
@@ -62,4 +62,15 @@
      * @param message 消息体
      */
     void saveAppStopNavtrack(String robotId, MqttMessage message);
+
+    /**
+     * 更新车辆路线及任务信息
+     *
+     * @param currRouteId 当前路线信息
+     * @param currTaskId  当前任务信息
+     */
+    void updateCurrTask(String robotId,Long currRouteId, Long currTaskId);
+
+    RobotStatusInfo getStatusByRobotId(String robotId);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java
index f048fa2..ff145c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java
@@ -1,9 +1,12 @@
 package com.casic.missiles.modular.robot.service;
 
-import com.baomidou.mybatisplus.extension.service.IService;
-import  com.casic.missiles.modular.robot.model.TaskInfo;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+
 import java.util.List;
 
 
@@ -19,5 +22,13 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage(Page<TaskInfo> page,QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(Page<TaskInfo> page, QueryWrapper<TaskInfo> query);
+
+    /**
+     * 启动循迹任务后 保存循迹任务信息
+     *
+     * @param request 循迹任务请求体
+     * @param info    机器信息
+     */
+    void reloadTask(StartTrackRequest request, RobotInfo info);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java
index 71c030f..0463880 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java
@@ -5,9 +5,14 @@
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.modular.robot.dao.AlarmRecordMapper;
 import com.casic.missiles.modular.robot.model.AlarmRecord;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.service.IAlarmRecordService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.vo.AlarmRecordVO;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 
@@ -21,10 +26,41 @@
  */
 @Service
 public class AlarmRecordServiceImpl extends ServiceImpl<AlarmRecordMapper, AlarmRecord> implements IAlarmRecordService {
+    private final IRobotInfoService robotInfoService;
+
+    public AlarmRecordServiceImpl(@Lazy IRobotInfoService robotInfoService) {
+        this.robotInfoService = robotInfoService;
+    }
 
     @Override
     public List<AlarmRecord> selectAlarmRecordPage(Page<AlarmRecord> page, QueryWrapper<AlarmRecord> query) {
-        return this.baseMapper.selectAlarmRecordPage(page, query);
+        List<AlarmRecord> records = this.baseMapper.selectAlarmRecordPage(page, query);
+        records.forEach(this::wrapRecord);
+        return records;
+    }
+
+    private void wrapRecord(AlarmRecord record) {
+        //判断是否有检测值
+        record.setMonitorValStatus("无");
+        if (record.getAlarmThreshold() == null) {
+            record.setAlarmThreshold(new BigDecimal(0));
+        }
+        if (record.getAlarmThreshold().compareTo(record.getMonitorVal()) <= 0) {
+            record.setMonitorValStatus("有");
+        }
+    }
+
+    @Override
+    public Integer selectCountByTaskId(Long id, Long robotId) {
+        RobotInfo robotInfo = robotInfoService.getById(robotId);
+
+        QueryWrapper<AlarmRecord> query = new QueryWrapper<>();
+        query.eq("task_id", id);
+        if (robotInfo.getAlarmThreshold() != null) {
+            query.ge("monitor_val", robotInfo.getAlarmThreshold());
+        }
+        Integer num = this.count(query);
+        return num;
     }
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index 7531811..c405c9b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -3,6 +3,7 @@
 import cn.hutool.core.collection.CollectionUtil;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.core.application.service.AbstractDictService;
@@ -44,6 +45,15 @@
     }
 
     @Override
+    public void updateSpeed(RobotInfo robotInfo) {
+        UpdateWrapper<RobotInfo> update = new UpdateWrapper<>();
+        update.set("conf_v", robotInfo.getConfV());
+        update.set("conf_w", robotInfo.getConfW());
+        update.eq("id", robotInfo.getId());
+        update(update);
+    }
+
+    @Override
     public List<RobotInfo> list(Wrapper<RobotInfo> queryWrapper) {
         List<RobotInfo> robotInfos = super.list(queryWrapper);
         robotInfos.forEach(this::wrapRobotInfo);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
index 6692c5d..2afae14 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
@@ -10,9 +10,9 @@
 import com.casic.missiles.core.application.service.AbstractDictService;
 import com.casic.missiles.modular.robot.dao.RobotStatusInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.ProcessMessageResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.SensorStatusDTO;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -57,20 +57,21 @@
     }
 
     private void wrapInfo(RobotStatusInfo statusInfo) {
-        statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getTrackStatus()));
+        statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getDiscernType()));
 
         //暂停状态
         statusInfo.setAppNavPauseName(getDictName("appNavPause", statusInfo.getAppNavPause()));
 
         //开启状态
         statusInfo.setTrackStatusName(getDictName("trackStatus", statusInfo.getTrackStatus()));
-        statusInfo.setNavigationStatusName(getDictName("trackStatus", statusInfo.getNavigationStatus()));
+        String statusName = getDictName("trackStatus", statusInfo.getNavigationStatus());
+        statusInfo.setNavigationStatusName(statusName);
         statusInfo.setDataRecordName(getDictName("trackStatus", statusInfo.getDataRecord()));
         statusInfo.setTrackStatusName(getDictName("trackStatus", statusInfo.getTrackStatus()));
         statusInfo.setTrackName(getDictName("trackStatus", statusInfo.getTrack()));
         statusInfo.setInsStatusName(getDictName("trackStatus", statusInfo.getInsStatus()));
         statusInfo.setAppStopNavtrackName(getDictName("trackStatus", statusInfo.getAppStopNavtrack()));
-
+        statusInfo.setTrackRecordName(getDictName("trackStatus", statusInfo.getTrackRecord()));
         //收到状态
         statusInfo.setLidarMsgName(getDictName("lidarMsg", statusInfo.getLidarMsg()));
         statusInfo.setImuMsgName(getDictName("lidarMsg", statusInfo.getImuMsg()));
@@ -110,10 +111,10 @@
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             SensorStatusDTO msg = responseDTO.getMsg();
-            query.set("lidar_msg", msg.getLidarMsg());
-            query.set("imu_msg", msg.getImuMsg());
-            query.set("charge_msg", msg.getChargeMsg());
-            query.set("gps_msg", msg.getGpsMsg());
+            query.set("lidar_msg", msg.getLidarMsg() == null ? 0 : msg.getLidarMsg());
+            query.set("imu_msg", msg.getImuMsg() == null ? 0 : msg.getImuMsg());
+            query.set("charge_msg", msg.getChargeMsg() == null ? 0 : msg.getChargeMsg());
+            query.set("gps_msg", msg.getGpsMsg() == null ? 0 : msg.getGpsMsg());
             query.eq("robot_id", robotId);
             update(query);
         }
@@ -172,4 +173,20 @@
             update(query);
         }
     }
+
+    @Override
+    public void updateCurrTask(String robotId, Long currRouteId, Long currTaskId) {
+        UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
+        query.set("curr_route_id", currRouteId);
+        query.set("curr_task_id", currTaskId);
+        query.eq("robot_id", robotId);
+        update(query);
+    }
+
+    @Override
+    public RobotStatusInfo getStatusByRobotId(String robotId) {
+        QueryWrapper<RobotStatusInfo> query = new QueryWrapper<>();
+        query.eq("robot_id", robotId);
+        return getOne(query);
+    }
 }
\ No newline at end of file

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
index 7ad12e3..b8e561d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
@@ -3,7 +3,7 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 
 /**
- * 业务消息处理
+ * 业务消息处理器
  */
 public interface IBaseMsgHandler {
     /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
new file mode 100644
index 0000000..e69ee28
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -0,0 +1,60 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TRACK_LIST")
+public class TrackListCmdHandler extends AbstractCmdHandler<TrackListRequest, ResponseDataDTO> {
+    private final IRouteInfoService routeInfoService;
+
+    protected TrackListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(TrackListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TRACK_LIST, messageDTO);
+
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(TrackListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
deleted file mode 100644
index e4b2b7e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/app_nav_pause")
-public class AppNavPauseMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppNavPause(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
deleted file mode 100644
index 59cdaa8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 停障状态实时接收器
- */
-@Slf4j
-@Component("/app_stop_navtrack")
-public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-
-    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppStopNavtrack(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
deleted file mode 100644
index b8df20e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
+++ /dev/null
@@ -1,28 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 实时位置接收器
- */
-@Slf4j
-@Component("/pose_message")
-public class PoseMessageMsgHandler implements IBaseMsgHandler {
-
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
-
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
-        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
deleted file mode 100644
index 75f63c5..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/process_message")
-public class ProcessMessageMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
deleted file mode 100644
index 5f07bd8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
+++ /dev/null
@@ -1,40 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 传感器状态
- */
-@Slf4j
-@Component("/sensor_status")
-public class SensorStatusMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        Integer val = index.get("index") + 1;
-        index.put("index", val);
-
-        if (val > 20) {
-            index.put("index", 0);
-            statusInfoService.saveSensorStatus(robotId,message);
-        }
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
new file mode 100644
index 0000000..aba1a57
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/app_nav_pause")
+public class AppNavPauseMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppNavPause(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
new file mode 100644
index 0000000..9bf1ce4
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 停障状态实时接收器
+ */
+@Slf4j
+@Component("/app_stop_navtrack")
+public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+
+    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppStopNavtrack(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
new file mode 100644
index 0000000..b389e01
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
@@ -0,0 +1,28 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 实时位置接收器
+ */
+@Slf4j
+@Component("/pose_message")
+public class PoseMessageMsgHandler implements IBaseMsgHandler {
+
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
+        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
+        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
new file mode 100644
index 0000000..702c091
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
@@ -0,0 +1,30 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/process_message")
+public class ProcessMessageMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("建图进度:{}", message);
+        statusInfoService.saveProcessMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
new file mode 100644
index 0000000..da02b69
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
@@ -0,0 +1,40 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 传感器状态
+ */
+@Slf4j
+@Component("/sensor_status")
+public class SensorStatusMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        Integer val = index.get("index") + 1;
+        index.put("index", val);
+
+        if (val > 20) {
+            index.put("index", 0);
+            statusInfoService.saveSensorStatus(robotId,message);
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 58d9941..5f77817 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,13 +1,26 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.mqtt.config.MqttClientConnection;
 import lombok.SneakyThrows;
 import org.eclipse.paho.client.mqttv3.MqttClient;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 
 /**
  * 机器人操作实现
@@ -15,9 +28,13 @@
 @Service
 public class RobotOptServiceImpl implements IBaseRobotService {
     private final IRobotRouteOptService robotRouteOptService;
+    private final IRobotInfoService robotInfoService;
+    private final ITaskInfoService taskInfoService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
         this.robotRouteOptService = robotRouteOptService;
+        this.robotInfoService = robotInfoService;
+        this.taskInfoService = taskInfoService;
     }
 
     @Override
@@ -51,6 +68,49 @@
         }
     }
 
+    /**
+     * 开启循迹任务
+     *
+     * @param request 请求体
+     * @return
+     */
+    @Transactional
+    @Override
+    public ResponseDataDTO<Integer> startTrack(StartTrackRequest request) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> list = robotRouteOptService.robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, info);
+
+        return list;
+    }
+
+    @Override
+    public ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request) {
+        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setPriority(request.getPriority());
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        messageDTO.setMsg(request);
+        ResponseDataDTO<AppCmdVelResponse> responseDataDTO = robotRouteOptService.robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
+        return responseDataDTO;
+    }
+
+    @Transactional
+    @Override
+    public <T, R> ResponseDataDTO<T> execCmdHandler(R request, InstructCodeEnums enums) {
+        IBaseCmdHandler cmdHandler = SpringContextHolder.getBean(enums.name());
+        cmdHandler.initHandler((BaseRobotCmdDTO) request);
+        ResponseDataDTO result = (ResponseDataDTO) cmdHandler.senderCmd((BaseRobotCmdDTO) request, InstructCodeEnums.TRACK_LIST);
+        result = (ResponseDataDTO) cmdHandler.afterInvoke((BaseRobotCmdDTO) request, result);
+        return result;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
index 00581fe..8f66f8d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
@@ -6,8 +6,8 @@
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.MapListRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
@@ -56,7 +56,7 @@
         messageDTO.setMsg(request);
 
         RobotMsgResponseDTO<List<String>> result = MsgUtils.senMsg(mqttClient, InstructCodeEnums.TRACK_LIST, messageDTO);
-        if (result != null) {
+        if (result != null&&result.getMsg()!=null) {
             //机器人路线更新至表中
             return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(robotInfo, result.getMsg().getResult()));
         }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
deleted file mode 100644
index f445171..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
+++ /dev/null
@@ -1,17 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-import java.io.Serializable;
-
-/**
- * 机器人消息请求体
- */
-@Data
-public class MessageRequestDTO<T> implements Serializable {
-    private T msg;
-
-    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
-    private Integer priority;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
new file mode 100644
index 0000000..8cb6f05
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
@@ -0,0 +1,7 @@
+package com.casic.missiles.modular.robot.opt.instruct.base;
+
+/**
+ * 指令回复定义
+ */
+public interface RobotBaseMsg {
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
deleted file mode 100644
index 7b516ba..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
+++ /dev/null
@@ -1,38 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import com.alibaba.fastjson.annotation.JSONField;
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-@Data
-public class RobotMsgDTO<T> {
-    /**
-     * 消息编码
-     */
-    @ApiModelProperty(value = "消息编码", dataType = "String")
-    @JSONField(name = "error_code")
-    private String errorCode;
-    /**
-     * 错误消息
-     */
-    @ApiModelProperty(value = "错误消息", dataType = "String")
-    @JSONField(name = "error_msg")
-    private String errorMsg;
-    @ApiModelProperty(value = "返回结果")
-    private T result;
-
-    /**
-     * 机器人上传map
-     */
-    @JSONField(name = "map_name")
-    private String mapName;
-
-    private String x;
-    private String y;
-    private String z;
-    private String theta;
-
-    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
-    @JSONField(name = "get_speed")
-    private Float getSpeed;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
new file mode 100644
index 0000000..4efaf84
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
@@ -0,0 +1,17 @@
+package com.casic.missiles.modular.robot.opt.instruct.base.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * 机器人消息请求体
+ */
+@Data
+public class MessageRequestDTO<T> implements Serializable {
+    private T msg;
+
+    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
+    private Integer priority;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java
new file mode 100644
index 0000000..8f7ba24
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.instruct.base.dto;
+
+import com.alibaba.fastjson.annotation.JSONField;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+@Data
+public class RobotMsgDTO<T> {
+    /**
+     * 消息编码
+     */
+    @ApiModelProperty(value = "消息编码", dataType = "String")
+    @JSONField(name = "error_code")
+    private String errorCode;
+    /**
+     * 错误消息
+     */
+    @ApiModelProperty(value = "错误消息", dataType = "String")
+    @JSONField(name = "error_msg")
+    private String errorMsg;
+    @ApiModelProperty(value = "返回结果")
+    private T result;
+
+    /**
+     * 机器人上传map
+     */
+    @JSONField(name = "map_name")
+    private String mapName;
+
+
+    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
+    @JSONField(name = "get_speed")
+    private Float getSpeed;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java
new file mode 100644
index 0000000..ee41289
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java
@@ -0,0 +1,17 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import com.alibaba.fastjson.annotation.JSONField;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 删除路线
+ */
+@Data
+public class DeleteTrackRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "sn编码(可不填 默认机器ID)", dataType = "String")
+    private String sn;
+
+    @ApiModelProperty(value = "下发状态 1:开启 0:关闭", dataType = "String")
+    private String track_name;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
index ec55a85..50a3536 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
@@ -1,6 +1,5 @@
 package com.casic.missiles.modular.robot.opt.instruct.dto;
 
-import com.alibaba.fastjson.annotation.JSONField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,11 +15,11 @@
     private Integer action;
     @ApiModelProperty(value = "等待状态 1:等待 0:不等待", dataType = "String")
     private Integer wait;
-    @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "track_name")
-    private String tracName;
 
     @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "taskpoint_name")
-    private String taskpointName;
+    private String track_name;
+
+    @ApiModelProperty(value = "轨迹名称", dataType = "String")
+    private String taskpoint_name;
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
index 21b9112..bbb3c0c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
@@ -1,6 +1,5 @@
 package com.casic.missiles.modular.robot.opt.instruct.dto;
 
-import com.alibaba.fastjson.annotation.JSONField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,6 +15,5 @@
     private Integer action;
 
     @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "track_name")
-    private String tracName;
+    private String track_name;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
index e029be4..ed384a0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
@@ -4,6 +4,7 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.IService;
 import com.casic.missiles.modular.robot.model.AlarmRecord;
+import com.casic.missiles.modular.robot.vo.AlarmRecordVO;
 
 import java.util.List;
 
@@ -21,4 +22,12 @@
      * 告警记录 分页检索
      */
     List<AlarmRecord> selectAlarmRecordPage(Page<AlarmRecord> page, QueryWrapper<AlarmRecord> query);
+
+    /**
+     * 根据任务ID查询报警总数
+     *
+     * @param id 任务ID
+     * @return
+     */
+    Integer selectCountByTaskId(Long id,Long robotId);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index fe9af27..e3bb91c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -1,9 +1,10 @@
 package com.casic.missiles.modular.robot.service;
 
-import com.baomidou.mybatisplus.extension.service.IService;
-import  com.casic.missiles.modular.robot.model.RobotInfo;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotInfo;
+
 import java.util.List;
 
 
@@ -19,5 +20,12 @@
     /**
      * 机器人信息管理 分页检索
      */
-    List<RobotInfo> selectRobotInfoPage(Page<RobotInfo> page,QueryWrapper<RobotInfo> query);
+    List<RobotInfo> selectRobotInfoPage(Page<RobotInfo> page, QueryWrapper<RobotInfo> query);
+
+    /**
+     * 机器人速度设置
+     *
+     * @param robotInfo 机器信息
+     */
+    void updateSpeed(RobotInfo robotInfo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
index 6552038..4cfeccf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
@@ -62,4 +62,15 @@
      * @param message 消息体
      */
     void saveAppStopNavtrack(String robotId, MqttMessage message);
+
+    /**
+     * 更新车辆路线及任务信息
+     *
+     * @param currRouteId 当前路线信息
+     * @param currTaskId  当前任务信息
+     */
+    void updateCurrTask(String robotId,Long currRouteId, Long currTaskId);
+
+    RobotStatusInfo getStatusByRobotId(String robotId);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java
index f048fa2..ff145c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java
@@ -1,9 +1,12 @@
 package com.casic.missiles.modular.robot.service;
 
-import com.baomidou.mybatisplus.extension.service.IService;
-import  com.casic.missiles.modular.robot.model.TaskInfo;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+
 import java.util.List;
 
 
@@ -19,5 +22,13 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage(Page<TaskInfo> page,QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(Page<TaskInfo> page, QueryWrapper<TaskInfo> query);
+
+    /**
+     * 启动循迹任务后 保存循迹任务信息
+     *
+     * @param request 循迹任务请求体
+     * @param info    机器信息
+     */
+    void reloadTask(StartTrackRequest request, RobotInfo info);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java
index 71c030f..0463880 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java
@@ -5,9 +5,14 @@
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.modular.robot.dao.AlarmRecordMapper;
 import com.casic.missiles.modular.robot.model.AlarmRecord;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.service.IAlarmRecordService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.vo.AlarmRecordVO;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 
@@ -21,10 +26,41 @@
  */
 @Service
 public class AlarmRecordServiceImpl extends ServiceImpl<AlarmRecordMapper, AlarmRecord> implements IAlarmRecordService {
+    private final IRobotInfoService robotInfoService;
+
+    public AlarmRecordServiceImpl(@Lazy IRobotInfoService robotInfoService) {
+        this.robotInfoService = robotInfoService;
+    }
 
     @Override
     public List<AlarmRecord> selectAlarmRecordPage(Page<AlarmRecord> page, QueryWrapper<AlarmRecord> query) {
-        return this.baseMapper.selectAlarmRecordPage(page, query);
+        List<AlarmRecord> records = this.baseMapper.selectAlarmRecordPage(page, query);
+        records.forEach(this::wrapRecord);
+        return records;
+    }
+
+    private void wrapRecord(AlarmRecord record) {
+        //判断是否有检测值
+        record.setMonitorValStatus("无");
+        if (record.getAlarmThreshold() == null) {
+            record.setAlarmThreshold(new BigDecimal(0));
+        }
+        if (record.getAlarmThreshold().compareTo(record.getMonitorVal()) <= 0) {
+            record.setMonitorValStatus("有");
+        }
+    }
+
+    @Override
+    public Integer selectCountByTaskId(Long id, Long robotId) {
+        RobotInfo robotInfo = robotInfoService.getById(robotId);
+
+        QueryWrapper<AlarmRecord> query = new QueryWrapper<>();
+        query.eq("task_id", id);
+        if (robotInfo.getAlarmThreshold() != null) {
+            query.ge("monitor_val", robotInfo.getAlarmThreshold());
+        }
+        Integer num = this.count(query);
+        return num;
     }
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index 7531811..c405c9b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -3,6 +3,7 @@
 import cn.hutool.core.collection.CollectionUtil;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.core.application.service.AbstractDictService;
@@ -44,6 +45,15 @@
     }
 
     @Override
+    public void updateSpeed(RobotInfo robotInfo) {
+        UpdateWrapper<RobotInfo> update = new UpdateWrapper<>();
+        update.set("conf_v", robotInfo.getConfV());
+        update.set("conf_w", robotInfo.getConfW());
+        update.eq("id", robotInfo.getId());
+        update(update);
+    }
+
+    @Override
     public List<RobotInfo> list(Wrapper<RobotInfo> queryWrapper) {
         List<RobotInfo> robotInfos = super.list(queryWrapper);
         robotInfos.forEach(this::wrapRobotInfo);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
index 6692c5d..2afae14 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
@@ -10,9 +10,9 @@
 import com.casic.missiles.core.application.service.AbstractDictService;
 import com.casic.missiles.modular.robot.dao.RobotStatusInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.ProcessMessageResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.SensorStatusDTO;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -57,20 +57,21 @@
     }
 
     private void wrapInfo(RobotStatusInfo statusInfo) {
-        statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getTrackStatus()));
+        statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getDiscernType()));
 
         //暂停状态
         statusInfo.setAppNavPauseName(getDictName("appNavPause", statusInfo.getAppNavPause()));
 
         //开启状态
         statusInfo.setTrackStatusName(getDictName("trackStatus", statusInfo.getTrackStatus()));
-        statusInfo.setNavigationStatusName(getDictName("trackStatus", statusInfo.getNavigationStatus()));
+        String statusName = getDictName("trackStatus", statusInfo.getNavigationStatus());
+        statusInfo.setNavigationStatusName(statusName);
         statusInfo.setDataRecordName(getDictName("trackStatus", statusInfo.getDataRecord()));
         statusInfo.setTrackStatusName(getDictName("trackStatus", statusInfo.getTrackStatus()));
         statusInfo.setTrackName(getDictName("trackStatus", statusInfo.getTrack()));
         statusInfo.setInsStatusName(getDictName("trackStatus", statusInfo.getInsStatus()));
         statusInfo.setAppStopNavtrackName(getDictName("trackStatus", statusInfo.getAppStopNavtrack()));
-
+        statusInfo.setTrackRecordName(getDictName("trackStatus", statusInfo.getTrackRecord()));
         //收到状态
         statusInfo.setLidarMsgName(getDictName("lidarMsg", statusInfo.getLidarMsg()));
         statusInfo.setImuMsgName(getDictName("lidarMsg", statusInfo.getImuMsg()));
@@ -110,10 +111,10 @@
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             SensorStatusDTO msg = responseDTO.getMsg();
-            query.set("lidar_msg", msg.getLidarMsg());
-            query.set("imu_msg", msg.getImuMsg());
-            query.set("charge_msg", msg.getChargeMsg());
-            query.set("gps_msg", msg.getGpsMsg());
+            query.set("lidar_msg", msg.getLidarMsg() == null ? 0 : msg.getLidarMsg());
+            query.set("imu_msg", msg.getImuMsg() == null ? 0 : msg.getImuMsg());
+            query.set("charge_msg", msg.getChargeMsg() == null ? 0 : msg.getChargeMsg());
+            query.set("gps_msg", msg.getGpsMsg() == null ? 0 : msg.getGpsMsg());
             query.eq("robot_id", robotId);
             update(query);
         }
@@ -172,4 +173,20 @@
             update(query);
         }
     }
+
+    @Override
+    public void updateCurrTask(String robotId, Long currRouteId, Long currTaskId) {
+        UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
+        query.set("curr_route_id", currRouteId);
+        query.set("curr_task_id", currTaskId);
+        query.eq("robot_id", robotId);
+        update(query);
+    }
+
+    @Override
+    public RobotStatusInfo getStatusByRobotId(String robotId) {
+        QueryWrapper<RobotStatusInfo> query = new QueryWrapper<>();
+        query.eq("robot_id", robotId);
+        return getOne(query);
+    }
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotTrajectoryInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotTrajectoryInfoServiceImpl.java
index 278415a..4de13dc 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotTrajectoryInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotTrajectoryInfoServiceImpl.java
@@ -7,7 +7,7 @@
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.modular.robot.dao.RobotTrajectoryInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotTrajectoryInfo;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
 import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
 import org.eclipse.paho.client.mqttv3.MqttMessage;

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
index 7ad12e3..b8e561d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
@@ -3,7 +3,7 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 
 /**
- * 业务消息处理
+ * 业务消息处理器
  */
 public interface IBaseMsgHandler {
     /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
new file mode 100644
index 0000000..e69ee28
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -0,0 +1,60 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TRACK_LIST")
+public class TrackListCmdHandler extends AbstractCmdHandler<TrackListRequest, ResponseDataDTO> {
+    private final IRouteInfoService routeInfoService;
+
+    protected TrackListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(TrackListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TRACK_LIST, messageDTO);
+
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(TrackListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
deleted file mode 100644
index e4b2b7e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/app_nav_pause")
-public class AppNavPauseMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppNavPause(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
deleted file mode 100644
index 59cdaa8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 停障状态实时接收器
- */
-@Slf4j
-@Component("/app_stop_navtrack")
-public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-
-    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppStopNavtrack(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
deleted file mode 100644
index b8df20e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
+++ /dev/null
@@ -1,28 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 实时位置接收器
- */
-@Slf4j
-@Component("/pose_message")
-public class PoseMessageMsgHandler implements IBaseMsgHandler {
-
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
-
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
-        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
deleted file mode 100644
index 75f63c5..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/process_message")
-public class ProcessMessageMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
deleted file mode 100644
index 5f07bd8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
+++ /dev/null
@@ -1,40 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 传感器状态
- */
-@Slf4j
-@Component("/sensor_status")
-public class SensorStatusMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        Integer val = index.get("index") + 1;
-        index.put("index", val);
-
-        if (val > 20) {
-            index.put("index", 0);
-            statusInfoService.saveSensorStatus(robotId,message);
-        }
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
new file mode 100644
index 0000000..aba1a57
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/app_nav_pause")
+public class AppNavPauseMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppNavPause(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
new file mode 100644
index 0000000..9bf1ce4
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 停障状态实时接收器
+ */
+@Slf4j
+@Component("/app_stop_navtrack")
+public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+
+    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppStopNavtrack(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
new file mode 100644
index 0000000..b389e01
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
@@ -0,0 +1,28 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 实时位置接收器
+ */
+@Slf4j
+@Component("/pose_message")
+public class PoseMessageMsgHandler implements IBaseMsgHandler {
+
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
+        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
+        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
new file mode 100644
index 0000000..702c091
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
@@ -0,0 +1,30 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/process_message")
+public class ProcessMessageMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("建图进度:{}", message);
+        statusInfoService.saveProcessMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
new file mode 100644
index 0000000..da02b69
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
@@ -0,0 +1,40 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 传感器状态
+ */
+@Slf4j
+@Component("/sensor_status")
+public class SensorStatusMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        Integer val = index.get("index") + 1;
+        index.put("index", val);
+
+        if (val > 20) {
+            index.put("index", 0);
+            statusInfoService.saveSensorStatus(robotId,message);
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 58d9941..5f77817 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,13 +1,26 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.mqtt.config.MqttClientConnection;
 import lombok.SneakyThrows;
 import org.eclipse.paho.client.mqttv3.MqttClient;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 
 /**
  * 机器人操作实现
@@ -15,9 +28,13 @@
 @Service
 public class RobotOptServiceImpl implements IBaseRobotService {
     private final IRobotRouteOptService robotRouteOptService;
+    private final IRobotInfoService robotInfoService;
+    private final ITaskInfoService taskInfoService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
         this.robotRouteOptService = robotRouteOptService;
+        this.robotInfoService = robotInfoService;
+        this.taskInfoService = taskInfoService;
     }
 
     @Override
@@ -51,6 +68,49 @@
         }
     }
 
+    /**
+     * 开启循迹任务
+     *
+     * @param request 请求体
+     * @return
+     */
+    @Transactional
+    @Override
+    public ResponseDataDTO<Integer> startTrack(StartTrackRequest request) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> list = robotRouteOptService.robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, info);
+
+        return list;
+    }
+
+    @Override
+    public ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request) {
+        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setPriority(request.getPriority());
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        messageDTO.setMsg(request);
+        ResponseDataDTO<AppCmdVelResponse> responseDataDTO = robotRouteOptService.robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
+        return responseDataDTO;
+    }
+
+    @Transactional
+    @Override
+    public <T, R> ResponseDataDTO<T> execCmdHandler(R request, InstructCodeEnums enums) {
+        IBaseCmdHandler cmdHandler = SpringContextHolder.getBean(enums.name());
+        cmdHandler.initHandler((BaseRobotCmdDTO) request);
+        ResponseDataDTO result = (ResponseDataDTO) cmdHandler.senderCmd((BaseRobotCmdDTO) request, InstructCodeEnums.TRACK_LIST);
+        result = (ResponseDataDTO) cmdHandler.afterInvoke((BaseRobotCmdDTO) request, result);
+        return result;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
index 00581fe..8f66f8d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
@@ -6,8 +6,8 @@
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.MapListRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
@@ -56,7 +56,7 @@
         messageDTO.setMsg(request);
 
         RobotMsgResponseDTO<List<String>> result = MsgUtils.senMsg(mqttClient, InstructCodeEnums.TRACK_LIST, messageDTO);
-        if (result != null) {
+        if (result != null&&result.getMsg()!=null) {
             //机器人路线更新至表中
             return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(robotInfo, result.getMsg().getResult()));
         }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
deleted file mode 100644
index f445171..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
+++ /dev/null
@@ -1,17 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-import java.io.Serializable;
-
-/**
- * 机器人消息请求体
- */
-@Data
-public class MessageRequestDTO<T> implements Serializable {
-    private T msg;
-
-    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
-    private Integer priority;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
new file mode 100644
index 0000000..8cb6f05
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
@@ -0,0 +1,7 @@
+package com.casic.missiles.modular.robot.opt.instruct.base;
+
+/**
+ * 指令回复定义
+ */
+public interface RobotBaseMsg {
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
deleted file mode 100644
index 7b516ba..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
+++ /dev/null
@@ -1,38 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import com.alibaba.fastjson.annotation.JSONField;
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-@Data
-public class RobotMsgDTO<T> {
-    /**
-     * 消息编码
-     */
-    @ApiModelProperty(value = "消息编码", dataType = "String")
-    @JSONField(name = "error_code")
-    private String errorCode;
-    /**
-     * 错误消息
-     */
-    @ApiModelProperty(value = "错误消息", dataType = "String")
-    @JSONField(name = "error_msg")
-    private String errorMsg;
-    @ApiModelProperty(value = "返回结果")
-    private T result;
-
-    /**
-     * 机器人上传map
-     */
-    @JSONField(name = "map_name")
-    private String mapName;
-
-    private String x;
-    private String y;
-    private String z;
-    private String theta;
-
-    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
-    @JSONField(name = "get_speed")
-    private Float getSpeed;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
new file mode 100644
index 0000000..4efaf84
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
@@ -0,0 +1,17 @@
+package com.casic.missiles.modular.robot.opt.instruct.base.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * 机器人消息请求体
+ */
+@Data
+public class MessageRequestDTO<T> implements Serializable {
+    private T msg;
+
+    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
+    private Integer priority;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java
new file mode 100644
index 0000000..8f7ba24
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.instruct.base.dto;
+
+import com.alibaba.fastjson.annotation.JSONField;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+@Data
+public class RobotMsgDTO<T> {
+    /**
+     * 消息编码
+     */
+    @ApiModelProperty(value = "消息编码", dataType = "String")
+    @JSONField(name = "error_code")
+    private String errorCode;
+    /**
+     * 错误消息
+     */
+    @ApiModelProperty(value = "错误消息", dataType = "String")
+    @JSONField(name = "error_msg")
+    private String errorMsg;
+    @ApiModelProperty(value = "返回结果")
+    private T result;
+
+    /**
+     * 机器人上传map
+     */
+    @JSONField(name = "map_name")
+    private String mapName;
+
+
+    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
+    @JSONField(name = "get_speed")
+    private Float getSpeed;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java
new file mode 100644
index 0000000..ee41289
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java
@@ -0,0 +1,17 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import com.alibaba.fastjson.annotation.JSONField;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 删除路线
+ */
+@Data
+public class DeleteTrackRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "sn编码(可不填 默认机器ID)", dataType = "String")
+    private String sn;
+
+    @ApiModelProperty(value = "下发状态 1:开启 0:关闭", dataType = "String")
+    private String track_name;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
index ec55a85..50a3536 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
@@ -1,6 +1,5 @@
 package com.casic.missiles.modular.robot.opt.instruct.dto;
 
-import com.alibaba.fastjson.annotation.JSONField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,11 +15,11 @@
     private Integer action;
     @ApiModelProperty(value = "等待状态 1:等待 0:不等待", dataType = "String")
     private Integer wait;
-    @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "track_name")
-    private String tracName;
 
     @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "taskpoint_name")
-    private String taskpointName;
+    private String track_name;
+
+    @ApiModelProperty(value = "轨迹名称", dataType = "String")
+    private String taskpoint_name;
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
index 21b9112..bbb3c0c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
@@ -1,6 +1,5 @@
 package com.casic.missiles.modular.robot.opt.instruct.dto;
 
-import com.alibaba.fastjson.annotation.JSONField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,6 +15,5 @@
     private Integer action;
 
     @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "track_name")
-    private String tracName;
+    private String track_name;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
index e029be4..ed384a0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
@@ -4,6 +4,7 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.IService;
 import com.casic.missiles.modular.robot.model.AlarmRecord;
+import com.casic.missiles.modular.robot.vo.AlarmRecordVO;
 
 import java.util.List;
 
@@ -21,4 +22,12 @@
      * 告警记录 分页检索
      */
     List<AlarmRecord> selectAlarmRecordPage(Page<AlarmRecord> page, QueryWrapper<AlarmRecord> query);
+
+    /**
+     * 根据任务ID查询报警总数
+     *
+     * @param id 任务ID
+     * @return
+     */
+    Integer selectCountByTaskId(Long id,Long robotId);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index fe9af27..e3bb91c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -1,9 +1,10 @@
 package com.casic.missiles.modular.robot.service;
 
-import com.baomidou.mybatisplus.extension.service.IService;
-import  com.casic.missiles.modular.robot.model.RobotInfo;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotInfo;
+
 import java.util.List;
 
 
@@ -19,5 +20,12 @@
     /**
      * 机器人信息管理 分页检索
      */
-    List<RobotInfo> selectRobotInfoPage(Page<RobotInfo> page,QueryWrapper<RobotInfo> query);
+    List<RobotInfo> selectRobotInfoPage(Page<RobotInfo> page, QueryWrapper<RobotInfo> query);
+
+    /**
+     * 机器人速度设置
+     *
+     * @param robotInfo 机器信息
+     */
+    void updateSpeed(RobotInfo robotInfo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
index 6552038..4cfeccf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
@@ -62,4 +62,15 @@
      * @param message 消息体
      */
     void saveAppStopNavtrack(String robotId, MqttMessage message);
+
+    /**
+     * 更新车辆路线及任务信息
+     *
+     * @param currRouteId 当前路线信息
+     * @param currTaskId  当前任务信息
+     */
+    void updateCurrTask(String robotId,Long currRouteId, Long currTaskId);
+
+    RobotStatusInfo getStatusByRobotId(String robotId);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java
index f048fa2..ff145c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java
@@ -1,9 +1,12 @@
 package com.casic.missiles.modular.robot.service;
 
-import com.baomidou.mybatisplus.extension.service.IService;
-import  com.casic.missiles.modular.robot.model.TaskInfo;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+
 import java.util.List;
 
 
@@ -19,5 +22,13 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage(Page<TaskInfo> page,QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(Page<TaskInfo> page, QueryWrapper<TaskInfo> query);
+
+    /**
+     * 启动循迹任务后 保存循迹任务信息
+     *
+     * @param request 循迹任务请求体
+     * @param info    机器信息
+     */
+    void reloadTask(StartTrackRequest request, RobotInfo info);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java
index 71c030f..0463880 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java
@@ -5,9 +5,14 @@
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.modular.robot.dao.AlarmRecordMapper;
 import com.casic.missiles.modular.robot.model.AlarmRecord;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.service.IAlarmRecordService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.vo.AlarmRecordVO;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 
@@ -21,10 +26,41 @@
  */
 @Service
 public class AlarmRecordServiceImpl extends ServiceImpl<AlarmRecordMapper, AlarmRecord> implements IAlarmRecordService {
+    private final IRobotInfoService robotInfoService;
+
+    public AlarmRecordServiceImpl(@Lazy IRobotInfoService robotInfoService) {
+        this.robotInfoService = robotInfoService;
+    }
 
     @Override
     public List<AlarmRecord> selectAlarmRecordPage(Page<AlarmRecord> page, QueryWrapper<AlarmRecord> query) {
-        return this.baseMapper.selectAlarmRecordPage(page, query);
+        List<AlarmRecord> records = this.baseMapper.selectAlarmRecordPage(page, query);
+        records.forEach(this::wrapRecord);
+        return records;
+    }
+
+    private void wrapRecord(AlarmRecord record) {
+        //判断是否有检测值
+        record.setMonitorValStatus("无");
+        if (record.getAlarmThreshold() == null) {
+            record.setAlarmThreshold(new BigDecimal(0));
+        }
+        if (record.getAlarmThreshold().compareTo(record.getMonitorVal()) <= 0) {
+            record.setMonitorValStatus("有");
+        }
+    }
+
+    @Override
+    public Integer selectCountByTaskId(Long id, Long robotId) {
+        RobotInfo robotInfo = robotInfoService.getById(robotId);
+
+        QueryWrapper<AlarmRecord> query = new QueryWrapper<>();
+        query.eq("task_id", id);
+        if (robotInfo.getAlarmThreshold() != null) {
+            query.ge("monitor_val", robotInfo.getAlarmThreshold());
+        }
+        Integer num = this.count(query);
+        return num;
     }
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index 7531811..c405c9b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -3,6 +3,7 @@
 import cn.hutool.core.collection.CollectionUtil;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.core.application.service.AbstractDictService;
@@ -44,6 +45,15 @@
     }
 
     @Override
+    public void updateSpeed(RobotInfo robotInfo) {
+        UpdateWrapper<RobotInfo> update = new UpdateWrapper<>();
+        update.set("conf_v", robotInfo.getConfV());
+        update.set("conf_w", robotInfo.getConfW());
+        update.eq("id", robotInfo.getId());
+        update(update);
+    }
+
+    @Override
     public List<RobotInfo> list(Wrapper<RobotInfo> queryWrapper) {
         List<RobotInfo> robotInfos = super.list(queryWrapper);
         robotInfos.forEach(this::wrapRobotInfo);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
index 6692c5d..2afae14 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
@@ -10,9 +10,9 @@
 import com.casic.missiles.core.application.service.AbstractDictService;
 import com.casic.missiles.modular.robot.dao.RobotStatusInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.ProcessMessageResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.SensorStatusDTO;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -57,20 +57,21 @@
     }
 
     private void wrapInfo(RobotStatusInfo statusInfo) {
-        statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getTrackStatus()));
+        statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getDiscernType()));
 
         //暂停状态
         statusInfo.setAppNavPauseName(getDictName("appNavPause", statusInfo.getAppNavPause()));
 
         //开启状态
         statusInfo.setTrackStatusName(getDictName("trackStatus", statusInfo.getTrackStatus()));
-        statusInfo.setNavigationStatusName(getDictName("trackStatus", statusInfo.getNavigationStatus()));
+        String statusName = getDictName("trackStatus", statusInfo.getNavigationStatus());
+        statusInfo.setNavigationStatusName(statusName);
         statusInfo.setDataRecordName(getDictName("trackStatus", statusInfo.getDataRecord()));
         statusInfo.setTrackStatusName(getDictName("trackStatus", statusInfo.getTrackStatus()));
         statusInfo.setTrackName(getDictName("trackStatus", statusInfo.getTrack()));
         statusInfo.setInsStatusName(getDictName("trackStatus", statusInfo.getInsStatus()));
         statusInfo.setAppStopNavtrackName(getDictName("trackStatus", statusInfo.getAppStopNavtrack()));
-
+        statusInfo.setTrackRecordName(getDictName("trackStatus", statusInfo.getTrackRecord()));
         //收到状态
         statusInfo.setLidarMsgName(getDictName("lidarMsg", statusInfo.getLidarMsg()));
         statusInfo.setImuMsgName(getDictName("lidarMsg", statusInfo.getImuMsg()));
@@ -110,10 +111,10 @@
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             SensorStatusDTO msg = responseDTO.getMsg();
-            query.set("lidar_msg", msg.getLidarMsg());
-            query.set("imu_msg", msg.getImuMsg());
-            query.set("charge_msg", msg.getChargeMsg());
-            query.set("gps_msg", msg.getGpsMsg());
+            query.set("lidar_msg", msg.getLidarMsg() == null ? 0 : msg.getLidarMsg());
+            query.set("imu_msg", msg.getImuMsg() == null ? 0 : msg.getImuMsg());
+            query.set("charge_msg", msg.getChargeMsg() == null ? 0 : msg.getChargeMsg());
+            query.set("gps_msg", msg.getGpsMsg() == null ? 0 : msg.getGpsMsg());
             query.eq("robot_id", robotId);
             update(query);
         }
@@ -172,4 +173,20 @@
             update(query);
         }
     }
+
+    @Override
+    public void updateCurrTask(String robotId, Long currRouteId, Long currTaskId) {
+        UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
+        query.set("curr_route_id", currRouteId);
+        query.set("curr_task_id", currTaskId);
+        query.eq("robot_id", robotId);
+        update(query);
+    }
+
+    @Override
+    public RobotStatusInfo getStatusByRobotId(String robotId) {
+        QueryWrapper<RobotStatusInfo> query = new QueryWrapper<>();
+        query.eq("robot_id", robotId);
+        return getOne(query);
+    }
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotTrajectoryInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotTrajectoryInfoServiceImpl.java
index 278415a..4de13dc 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotTrajectoryInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotTrajectoryInfoServiceImpl.java
@@ -7,7 +7,7 @@
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.modular.robot.dao.RobotTrajectoryInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotTrajectoryInfo;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
 import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
index a965283..894fc75 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
@@ -5,12 +5,18 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dao.RouteInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.DeleteTrackRequest;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 
+import java.io.Serializable;
 import java.util.ArrayList;
 import java.util.Collection;
 import java.util.Date;
@@ -28,6 +34,11 @@
  */
 @Service
 public class RouteInfoServiceImpl extends ServiceImpl<RouteInfoMapper, RouteInfo> implements IRouteInfoService {
+    private final IBaseRobotService robotService;
+
+    public RouteInfoServiceImpl(@Lazy IBaseRobotService robotService) {
+        this.robotService = robotService;
+    }
 
     @Override
     public List<RouteInfo> selectRouteInfoPage(Page<RouteInfo> page, QueryWrapper<RouteInfo> query) {
@@ -40,6 +51,23 @@
     }
 
     @Override
+    public boolean removeById(Serializable id) {
+        RouteInfo routeInfo = getById(id);
+
+        RobotInfo info = new RobotInfo();
+        info.setId(routeInfo.getRobotId());
+        MessageRequestDTO<DeleteTrackRequest> messageDTO = new MessageRequestDTO();
+        DeleteTrackRequest deleteTrackRequest = new DeleteTrackRequest();
+        deleteTrackRequest.setSn(info.getId() + "");
+        deleteTrackRequest.setTrack_name(routeInfo.getTargetId());
+        messageDTO.setMsg(deleteTrackRequest);
+        robotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.DELETE_TRACK, messageDTO);
+        super.removeById(id);
+        //删除轨迹文件
+        return super.removeById(id);
+    }
+
+    @Override
     public List<RouteInfo> saveListByRouteTargetIds(RobotInfo robotInfo, List<String> result) {
         //检索当前库中机器人信息表
         QueryWrapper<RouteInfo> query = new QueryWrapper<>();

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
index 7ad12e3..b8e561d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
@@ -3,7 +3,7 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 
 /**
- * 业务消息处理
+ * 业务消息处理器
  */
 public interface IBaseMsgHandler {
     /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
new file mode 100644
index 0000000..e69ee28
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -0,0 +1,60 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TRACK_LIST")
+public class TrackListCmdHandler extends AbstractCmdHandler<TrackListRequest, ResponseDataDTO> {
+    private final IRouteInfoService routeInfoService;
+
+    protected TrackListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(TrackListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TRACK_LIST, messageDTO);
+
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(TrackListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
deleted file mode 100644
index e4b2b7e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/app_nav_pause")
-public class AppNavPauseMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppNavPause(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
deleted file mode 100644
index 59cdaa8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 停障状态实时接收器
- */
-@Slf4j
-@Component("/app_stop_navtrack")
-public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-
-    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppStopNavtrack(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
deleted file mode 100644
index b8df20e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
+++ /dev/null
@@ -1,28 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 实时位置接收器
- */
-@Slf4j
-@Component("/pose_message")
-public class PoseMessageMsgHandler implements IBaseMsgHandler {
-
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
-
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
-        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
deleted file mode 100644
index 75f63c5..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/process_message")
-public class ProcessMessageMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
deleted file mode 100644
index 5f07bd8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
+++ /dev/null
@@ -1,40 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 传感器状态
- */
-@Slf4j
-@Component("/sensor_status")
-public class SensorStatusMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        Integer val = index.get("index") + 1;
-        index.put("index", val);
-
-        if (val > 20) {
-            index.put("index", 0);
-            statusInfoService.saveSensorStatus(robotId,message);
-        }
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
new file mode 100644
index 0000000..aba1a57
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/app_nav_pause")
+public class AppNavPauseMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppNavPause(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
new file mode 100644
index 0000000..9bf1ce4
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 停障状态实时接收器
+ */
+@Slf4j
+@Component("/app_stop_navtrack")
+public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+
+    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppStopNavtrack(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
new file mode 100644
index 0000000..b389e01
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
@@ -0,0 +1,28 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 实时位置接收器
+ */
+@Slf4j
+@Component("/pose_message")
+public class PoseMessageMsgHandler implements IBaseMsgHandler {
+
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
+        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
+        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
new file mode 100644
index 0000000..702c091
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
@@ -0,0 +1,30 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/process_message")
+public class ProcessMessageMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("建图进度:{}", message);
+        statusInfoService.saveProcessMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
new file mode 100644
index 0000000..da02b69
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
@@ -0,0 +1,40 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 传感器状态
+ */
+@Slf4j
+@Component("/sensor_status")
+public class SensorStatusMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        Integer val = index.get("index") + 1;
+        index.put("index", val);
+
+        if (val > 20) {
+            index.put("index", 0);
+            statusInfoService.saveSensorStatus(robotId,message);
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 58d9941..5f77817 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,13 +1,26 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.mqtt.config.MqttClientConnection;
 import lombok.SneakyThrows;
 import org.eclipse.paho.client.mqttv3.MqttClient;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 
 /**
  * 机器人操作实现
@@ -15,9 +28,13 @@
 @Service
 public class RobotOptServiceImpl implements IBaseRobotService {
     private final IRobotRouteOptService robotRouteOptService;
+    private final IRobotInfoService robotInfoService;
+    private final ITaskInfoService taskInfoService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
         this.robotRouteOptService = robotRouteOptService;
+        this.robotInfoService = robotInfoService;
+        this.taskInfoService = taskInfoService;
     }
 
     @Override
@@ -51,6 +68,49 @@
         }
     }
 
+    /**
+     * 开启循迹任务
+     *
+     * @param request 请求体
+     * @return
+     */
+    @Transactional
+    @Override
+    public ResponseDataDTO<Integer> startTrack(StartTrackRequest request) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> list = robotRouteOptService.robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, info);
+
+        return list;
+    }
+
+    @Override
+    public ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request) {
+        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setPriority(request.getPriority());
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        messageDTO.setMsg(request);
+        ResponseDataDTO<AppCmdVelResponse> responseDataDTO = robotRouteOptService.robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
+        return responseDataDTO;
+    }
+
+    @Transactional
+    @Override
+    public <T, R> ResponseDataDTO<T> execCmdHandler(R request, InstructCodeEnums enums) {
+        IBaseCmdHandler cmdHandler = SpringContextHolder.getBean(enums.name());
+        cmdHandler.initHandler((BaseRobotCmdDTO) request);
+        ResponseDataDTO result = (ResponseDataDTO) cmdHandler.senderCmd((BaseRobotCmdDTO) request, InstructCodeEnums.TRACK_LIST);
+        result = (ResponseDataDTO) cmdHandler.afterInvoke((BaseRobotCmdDTO) request, result);
+        return result;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
index 00581fe..8f66f8d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
@@ -6,8 +6,8 @@
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.MapListRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
@@ -56,7 +56,7 @@
         messageDTO.setMsg(request);
 
         RobotMsgResponseDTO<List<String>> result = MsgUtils.senMsg(mqttClient, InstructCodeEnums.TRACK_LIST, messageDTO);
-        if (result != null) {
+        if (result != null&&result.getMsg()!=null) {
             //机器人路线更新至表中
             return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(robotInfo, result.getMsg().getResult()));
         }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
deleted file mode 100644
index f445171..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
+++ /dev/null
@@ -1,17 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-import java.io.Serializable;
-
-/**
- * 机器人消息请求体
- */
-@Data
-public class MessageRequestDTO<T> implements Serializable {
-    private T msg;
-
-    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
-    private Integer priority;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
new file mode 100644
index 0000000..8cb6f05
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
@@ -0,0 +1,7 @@
+package com.casic.missiles.modular.robot.opt.instruct.base;
+
+/**
+ * 指令回复定义
+ */
+public interface RobotBaseMsg {
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
deleted file mode 100644
index 7b516ba..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
+++ /dev/null
@@ -1,38 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import com.alibaba.fastjson.annotation.JSONField;
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-@Data
-public class RobotMsgDTO<T> {
-    /**
-     * 消息编码
-     */
-    @ApiModelProperty(value = "消息编码", dataType = "String")
-    @JSONField(name = "error_code")
-    private String errorCode;
-    /**
-     * 错误消息
-     */
-    @ApiModelProperty(value = "错误消息", dataType = "String")
-    @JSONField(name = "error_msg")
-    private String errorMsg;
-    @ApiModelProperty(value = "返回结果")
-    private T result;
-
-    /**
-     * 机器人上传map
-     */
-    @JSONField(name = "map_name")
-    private String mapName;
-
-    private String x;
-    private String y;
-    private String z;
-    private String theta;
-
-    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
-    @JSONField(name = "get_speed")
-    private Float getSpeed;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
new file mode 100644
index 0000000..4efaf84
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
@@ -0,0 +1,17 @@
+package com.casic.missiles.modular.robot.opt.instruct.base.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * 机器人消息请求体
+ */
+@Data
+public class MessageRequestDTO<T> implements Serializable {
+    private T msg;
+
+    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
+    private Integer priority;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java
new file mode 100644
index 0000000..8f7ba24
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.instruct.base.dto;
+
+import com.alibaba.fastjson.annotation.JSONField;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+@Data
+public class RobotMsgDTO<T> {
+    /**
+     * 消息编码
+     */
+    @ApiModelProperty(value = "消息编码", dataType = "String")
+    @JSONField(name = "error_code")
+    private String errorCode;
+    /**
+     * 错误消息
+     */
+    @ApiModelProperty(value = "错误消息", dataType = "String")
+    @JSONField(name = "error_msg")
+    private String errorMsg;
+    @ApiModelProperty(value = "返回结果")
+    private T result;
+
+    /**
+     * 机器人上传map
+     */
+    @JSONField(name = "map_name")
+    private String mapName;
+
+
+    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
+    @JSONField(name = "get_speed")
+    private Float getSpeed;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java
new file mode 100644
index 0000000..ee41289
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java
@@ -0,0 +1,17 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import com.alibaba.fastjson.annotation.JSONField;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 删除路线
+ */
+@Data
+public class DeleteTrackRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "sn编码(可不填 默认机器ID)", dataType = "String")
+    private String sn;
+
+    @ApiModelProperty(value = "下发状态 1:开启 0:关闭", dataType = "String")
+    private String track_name;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
index ec55a85..50a3536 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
@@ -1,6 +1,5 @@
 package com.casic.missiles.modular.robot.opt.instruct.dto;
 
-import com.alibaba.fastjson.annotation.JSONField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,11 +15,11 @@
     private Integer action;
     @ApiModelProperty(value = "等待状态 1:等待 0:不等待", dataType = "String")
     private Integer wait;
-    @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "track_name")
-    private String tracName;
 
     @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "taskpoint_name")
-    private String taskpointName;
+    private String track_name;
+
+    @ApiModelProperty(value = "轨迹名称", dataType = "String")
+    private String taskpoint_name;
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
index 21b9112..bbb3c0c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
@@ -1,6 +1,5 @@
 package com.casic.missiles.modular.robot.opt.instruct.dto;
 
-import com.alibaba.fastjson.annotation.JSONField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,6 +15,5 @@
     private Integer action;
 
     @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "track_name")
-    private String tracName;
+    private String track_name;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
index e029be4..ed384a0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
@@ -4,6 +4,7 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.IService;
 import com.casic.missiles.modular.robot.model.AlarmRecord;
+import com.casic.missiles.modular.robot.vo.AlarmRecordVO;
 
 import java.util.List;
 
@@ -21,4 +22,12 @@
      * 告警记录 分页检索
      */
     List<AlarmRecord> selectAlarmRecordPage(Page<AlarmRecord> page, QueryWrapper<AlarmRecord> query);
+
+    /**
+     * 根据任务ID查询报警总数
+     *
+     * @param id 任务ID
+     * @return
+     */
+    Integer selectCountByTaskId(Long id,Long robotId);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index fe9af27..e3bb91c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -1,9 +1,10 @@
 package com.casic.missiles.modular.robot.service;
 
-import com.baomidou.mybatisplus.extension.service.IService;
-import  com.casic.missiles.modular.robot.model.RobotInfo;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotInfo;
+
 import java.util.List;
 
 
@@ -19,5 +20,12 @@
     /**
      * 机器人信息管理 分页检索
      */
-    List<RobotInfo> selectRobotInfoPage(Page<RobotInfo> page,QueryWrapper<RobotInfo> query);
+    List<RobotInfo> selectRobotInfoPage(Page<RobotInfo> page, QueryWrapper<RobotInfo> query);
+
+    /**
+     * 机器人速度设置
+     *
+     * @param robotInfo 机器信息
+     */
+    void updateSpeed(RobotInfo robotInfo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
index 6552038..4cfeccf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
@@ -62,4 +62,15 @@
      * @param message 消息体
      */
     void saveAppStopNavtrack(String robotId, MqttMessage message);
+
+    /**
+     * 更新车辆路线及任务信息
+     *
+     * @param currRouteId 当前路线信息
+     * @param currTaskId  当前任务信息
+     */
+    void updateCurrTask(String robotId,Long currRouteId, Long currTaskId);
+
+    RobotStatusInfo getStatusByRobotId(String robotId);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java
index f048fa2..ff145c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java
@@ -1,9 +1,12 @@
 package com.casic.missiles.modular.robot.service;
 
-import com.baomidou.mybatisplus.extension.service.IService;
-import  com.casic.missiles.modular.robot.model.TaskInfo;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+
 import java.util.List;
 
 
@@ -19,5 +22,13 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage(Page<TaskInfo> page,QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(Page<TaskInfo> page, QueryWrapper<TaskInfo> query);
+
+    /**
+     * 启动循迹任务后 保存循迹任务信息
+     *
+     * @param request 循迹任务请求体
+     * @param info    机器信息
+     */
+    void reloadTask(StartTrackRequest request, RobotInfo info);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java
index 71c030f..0463880 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java
@@ -5,9 +5,14 @@
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.modular.robot.dao.AlarmRecordMapper;
 import com.casic.missiles.modular.robot.model.AlarmRecord;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.service.IAlarmRecordService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.vo.AlarmRecordVO;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 
@@ -21,10 +26,41 @@
  */
 @Service
 public class AlarmRecordServiceImpl extends ServiceImpl<AlarmRecordMapper, AlarmRecord> implements IAlarmRecordService {
+    private final IRobotInfoService robotInfoService;
+
+    public AlarmRecordServiceImpl(@Lazy IRobotInfoService robotInfoService) {
+        this.robotInfoService = robotInfoService;
+    }
 
     @Override
     public List<AlarmRecord> selectAlarmRecordPage(Page<AlarmRecord> page, QueryWrapper<AlarmRecord> query) {
-        return this.baseMapper.selectAlarmRecordPage(page, query);
+        List<AlarmRecord> records = this.baseMapper.selectAlarmRecordPage(page, query);
+        records.forEach(this::wrapRecord);
+        return records;
+    }
+
+    private void wrapRecord(AlarmRecord record) {
+        //判断是否有检测值
+        record.setMonitorValStatus("无");
+        if (record.getAlarmThreshold() == null) {
+            record.setAlarmThreshold(new BigDecimal(0));
+        }
+        if (record.getAlarmThreshold().compareTo(record.getMonitorVal()) <= 0) {
+            record.setMonitorValStatus("有");
+        }
+    }
+
+    @Override
+    public Integer selectCountByTaskId(Long id, Long robotId) {
+        RobotInfo robotInfo = robotInfoService.getById(robotId);
+
+        QueryWrapper<AlarmRecord> query = new QueryWrapper<>();
+        query.eq("task_id", id);
+        if (robotInfo.getAlarmThreshold() != null) {
+            query.ge("monitor_val", robotInfo.getAlarmThreshold());
+        }
+        Integer num = this.count(query);
+        return num;
     }
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index 7531811..c405c9b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -3,6 +3,7 @@
 import cn.hutool.core.collection.CollectionUtil;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.core.application.service.AbstractDictService;
@@ -44,6 +45,15 @@
     }
 
     @Override
+    public void updateSpeed(RobotInfo robotInfo) {
+        UpdateWrapper<RobotInfo> update = new UpdateWrapper<>();
+        update.set("conf_v", robotInfo.getConfV());
+        update.set("conf_w", robotInfo.getConfW());
+        update.eq("id", robotInfo.getId());
+        update(update);
+    }
+
+    @Override
     public List<RobotInfo> list(Wrapper<RobotInfo> queryWrapper) {
         List<RobotInfo> robotInfos = super.list(queryWrapper);
         robotInfos.forEach(this::wrapRobotInfo);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
index 6692c5d..2afae14 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
@@ -10,9 +10,9 @@
 import com.casic.missiles.core.application.service.AbstractDictService;
 import com.casic.missiles.modular.robot.dao.RobotStatusInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.ProcessMessageResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.SensorStatusDTO;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -57,20 +57,21 @@
     }
 
     private void wrapInfo(RobotStatusInfo statusInfo) {
-        statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getTrackStatus()));
+        statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getDiscernType()));
 
         //暂停状态
         statusInfo.setAppNavPauseName(getDictName("appNavPause", statusInfo.getAppNavPause()));
 
         //开启状态
         statusInfo.setTrackStatusName(getDictName("trackStatus", statusInfo.getTrackStatus()));
-        statusInfo.setNavigationStatusName(getDictName("trackStatus", statusInfo.getNavigationStatus()));
+        String statusName = getDictName("trackStatus", statusInfo.getNavigationStatus());
+        statusInfo.setNavigationStatusName(statusName);
         statusInfo.setDataRecordName(getDictName("trackStatus", statusInfo.getDataRecord()));
         statusInfo.setTrackStatusName(getDictName("trackStatus", statusInfo.getTrackStatus()));
         statusInfo.setTrackName(getDictName("trackStatus", statusInfo.getTrack()));
         statusInfo.setInsStatusName(getDictName("trackStatus", statusInfo.getInsStatus()));
         statusInfo.setAppStopNavtrackName(getDictName("trackStatus", statusInfo.getAppStopNavtrack()));
-
+        statusInfo.setTrackRecordName(getDictName("trackStatus", statusInfo.getTrackRecord()));
         //收到状态
         statusInfo.setLidarMsgName(getDictName("lidarMsg", statusInfo.getLidarMsg()));
         statusInfo.setImuMsgName(getDictName("lidarMsg", statusInfo.getImuMsg()));
@@ -110,10 +111,10 @@
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             SensorStatusDTO msg = responseDTO.getMsg();
-            query.set("lidar_msg", msg.getLidarMsg());
-            query.set("imu_msg", msg.getImuMsg());
-            query.set("charge_msg", msg.getChargeMsg());
-            query.set("gps_msg", msg.getGpsMsg());
+            query.set("lidar_msg", msg.getLidarMsg() == null ? 0 : msg.getLidarMsg());
+            query.set("imu_msg", msg.getImuMsg() == null ? 0 : msg.getImuMsg());
+            query.set("charge_msg", msg.getChargeMsg() == null ? 0 : msg.getChargeMsg());
+            query.set("gps_msg", msg.getGpsMsg() == null ? 0 : msg.getGpsMsg());
             query.eq("robot_id", robotId);
             update(query);
         }
@@ -172,4 +173,20 @@
             update(query);
         }
     }
+
+    @Override
+    public void updateCurrTask(String robotId, Long currRouteId, Long currTaskId) {
+        UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
+        query.set("curr_route_id", currRouteId);
+        query.set("curr_task_id", currTaskId);
+        query.eq("robot_id", robotId);
+        update(query);
+    }
+
+    @Override
+    public RobotStatusInfo getStatusByRobotId(String robotId) {
+        QueryWrapper<RobotStatusInfo> query = new QueryWrapper<>();
+        query.eq("robot_id", robotId);
+        return getOne(query);
+    }
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotTrajectoryInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotTrajectoryInfoServiceImpl.java
index 278415a..4de13dc 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotTrajectoryInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotTrajectoryInfoServiceImpl.java
@@ -7,7 +7,7 @@
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.modular.robot.dao.RobotTrajectoryInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotTrajectoryInfo;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
 import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
index a965283..894fc75 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
@@ -5,12 +5,18 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dao.RouteInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.DeleteTrackRequest;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 
+import java.io.Serializable;
 import java.util.ArrayList;
 import java.util.Collection;
 import java.util.Date;
@@ -28,6 +34,11 @@
  */
 @Service
 public class RouteInfoServiceImpl extends ServiceImpl<RouteInfoMapper, RouteInfo> implements IRouteInfoService {
+    private final IBaseRobotService robotService;
+
+    public RouteInfoServiceImpl(@Lazy IBaseRobotService robotService) {
+        this.robotService = robotService;
+    }
 
     @Override
     public List<RouteInfo> selectRouteInfoPage(Page<RouteInfo> page, QueryWrapper<RouteInfo> query) {
@@ -40,6 +51,23 @@
     }
 
     @Override
+    public boolean removeById(Serializable id) {
+        RouteInfo routeInfo = getById(id);
+
+        RobotInfo info = new RobotInfo();
+        info.setId(routeInfo.getRobotId());
+        MessageRequestDTO<DeleteTrackRequest> messageDTO = new MessageRequestDTO();
+        DeleteTrackRequest deleteTrackRequest = new DeleteTrackRequest();
+        deleteTrackRequest.setSn(info.getId() + "");
+        deleteTrackRequest.setTrack_name(routeInfo.getTargetId());
+        messageDTO.setMsg(deleteTrackRequest);
+        robotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.DELETE_TRACK, messageDTO);
+        super.removeById(id);
+        //删除轨迹文件
+        return super.removeById(id);
+    }
+
+    @Override
     public List<RouteInfo> saveListByRouteTargetIds(RobotInfo robotInfo, List<String> result) {
         //检索当前库中机器人信息表
         QueryWrapper<RouteInfo> query = new QueryWrapper<>();
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
index c12a903..c16c954 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
@@ -1,15 +1,33 @@
 package com.casic.missiles.modular.robot.service.impl;
 
-import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
-import org.springframework.stereotype.Service;
-import com.casic.missiles.modular.robot.service.ITaskInfoService;
-import java.util.List;
-
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.date.DateUtil;
+import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
+import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
-
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.casic.missiles.core.application.service.AbstractDictService;
+import com.casic.missiles.model.exception.ServiceException;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dao.TaskInfoMapper;
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RobotStatusInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.service.IAlarmRecordService;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import org.springframework.context.annotation.Lazy;
+import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
+
+import java.io.Serializable;
+import java.util.Date;
+import java.util.List;
 
 
 /**
@@ -22,10 +40,98 @@
  */
 @Service
 public class TaskInfoServiceImpl extends ServiceImpl<TaskInfoMapper, TaskInfo> implements ITaskInfoService {
+    private final IRouteInfoService routeInfoService;
+    private final IRobotStatusInfoService statusInfoService;
+    private final AbstractDictService dictService;
+    private final IAlarmRecordService recordService;
 
-    @Override
-    public List<TaskInfo> selectTaskInfoPage(Page<TaskInfo> page,QueryWrapper<TaskInfo> query) {
-        return this.baseMapper.selectTaskInfoPage(page,query);
+    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService) {
+        this.routeInfoService = routeInfoService;
+        this.statusInfoService = statusInfoService;
+        this.dictService = dictService;
+        this.recordService = recordService;
     }
 
-}
+    @Override
+    public List<TaskInfo> selectTaskInfoPage(Page<TaskInfo> page, QueryWrapper<TaskInfo> query) {
+        return this.baseMapper.selectTaskInfoPage(page, query);
+    }
+
+    @Override
+    public TaskInfo getById(Serializable id) {
+        TaskInfo taskInfo = super.getById(id);
+        wrapTaskInfo(taskInfo);
+        return taskInfo;
+    }
+
+    @Override
+    public <E extends IPage<TaskInfo>> E page(E page, Wrapper<TaskInfo> queryWrapper) {
+        E infoIPage = super.page(page, queryWrapper);
+        infoIPage.getRecords().forEach(this::wrapTaskInfo);
+        return infoIPage;
+    }
+
+    private void wrapTaskInfo(TaskInfo taskInfo) {
+        taskInfo.setDiscernTypeName(dictService.getDictNameByCode(RobotDictConstants.DISCERN_TYPE, taskInfo.getDiscernType() + ""));
+        taskInfo.setTaskTypeName(dictService.getDictNameByCode(RobotDictConstants.TASK_TYPE, taskInfo.getTaskType() + ""));
+        //检索当前任务告警数量
+        taskInfo.setAlarmNum(recordService.selectCountByTaskId(taskInfo.getId(),taskInfo.getRobotId()));
+    }
+
+    @Transactional
+    @Override
+    public void reloadTask(StartTrackRequest request, RobotInfo info) {
+        String robotId = info.getId() + "";
+
+        //开启操作
+        if (request.getAction() == 1) {
+            QueryWrapper<RouteInfo> query = new QueryWrapper<>();
+            query.eq("target_id", request.getTrack_name());
+            List<RouteInfo> routeInfos = routeInfoService.list(query);
+
+            if (CollectionUtil.isEmpty(routeInfos)) {
+                throw new ServiceException(500, "路线不存在,请及时更新");
+            }
+            RouteInfo routeInfo = routeInfos.get(0);
+            //No.2 新增任务信息
+            TaskInfo taskInfo = new TaskInfo();
+            String currDate = DateUtil.format(new Date(), "yyyyMMdd");
+            Long maxNo = this.baseMapper.selectMaxNo(currDate + "%");
+            if (new Long(0L).equals(maxNo)) {
+                maxNo = new Long(currDate + String.format("%07d", 1));
+            } else {
+                maxNo = maxNo + 1;
+            }
+            taskInfo.setTaskNo(maxNo);
+            taskInfo.setCreateTime(new Date());
+            //任务类型 中子源
+            taskInfo.setTaskType(1);
+            taskInfo.setDiscernType(1);
+            taskInfo.setTaskName(routeInfo.getRouteName() + "巡线任务");
+            //执行状态 未完成
+            taskInfo.setTaskStatus(0);
+            taskInfo.setStartTime(new Date());
+            taskInfo.setRouteId(routeInfo.getId());
+            taskInfo.setRobotId(info.getId());
+            save(taskInfo);
+
+            //No.3 更新
+            Long currRouteId = routeInfo.getId();
+            Long currTaskId = taskInfo.getId();
+            statusInfoService.updateCurrTask(robotId, currRouteId, currTaskId);
+        } else {
+            //关闭操作
+            RobotStatusInfo statusInfo = statusInfoService.getStatusByRobotId(robotId);
+            if (statusInfo.getCurrTaskId() != null) {
+                UpdateWrapper<TaskInfo> updateWrapper = new UpdateWrapper<>();
+                updateWrapper.set("update_time", new Date());
+                updateWrapper.set("task_status", 1);
+                updateWrapper.set("end_time", new Date());
+                updateWrapper.eq("id", statusInfo.getCurrTaskId());
+                update(updateWrapper);
+            }
+            //清空当前任务
+            statusInfoService.updateCurrTask(robotId, null, null);
+        }
+    }
+}
\ No newline at end of file

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
index 7ad12e3..b8e561d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
@@ -3,7 +3,7 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 
 /**
- * 业务消息处理
+ * 业务消息处理器
  */
 public interface IBaseMsgHandler {
     /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
new file mode 100644
index 0000000..e69ee28
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -0,0 +1,60 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TRACK_LIST")
+public class TrackListCmdHandler extends AbstractCmdHandler<TrackListRequest, ResponseDataDTO> {
+    private final IRouteInfoService routeInfoService;
+
+    protected TrackListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(TrackListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TRACK_LIST, messageDTO);
+
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(TrackListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
deleted file mode 100644
index e4b2b7e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/app_nav_pause")
-public class AppNavPauseMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppNavPause(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
deleted file mode 100644
index 59cdaa8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 停障状态实时接收器
- */
-@Slf4j
-@Component("/app_stop_navtrack")
-public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-
-    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppStopNavtrack(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
deleted file mode 100644
index b8df20e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
+++ /dev/null
@@ -1,28 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 实时位置接收器
- */
-@Slf4j
-@Component("/pose_message")
-public class PoseMessageMsgHandler implements IBaseMsgHandler {
-
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
-
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
-        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
deleted file mode 100644
index 75f63c5..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/process_message")
-public class ProcessMessageMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
deleted file mode 100644
index 5f07bd8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
+++ /dev/null
@@ -1,40 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 传感器状态
- */
-@Slf4j
-@Component("/sensor_status")
-public class SensorStatusMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        Integer val = index.get("index") + 1;
-        index.put("index", val);
-
-        if (val > 20) {
-            index.put("index", 0);
-            statusInfoService.saveSensorStatus(robotId,message);
-        }
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
new file mode 100644
index 0000000..aba1a57
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/app_nav_pause")
+public class AppNavPauseMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppNavPause(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
new file mode 100644
index 0000000..9bf1ce4
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 停障状态实时接收器
+ */
+@Slf4j
+@Component("/app_stop_navtrack")
+public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+
+    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppStopNavtrack(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
new file mode 100644
index 0000000..b389e01
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
@@ -0,0 +1,28 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 实时位置接收器
+ */
+@Slf4j
+@Component("/pose_message")
+public class PoseMessageMsgHandler implements IBaseMsgHandler {
+
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
+        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
+        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
new file mode 100644
index 0000000..702c091
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
@@ -0,0 +1,30 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/process_message")
+public class ProcessMessageMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("建图进度:{}", message);
+        statusInfoService.saveProcessMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
new file mode 100644
index 0000000..da02b69
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
@@ -0,0 +1,40 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 传感器状态
+ */
+@Slf4j
+@Component("/sensor_status")
+public class SensorStatusMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        Integer val = index.get("index") + 1;
+        index.put("index", val);
+
+        if (val > 20) {
+            index.put("index", 0);
+            statusInfoService.saveSensorStatus(robotId,message);
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 58d9941..5f77817 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,13 +1,26 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.mqtt.config.MqttClientConnection;
 import lombok.SneakyThrows;
 import org.eclipse.paho.client.mqttv3.MqttClient;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 
 /**
  * 机器人操作实现
@@ -15,9 +28,13 @@
 @Service
 public class RobotOptServiceImpl implements IBaseRobotService {
     private final IRobotRouteOptService robotRouteOptService;
+    private final IRobotInfoService robotInfoService;
+    private final ITaskInfoService taskInfoService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
         this.robotRouteOptService = robotRouteOptService;
+        this.robotInfoService = robotInfoService;
+        this.taskInfoService = taskInfoService;
     }
 
     @Override
@@ -51,6 +68,49 @@
         }
     }
 
+    /**
+     * 开启循迹任务
+     *
+     * @param request 请求体
+     * @return
+     */
+    @Transactional
+    @Override
+    public ResponseDataDTO<Integer> startTrack(StartTrackRequest request) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> list = robotRouteOptService.robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, info);
+
+        return list;
+    }
+
+    @Override
+    public ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request) {
+        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setPriority(request.getPriority());
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        messageDTO.setMsg(request);
+        ResponseDataDTO<AppCmdVelResponse> responseDataDTO = robotRouteOptService.robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
+        return responseDataDTO;
+    }
+
+    @Transactional
+    @Override
+    public <T, R> ResponseDataDTO<T> execCmdHandler(R request, InstructCodeEnums enums) {
+        IBaseCmdHandler cmdHandler = SpringContextHolder.getBean(enums.name());
+        cmdHandler.initHandler((BaseRobotCmdDTO) request);
+        ResponseDataDTO result = (ResponseDataDTO) cmdHandler.senderCmd((BaseRobotCmdDTO) request, InstructCodeEnums.TRACK_LIST);
+        result = (ResponseDataDTO) cmdHandler.afterInvoke((BaseRobotCmdDTO) request, result);
+        return result;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
index 00581fe..8f66f8d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
@@ -6,8 +6,8 @@
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.MapListRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
@@ -56,7 +56,7 @@
         messageDTO.setMsg(request);
 
         RobotMsgResponseDTO<List<String>> result = MsgUtils.senMsg(mqttClient, InstructCodeEnums.TRACK_LIST, messageDTO);
-        if (result != null) {
+        if (result != null&&result.getMsg()!=null) {
             //机器人路线更新至表中
             return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(robotInfo, result.getMsg().getResult()));
         }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
deleted file mode 100644
index f445171..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
+++ /dev/null
@@ -1,17 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-import java.io.Serializable;
-
-/**
- * 机器人消息请求体
- */
-@Data
-public class MessageRequestDTO<T> implements Serializable {
-    private T msg;
-
-    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
-    private Integer priority;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
new file mode 100644
index 0000000..8cb6f05
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
@@ -0,0 +1,7 @@
+package com.casic.missiles.modular.robot.opt.instruct.base;
+
+/**
+ * 指令回复定义
+ */
+public interface RobotBaseMsg {
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
deleted file mode 100644
index 7b516ba..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
+++ /dev/null
@@ -1,38 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import com.alibaba.fastjson.annotation.JSONField;
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-@Data
-public class RobotMsgDTO<T> {
-    /**
-     * 消息编码
-     */
-    @ApiModelProperty(value = "消息编码", dataType = "String")
-    @JSONField(name = "error_code")
-    private String errorCode;
-    /**
-     * 错误消息
-     */
-    @ApiModelProperty(value = "错误消息", dataType = "String")
-    @JSONField(name = "error_msg")
-    private String errorMsg;
-    @ApiModelProperty(value = "返回结果")
-    private T result;
-
-    /**
-     * 机器人上传map
-     */
-    @JSONField(name = "map_name")
-    private String mapName;
-
-    private String x;
-    private String y;
-    private String z;
-    private String theta;
-
-    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
-    @JSONField(name = "get_speed")
-    private Float getSpeed;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
new file mode 100644
index 0000000..4efaf84
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
@@ -0,0 +1,17 @@
+package com.casic.missiles.modular.robot.opt.instruct.base.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * 机器人消息请求体
+ */
+@Data
+public class MessageRequestDTO<T> implements Serializable {
+    private T msg;
+
+    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
+    private Integer priority;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java
new file mode 100644
index 0000000..8f7ba24
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.instruct.base.dto;
+
+import com.alibaba.fastjson.annotation.JSONField;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+@Data
+public class RobotMsgDTO<T> {
+    /**
+     * 消息编码
+     */
+    @ApiModelProperty(value = "消息编码", dataType = "String")
+    @JSONField(name = "error_code")
+    private String errorCode;
+    /**
+     * 错误消息
+     */
+    @ApiModelProperty(value = "错误消息", dataType = "String")
+    @JSONField(name = "error_msg")
+    private String errorMsg;
+    @ApiModelProperty(value = "返回结果")
+    private T result;
+
+    /**
+     * 机器人上传map
+     */
+    @JSONField(name = "map_name")
+    private String mapName;
+
+
+    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
+    @JSONField(name = "get_speed")
+    private Float getSpeed;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java
new file mode 100644
index 0000000..ee41289
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java
@@ -0,0 +1,17 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import com.alibaba.fastjson.annotation.JSONField;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 删除路线
+ */
+@Data
+public class DeleteTrackRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "sn编码(可不填 默认机器ID)", dataType = "String")
+    private String sn;
+
+    @ApiModelProperty(value = "下发状态 1:开启 0:关闭", dataType = "String")
+    private String track_name;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
index ec55a85..50a3536 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
@@ -1,6 +1,5 @@
 package com.casic.missiles.modular.robot.opt.instruct.dto;
 
-import com.alibaba.fastjson.annotation.JSONField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,11 +15,11 @@
     private Integer action;
     @ApiModelProperty(value = "等待状态 1:等待 0:不等待", dataType = "String")
     private Integer wait;
-    @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "track_name")
-    private String tracName;
 
     @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "taskpoint_name")
-    private String taskpointName;
+    private String track_name;
+
+    @ApiModelProperty(value = "轨迹名称", dataType = "String")
+    private String taskpoint_name;
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
index 21b9112..bbb3c0c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
@@ -1,6 +1,5 @@
 package com.casic.missiles.modular.robot.opt.instruct.dto;
 
-import com.alibaba.fastjson.annotation.JSONField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,6 +15,5 @@
     private Integer action;
 
     @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "track_name")
-    private String tracName;
+    private String track_name;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
index e029be4..ed384a0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
@@ -4,6 +4,7 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.IService;
 import com.casic.missiles.modular.robot.model.AlarmRecord;
+import com.casic.missiles.modular.robot.vo.AlarmRecordVO;
 
 import java.util.List;
 
@@ -21,4 +22,12 @@
      * 告警记录 分页检索
      */
     List<AlarmRecord> selectAlarmRecordPage(Page<AlarmRecord> page, QueryWrapper<AlarmRecord> query);
+
+    /**
+     * 根据任务ID查询报警总数
+     *
+     * @param id 任务ID
+     * @return
+     */
+    Integer selectCountByTaskId(Long id,Long robotId);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index fe9af27..e3bb91c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -1,9 +1,10 @@
 package com.casic.missiles.modular.robot.service;
 
-import com.baomidou.mybatisplus.extension.service.IService;
-import  com.casic.missiles.modular.robot.model.RobotInfo;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotInfo;
+
 import java.util.List;
 
 
@@ -19,5 +20,12 @@
     /**
      * 机器人信息管理 分页检索
      */
-    List<RobotInfo> selectRobotInfoPage(Page<RobotInfo> page,QueryWrapper<RobotInfo> query);
+    List<RobotInfo> selectRobotInfoPage(Page<RobotInfo> page, QueryWrapper<RobotInfo> query);
+
+    /**
+     * 机器人速度设置
+     *
+     * @param robotInfo 机器信息
+     */
+    void updateSpeed(RobotInfo robotInfo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
index 6552038..4cfeccf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
@@ -62,4 +62,15 @@
      * @param message 消息体
      */
     void saveAppStopNavtrack(String robotId, MqttMessage message);
+
+    /**
+     * 更新车辆路线及任务信息
+     *
+     * @param currRouteId 当前路线信息
+     * @param currTaskId  当前任务信息
+     */
+    void updateCurrTask(String robotId,Long currRouteId, Long currTaskId);
+
+    RobotStatusInfo getStatusByRobotId(String robotId);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java
index f048fa2..ff145c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java
@@ -1,9 +1,12 @@
 package com.casic.missiles.modular.robot.service;
 
-import com.baomidou.mybatisplus.extension.service.IService;
-import  com.casic.missiles.modular.robot.model.TaskInfo;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+
 import java.util.List;
 
 
@@ -19,5 +22,13 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage(Page<TaskInfo> page,QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(Page<TaskInfo> page, QueryWrapper<TaskInfo> query);
+
+    /**
+     * 启动循迹任务后 保存循迹任务信息
+     *
+     * @param request 循迹任务请求体
+     * @param info    机器信息
+     */
+    void reloadTask(StartTrackRequest request, RobotInfo info);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java
index 71c030f..0463880 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java
@@ -5,9 +5,14 @@
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.modular.robot.dao.AlarmRecordMapper;
 import com.casic.missiles.modular.robot.model.AlarmRecord;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.service.IAlarmRecordService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.vo.AlarmRecordVO;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 
@@ -21,10 +26,41 @@
  */
 @Service
 public class AlarmRecordServiceImpl extends ServiceImpl<AlarmRecordMapper, AlarmRecord> implements IAlarmRecordService {
+    private final IRobotInfoService robotInfoService;
+
+    public AlarmRecordServiceImpl(@Lazy IRobotInfoService robotInfoService) {
+        this.robotInfoService = robotInfoService;
+    }
 
     @Override
     public List<AlarmRecord> selectAlarmRecordPage(Page<AlarmRecord> page, QueryWrapper<AlarmRecord> query) {
-        return this.baseMapper.selectAlarmRecordPage(page, query);
+        List<AlarmRecord> records = this.baseMapper.selectAlarmRecordPage(page, query);
+        records.forEach(this::wrapRecord);
+        return records;
+    }
+
+    private void wrapRecord(AlarmRecord record) {
+        //判断是否有检测值
+        record.setMonitorValStatus("无");
+        if (record.getAlarmThreshold() == null) {
+            record.setAlarmThreshold(new BigDecimal(0));
+        }
+        if (record.getAlarmThreshold().compareTo(record.getMonitorVal()) <= 0) {
+            record.setMonitorValStatus("有");
+        }
+    }
+
+    @Override
+    public Integer selectCountByTaskId(Long id, Long robotId) {
+        RobotInfo robotInfo = robotInfoService.getById(robotId);
+
+        QueryWrapper<AlarmRecord> query = new QueryWrapper<>();
+        query.eq("task_id", id);
+        if (robotInfo.getAlarmThreshold() != null) {
+            query.ge("monitor_val", robotInfo.getAlarmThreshold());
+        }
+        Integer num = this.count(query);
+        return num;
     }
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index 7531811..c405c9b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -3,6 +3,7 @@
 import cn.hutool.core.collection.CollectionUtil;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.core.application.service.AbstractDictService;
@@ -44,6 +45,15 @@
     }
 
     @Override
+    public void updateSpeed(RobotInfo robotInfo) {
+        UpdateWrapper<RobotInfo> update = new UpdateWrapper<>();
+        update.set("conf_v", robotInfo.getConfV());
+        update.set("conf_w", robotInfo.getConfW());
+        update.eq("id", robotInfo.getId());
+        update(update);
+    }
+
+    @Override
     public List<RobotInfo> list(Wrapper<RobotInfo> queryWrapper) {
         List<RobotInfo> robotInfos = super.list(queryWrapper);
         robotInfos.forEach(this::wrapRobotInfo);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
index 6692c5d..2afae14 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
@@ -10,9 +10,9 @@
 import com.casic.missiles.core.application.service.AbstractDictService;
 import com.casic.missiles.modular.robot.dao.RobotStatusInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.ProcessMessageResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.SensorStatusDTO;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -57,20 +57,21 @@
     }
 
     private void wrapInfo(RobotStatusInfo statusInfo) {
-        statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getTrackStatus()));
+        statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getDiscernType()));
 
         //暂停状态
         statusInfo.setAppNavPauseName(getDictName("appNavPause", statusInfo.getAppNavPause()));
 
         //开启状态
         statusInfo.setTrackStatusName(getDictName("trackStatus", statusInfo.getTrackStatus()));
-        statusInfo.setNavigationStatusName(getDictName("trackStatus", statusInfo.getNavigationStatus()));
+        String statusName = getDictName("trackStatus", statusInfo.getNavigationStatus());
+        statusInfo.setNavigationStatusName(statusName);
         statusInfo.setDataRecordName(getDictName("trackStatus", statusInfo.getDataRecord()));
         statusInfo.setTrackStatusName(getDictName("trackStatus", statusInfo.getTrackStatus()));
         statusInfo.setTrackName(getDictName("trackStatus", statusInfo.getTrack()));
         statusInfo.setInsStatusName(getDictName("trackStatus", statusInfo.getInsStatus()));
         statusInfo.setAppStopNavtrackName(getDictName("trackStatus", statusInfo.getAppStopNavtrack()));
-
+        statusInfo.setTrackRecordName(getDictName("trackStatus", statusInfo.getTrackRecord()));
         //收到状态
         statusInfo.setLidarMsgName(getDictName("lidarMsg", statusInfo.getLidarMsg()));
         statusInfo.setImuMsgName(getDictName("lidarMsg", statusInfo.getImuMsg()));
@@ -110,10 +111,10 @@
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             SensorStatusDTO msg = responseDTO.getMsg();
-            query.set("lidar_msg", msg.getLidarMsg());
-            query.set("imu_msg", msg.getImuMsg());
-            query.set("charge_msg", msg.getChargeMsg());
-            query.set("gps_msg", msg.getGpsMsg());
+            query.set("lidar_msg", msg.getLidarMsg() == null ? 0 : msg.getLidarMsg());
+            query.set("imu_msg", msg.getImuMsg() == null ? 0 : msg.getImuMsg());
+            query.set("charge_msg", msg.getChargeMsg() == null ? 0 : msg.getChargeMsg());
+            query.set("gps_msg", msg.getGpsMsg() == null ? 0 : msg.getGpsMsg());
             query.eq("robot_id", robotId);
             update(query);
         }
@@ -172,4 +173,20 @@
             update(query);
         }
     }
+
+    @Override
+    public void updateCurrTask(String robotId, Long currRouteId, Long currTaskId) {
+        UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
+        query.set("curr_route_id", currRouteId);
+        query.set("curr_task_id", currTaskId);
+        query.eq("robot_id", robotId);
+        update(query);
+    }
+
+    @Override
+    public RobotStatusInfo getStatusByRobotId(String robotId) {
+        QueryWrapper<RobotStatusInfo> query = new QueryWrapper<>();
+        query.eq("robot_id", robotId);
+        return getOne(query);
+    }
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotTrajectoryInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotTrajectoryInfoServiceImpl.java
index 278415a..4de13dc 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotTrajectoryInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotTrajectoryInfoServiceImpl.java
@@ -7,7 +7,7 @@
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.modular.robot.dao.RobotTrajectoryInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotTrajectoryInfo;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
 import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
index a965283..894fc75 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
@@ -5,12 +5,18 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dao.RouteInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.DeleteTrackRequest;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 
+import java.io.Serializable;
 import java.util.ArrayList;
 import java.util.Collection;
 import java.util.Date;
@@ -28,6 +34,11 @@
  */
 @Service
 public class RouteInfoServiceImpl extends ServiceImpl<RouteInfoMapper, RouteInfo> implements IRouteInfoService {
+    private final IBaseRobotService robotService;
+
+    public RouteInfoServiceImpl(@Lazy IBaseRobotService robotService) {
+        this.robotService = robotService;
+    }
 
     @Override
     public List<RouteInfo> selectRouteInfoPage(Page<RouteInfo> page, QueryWrapper<RouteInfo> query) {
@@ -40,6 +51,23 @@
     }
 
     @Override
+    public boolean removeById(Serializable id) {
+        RouteInfo routeInfo = getById(id);
+
+        RobotInfo info = new RobotInfo();
+        info.setId(routeInfo.getRobotId());
+        MessageRequestDTO<DeleteTrackRequest> messageDTO = new MessageRequestDTO();
+        DeleteTrackRequest deleteTrackRequest = new DeleteTrackRequest();
+        deleteTrackRequest.setSn(info.getId() + "");
+        deleteTrackRequest.setTrack_name(routeInfo.getTargetId());
+        messageDTO.setMsg(deleteTrackRequest);
+        robotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.DELETE_TRACK, messageDTO);
+        super.removeById(id);
+        //删除轨迹文件
+        return super.removeById(id);
+    }
+
+    @Override
     public List<RouteInfo> saveListByRouteTargetIds(RobotInfo robotInfo, List<String> result) {
         //检索当前库中机器人信息表
         QueryWrapper<RouteInfo> query = new QueryWrapper<>();
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
index c12a903..c16c954 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
@@ -1,15 +1,33 @@
 package com.casic.missiles.modular.robot.service.impl;
 
-import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
-import org.springframework.stereotype.Service;
-import com.casic.missiles.modular.robot.service.ITaskInfoService;
-import java.util.List;
-
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.date.DateUtil;
+import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
+import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
-
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.casic.missiles.core.application.service.AbstractDictService;
+import com.casic.missiles.model.exception.ServiceException;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dao.TaskInfoMapper;
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RobotStatusInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.service.IAlarmRecordService;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import org.springframework.context.annotation.Lazy;
+import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
+
+import java.io.Serializable;
+import java.util.Date;
+import java.util.List;
 
 
 /**
@@ -22,10 +40,98 @@
  */
 @Service
 public class TaskInfoServiceImpl extends ServiceImpl<TaskInfoMapper, TaskInfo> implements ITaskInfoService {
+    private final IRouteInfoService routeInfoService;
+    private final IRobotStatusInfoService statusInfoService;
+    private final AbstractDictService dictService;
+    private final IAlarmRecordService recordService;
 
-    @Override
-    public List<TaskInfo> selectTaskInfoPage(Page<TaskInfo> page,QueryWrapper<TaskInfo> query) {
-        return this.baseMapper.selectTaskInfoPage(page,query);
+    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService) {
+        this.routeInfoService = routeInfoService;
+        this.statusInfoService = statusInfoService;
+        this.dictService = dictService;
+        this.recordService = recordService;
     }
 
-}
+    @Override
+    public List<TaskInfo> selectTaskInfoPage(Page<TaskInfo> page, QueryWrapper<TaskInfo> query) {
+        return this.baseMapper.selectTaskInfoPage(page, query);
+    }
+
+    @Override
+    public TaskInfo getById(Serializable id) {
+        TaskInfo taskInfo = super.getById(id);
+        wrapTaskInfo(taskInfo);
+        return taskInfo;
+    }
+
+    @Override
+    public <E extends IPage<TaskInfo>> E page(E page, Wrapper<TaskInfo> queryWrapper) {
+        E infoIPage = super.page(page, queryWrapper);
+        infoIPage.getRecords().forEach(this::wrapTaskInfo);
+        return infoIPage;
+    }
+
+    private void wrapTaskInfo(TaskInfo taskInfo) {
+        taskInfo.setDiscernTypeName(dictService.getDictNameByCode(RobotDictConstants.DISCERN_TYPE, taskInfo.getDiscernType() + ""));
+        taskInfo.setTaskTypeName(dictService.getDictNameByCode(RobotDictConstants.TASK_TYPE, taskInfo.getTaskType() + ""));
+        //检索当前任务告警数量
+        taskInfo.setAlarmNum(recordService.selectCountByTaskId(taskInfo.getId(),taskInfo.getRobotId()));
+    }
+
+    @Transactional
+    @Override
+    public void reloadTask(StartTrackRequest request, RobotInfo info) {
+        String robotId = info.getId() + "";
+
+        //开启操作
+        if (request.getAction() == 1) {
+            QueryWrapper<RouteInfo> query = new QueryWrapper<>();
+            query.eq("target_id", request.getTrack_name());
+            List<RouteInfo> routeInfos = routeInfoService.list(query);
+
+            if (CollectionUtil.isEmpty(routeInfos)) {
+                throw new ServiceException(500, "路线不存在,请及时更新");
+            }
+            RouteInfo routeInfo = routeInfos.get(0);
+            //No.2 新增任务信息
+            TaskInfo taskInfo = new TaskInfo();
+            String currDate = DateUtil.format(new Date(), "yyyyMMdd");
+            Long maxNo = this.baseMapper.selectMaxNo(currDate + "%");
+            if (new Long(0L).equals(maxNo)) {
+                maxNo = new Long(currDate + String.format("%07d", 1));
+            } else {
+                maxNo = maxNo + 1;
+            }
+            taskInfo.setTaskNo(maxNo);
+            taskInfo.setCreateTime(new Date());
+            //任务类型 中子源
+            taskInfo.setTaskType(1);
+            taskInfo.setDiscernType(1);
+            taskInfo.setTaskName(routeInfo.getRouteName() + "巡线任务");
+            //执行状态 未完成
+            taskInfo.setTaskStatus(0);
+            taskInfo.setStartTime(new Date());
+            taskInfo.setRouteId(routeInfo.getId());
+            taskInfo.setRobotId(info.getId());
+            save(taskInfo);
+
+            //No.3 更新
+            Long currRouteId = routeInfo.getId();
+            Long currTaskId = taskInfo.getId();
+            statusInfoService.updateCurrTask(robotId, currRouteId, currTaskId);
+        } else {
+            //关闭操作
+            RobotStatusInfo statusInfo = statusInfoService.getStatusByRobotId(robotId);
+            if (statusInfo.getCurrTaskId() != null) {
+                UpdateWrapper<TaskInfo> updateWrapper = new UpdateWrapper<>();
+                updateWrapper.set("update_time", new Date());
+                updateWrapper.set("task_status", 1);
+                updateWrapper.set("end_time", new Date());
+                updateWrapper.eq("id", statusInfo.getCurrTaskId());
+                update(updateWrapper);
+            }
+            //清空当前任务
+            statusInfoService.updateCurrTask(robotId, null, null);
+        }
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/AlarmRecordVO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/AlarmRecordVO.java
index 2f55ae2..d09a438 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/AlarmRecordVO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/AlarmRecordVO.java
@@ -1,12 +1,11 @@
 package com.casic.missiles.modular.robot.vo;
 
+import cn.hutool.core.util.StrUtil;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.casic.missiles.modular.robot.model.AlarmRecord;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
-import java.math.BigDecimal;
-
 /**
  * 告警记录对象VO
  *
@@ -22,21 +21,6 @@
      */
     @ApiModelProperty(value = "机器人主键", dataType = "Long")
     private Long robotId;
-    /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    private Integer taskType;
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    private Integer discernType;
-    /**
-     * 监测值
-     */
-    @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
-    private BigDecimal monitorVal;
 
     /**
      * 机器人任务ID
@@ -44,19 +28,39 @@
     @ApiModelProperty(value = "机器人任务ID", dataType = "Long")
     private Long taskId;
 
+    @ApiModelProperty(value = "路线ID", dataType = "Long")
+    private Long routeId;
+
+    @ApiModelProperty(value = "有无监测值类型(0 无 1 有)", dataType = "Long")
+    private Integer valType;
+    @ApiModelProperty(value = "开始时间(yyyy-MM-dd HH:mm:ss)", dataType = "String")
+    private String startTime;
+    @ApiModelProperty(value = "结束时间(yyyy-MM-dd HH:mm:ss)", dataType = "String")
+    private String endTime;
+
     public QueryWrapper<AlarmRecord> genQuery() {
         QueryWrapper<AlarmRecord> query = new QueryWrapper<>();
         if (robotId != null) {
-            query.eq("robot_id", robotId);
-        }
-        if (taskType != null) {
-            query.eq("task_type", taskType);
-        }
-        if (discernType != null) {
-            query.eq("discern_type", discernType);
+            query.eq("a.robot_id", robotId);
         }
         if (taskId != null) {
-            query.eq("task_id", taskId);
+            query.eq("a.task_id", taskId);
+        }
+        if (routeId != null) {
+            query.eq("d.id", routeId);
+        }
+        if (StrUtil.isNotEmpty(startTime)) {
+            query.ge("a.alarm_time", startTime);
+        }
+        if (StrUtil.isNotEmpty((endTime))) {
+            query.le("a.alarm_time", endTime);
+        }
+        if (valType != null) {
+            if (1 == valType) {
+                query.eq("(a.monitor_val>=b.alarm_threshold)", true);
+            } else {
+                query.eq("(a.monitor_val<b.alarm_threshold)", true);
+            }
         }
         return query;
     }

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
index 7ad12e3..b8e561d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
@@ -3,7 +3,7 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 
 /**
- * 业务消息处理
+ * 业务消息处理器
  */
 public interface IBaseMsgHandler {
     /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
new file mode 100644
index 0000000..e69ee28
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -0,0 +1,60 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TRACK_LIST")
+public class TrackListCmdHandler extends AbstractCmdHandler<TrackListRequest, ResponseDataDTO> {
+    private final IRouteInfoService routeInfoService;
+
+    protected TrackListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(TrackListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TRACK_LIST, messageDTO);
+
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(TrackListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
deleted file mode 100644
index e4b2b7e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/app_nav_pause")
-public class AppNavPauseMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppNavPause(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
deleted file mode 100644
index 59cdaa8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 停障状态实时接收器
- */
-@Slf4j
-@Component("/app_stop_navtrack")
-public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-
-    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppStopNavtrack(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
deleted file mode 100644
index b8df20e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
+++ /dev/null
@@ -1,28 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 实时位置接收器
- */
-@Slf4j
-@Component("/pose_message")
-public class PoseMessageMsgHandler implements IBaseMsgHandler {
-
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
-
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
-        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
deleted file mode 100644
index 75f63c5..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/process_message")
-public class ProcessMessageMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
deleted file mode 100644
index 5f07bd8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
+++ /dev/null
@@ -1,40 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 传感器状态
- */
-@Slf4j
-@Component("/sensor_status")
-public class SensorStatusMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        Integer val = index.get("index") + 1;
-        index.put("index", val);
-
-        if (val > 20) {
-            index.put("index", 0);
-            statusInfoService.saveSensorStatus(robotId,message);
-        }
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
new file mode 100644
index 0000000..aba1a57
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/app_nav_pause")
+public class AppNavPauseMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppNavPause(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
new file mode 100644
index 0000000..9bf1ce4
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 停障状态实时接收器
+ */
+@Slf4j
+@Component("/app_stop_navtrack")
+public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+
+    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppStopNavtrack(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
new file mode 100644
index 0000000..b389e01
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
@@ -0,0 +1,28 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 实时位置接收器
+ */
+@Slf4j
+@Component("/pose_message")
+public class PoseMessageMsgHandler implements IBaseMsgHandler {
+
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
+        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
+        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
new file mode 100644
index 0000000..702c091
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
@@ -0,0 +1,30 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/process_message")
+public class ProcessMessageMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("建图进度:{}", message);
+        statusInfoService.saveProcessMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
new file mode 100644
index 0000000..da02b69
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
@@ -0,0 +1,40 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 传感器状态
+ */
+@Slf4j
+@Component("/sensor_status")
+public class SensorStatusMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        Integer val = index.get("index") + 1;
+        index.put("index", val);
+
+        if (val > 20) {
+            index.put("index", 0);
+            statusInfoService.saveSensorStatus(robotId,message);
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 58d9941..5f77817 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,13 +1,26 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.mqtt.config.MqttClientConnection;
 import lombok.SneakyThrows;
 import org.eclipse.paho.client.mqttv3.MqttClient;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 
 /**
  * 机器人操作实现
@@ -15,9 +28,13 @@
 @Service
 public class RobotOptServiceImpl implements IBaseRobotService {
     private final IRobotRouteOptService robotRouteOptService;
+    private final IRobotInfoService robotInfoService;
+    private final ITaskInfoService taskInfoService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
         this.robotRouteOptService = robotRouteOptService;
+        this.robotInfoService = robotInfoService;
+        this.taskInfoService = taskInfoService;
     }
 
     @Override
@@ -51,6 +68,49 @@
         }
     }
 
+    /**
+     * 开启循迹任务
+     *
+     * @param request 请求体
+     * @return
+     */
+    @Transactional
+    @Override
+    public ResponseDataDTO<Integer> startTrack(StartTrackRequest request) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> list = robotRouteOptService.robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, info);
+
+        return list;
+    }
+
+    @Override
+    public ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request) {
+        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setPriority(request.getPriority());
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        messageDTO.setMsg(request);
+        ResponseDataDTO<AppCmdVelResponse> responseDataDTO = robotRouteOptService.robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
+        return responseDataDTO;
+    }
+
+    @Transactional
+    @Override
+    public <T, R> ResponseDataDTO<T> execCmdHandler(R request, InstructCodeEnums enums) {
+        IBaseCmdHandler cmdHandler = SpringContextHolder.getBean(enums.name());
+        cmdHandler.initHandler((BaseRobotCmdDTO) request);
+        ResponseDataDTO result = (ResponseDataDTO) cmdHandler.senderCmd((BaseRobotCmdDTO) request, InstructCodeEnums.TRACK_LIST);
+        result = (ResponseDataDTO) cmdHandler.afterInvoke((BaseRobotCmdDTO) request, result);
+        return result;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
index 00581fe..8f66f8d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
@@ -6,8 +6,8 @@
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.MapListRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
@@ -56,7 +56,7 @@
         messageDTO.setMsg(request);
 
         RobotMsgResponseDTO<List<String>> result = MsgUtils.senMsg(mqttClient, InstructCodeEnums.TRACK_LIST, messageDTO);
-        if (result != null) {
+        if (result != null&&result.getMsg()!=null) {
             //机器人路线更新至表中
             return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(robotInfo, result.getMsg().getResult()));
         }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
deleted file mode 100644
index f445171..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
+++ /dev/null
@@ -1,17 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-import java.io.Serializable;
-
-/**
- * 机器人消息请求体
- */
-@Data
-public class MessageRequestDTO<T> implements Serializable {
-    private T msg;
-
-    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
-    private Integer priority;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
new file mode 100644
index 0000000..8cb6f05
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
@@ -0,0 +1,7 @@
+package com.casic.missiles.modular.robot.opt.instruct.base;
+
+/**
+ * 指令回复定义
+ */
+public interface RobotBaseMsg {
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
deleted file mode 100644
index 7b516ba..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
+++ /dev/null
@@ -1,38 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import com.alibaba.fastjson.annotation.JSONField;
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-@Data
-public class RobotMsgDTO<T> {
-    /**
-     * 消息编码
-     */
-    @ApiModelProperty(value = "消息编码", dataType = "String")
-    @JSONField(name = "error_code")
-    private String errorCode;
-    /**
-     * 错误消息
-     */
-    @ApiModelProperty(value = "错误消息", dataType = "String")
-    @JSONField(name = "error_msg")
-    private String errorMsg;
-    @ApiModelProperty(value = "返回结果")
-    private T result;
-
-    /**
-     * 机器人上传map
-     */
-    @JSONField(name = "map_name")
-    private String mapName;
-
-    private String x;
-    private String y;
-    private String z;
-    private String theta;
-
-    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
-    @JSONField(name = "get_speed")
-    private Float getSpeed;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
new file mode 100644
index 0000000..4efaf84
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
@@ -0,0 +1,17 @@
+package com.casic.missiles.modular.robot.opt.instruct.base.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * 机器人消息请求体
+ */
+@Data
+public class MessageRequestDTO<T> implements Serializable {
+    private T msg;
+
+    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
+    private Integer priority;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java
new file mode 100644
index 0000000..8f7ba24
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.instruct.base.dto;
+
+import com.alibaba.fastjson.annotation.JSONField;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+@Data
+public class RobotMsgDTO<T> {
+    /**
+     * 消息编码
+     */
+    @ApiModelProperty(value = "消息编码", dataType = "String")
+    @JSONField(name = "error_code")
+    private String errorCode;
+    /**
+     * 错误消息
+     */
+    @ApiModelProperty(value = "错误消息", dataType = "String")
+    @JSONField(name = "error_msg")
+    private String errorMsg;
+    @ApiModelProperty(value = "返回结果")
+    private T result;
+
+    /**
+     * 机器人上传map
+     */
+    @JSONField(name = "map_name")
+    private String mapName;
+
+
+    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
+    @JSONField(name = "get_speed")
+    private Float getSpeed;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java
new file mode 100644
index 0000000..ee41289
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java
@@ -0,0 +1,17 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import com.alibaba.fastjson.annotation.JSONField;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 删除路线
+ */
+@Data
+public class DeleteTrackRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "sn编码(可不填 默认机器ID)", dataType = "String")
+    private String sn;
+
+    @ApiModelProperty(value = "下发状态 1:开启 0:关闭", dataType = "String")
+    private String track_name;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
index ec55a85..50a3536 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
@@ -1,6 +1,5 @@
 package com.casic.missiles.modular.robot.opt.instruct.dto;
 
-import com.alibaba.fastjson.annotation.JSONField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,11 +15,11 @@
     private Integer action;
     @ApiModelProperty(value = "等待状态 1:等待 0:不等待", dataType = "String")
     private Integer wait;
-    @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "track_name")
-    private String tracName;
 
     @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "taskpoint_name")
-    private String taskpointName;
+    private String track_name;
+
+    @ApiModelProperty(value = "轨迹名称", dataType = "String")
+    private String taskpoint_name;
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
index 21b9112..bbb3c0c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
@@ -1,6 +1,5 @@
 package com.casic.missiles.modular.robot.opt.instruct.dto;
 
-import com.alibaba.fastjson.annotation.JSONField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,6 +15,5 @@
     private Integer action;
 
     @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "track_name")
-    private String tracName;
+    private String track_name;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
index e029be4..ed384a0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
@@ -4,6 +4,7 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.IService;
 import com.casic.missiles.modular.robot.model.AlarmRecord;
+import com.casic.missiles.modular.robot.vo.AlarmRecordVO;
 
 import java.util.List;
 
@@ -21,4 +22,12 @@
      * 告警记录 分页检索
      */
     List<AlarmRecord> selectAlarmRecordPage(Page<AlarmRecord> page, QueryWrapper<AlarmRecord> query);
+
+    /**
+     * 根据任务ID查询报警总数
+     *
+     * @param id 任务ID
+     * @return
+     */
+    Integer selectCountByTaskId(Long id,Long robotId);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index fe9af27..e3bb91c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -1,9 +1,10 @@
 package com.casic.missiles.modular.robot.service;
 
-import com.baomidou.mybatisplus.extension.service.IService;
-import  com.casic.missiles.modular.robot.model.RobotInfo;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotInfo;
+
 import java.util.List;
 
 
@@ -19,5 +20,12 @@
     /**
      * 机器人信息管理 分页检索
      */
-    List<RobotInfo> selectRobotInfoPage(Page<RobotInfo> page,QueryWrapper<RobotInfo> query);
+    List<RobotInfo> selectRobotInfoPage(Page<RobotInfo> page, QueryWrapper<RobotInfo> query);
+
+    /**
+     * 机器人速度设置
+     *
+     * @param robotInfo 机器信息
+     */
+    void updateSpeed(RobotInfo robotInfo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
index 6552038..4cfeccf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
@@ -62,4 +62,15 @@
      * @param message 消息体
      */
     void saveAppStopNavtrack(String robotId, MqttMessage message);
+
+    /**
+     * 更新车辆路线及任务信息
+     *
+     * @param currRouteId 当前路线信息
+     * @param currTaskId  当前任务信息
+     */
+    void updateCurrTask(String robotId,Long currRouteId, Long currTaskId);
+
+    RobotStatusInfo getStatusByRobotId(String robotId);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java
index f048fa2..ff145c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java
@@ -1,9 +1,12 @@
 package com.casic.missiles.modular.robot.service;
 
-import com.baomidou.mybatisplus.extension.service.IService;
-import  com.casic.missiles.modular.robot.model.TaskInfo;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+
 import java.util.List;
 
 
@@ -19,5 +22,13 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage(Page<TaskInfo> page,QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(Page<TaskInfo> page, QueryWrapper<TaskInfo> query);
+
+    /**
+     * 启动循迹任务后 保存循迹任务信息
+     *
+     * @param request 循迹任务请求体
+     * @param info    机器信息
+     */
+    void reloadTask(StartTrackRequest request, RobotInfo info);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java
index 71c030f..0463880 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java
@@ -5,9 +5,14 @@
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.modular.robot.dao.AlarmRecordMapper;
 import com.casic.missiles.modular.robot.model.AlarmRecord;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.service.IAlarmRecordService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.vo.AlarmRecordVO;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 
@@ -21,10 +26,41 @@
  */
 @Service
 public class AlarmRecordServiceImpl extends ServiceImpl<AlarmRecordMapper, AlarmRecord> implements IAlarmRecordService {
+    private final IRobotInfoService robotInfoService;
+
+    public AlarmRecordServiceImpl(@Lazy IRobotInfoService robotInfoService) {
+        this.robotInfoService = robotInfoService;
+    }
 
     @Override
     public List<AlarmRecord> selectAlarmRecordPage(Page<AlarmRecord> page, QueryWrapper<AlarmRecord> query) {
-        return this.baseMapper.selectAlarmRecordPage(page, query);
+        List<AlarmRecord> records = this.baseMapper.selectAlarmRecordPage(page, query);
+        records.forEach(this::wrapRecord);
+        return records;
+    }
+
+    private void wrapRecord(AlarmRecord record) {
+        //判断是否有检测值
+        record.setMonitorValStatus("无");
+        if (record.getAlarmThreshold() == null) {
+            record.setAlarmThreshold(new BigDecimal(0));
+        }
+        if (record.getAlarmThreshold().compareTo(record.getMonitorVal()) <= 0) {
+            record.setMonitorValStatus("有");
+        }
+    }
+
+    @Override
+    public Integer selectCountByTaskId(Long id, Long robotId) {
+        RobotInfo robotInfo = robotInfoService.getById(robotId);
+
+        QueryWrapper<AlarmRecord> query = new QueryWrapper<>();
+        query.eq("task_id", id);
+        if (robotInfo.getAlarmThreshold() != null) {
+            query.ge("monitor_val", robotInfo.getAlarmThreshold());
+        }
+        Integer num = this.count(query);
+        return num;
     }
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index 7531811..c405c9b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -3,6 +3,7 @@
 import cn.hutool.core.collection.CollectionUtil;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.core.application.service.AbstractDictService;
@@ -44,6 +45,15 @@
     }
 
     @Override
+    public void updateSpeed(RobotInfo robotInfo) {
+        UpdateWrapper<RobotInfo> update = new UpdateWrapper<>();
+        update.set("conf_v", robotInfo.getConfV());
+        update.set("conf_w", robotInfo.getConfW());
+        update.eq("id", robotInfo.getId());
+        update(update);
+    }
+
+    @Override
     public List<RobotInfo> list(Wrapper<RobotInfo> queryWrapper) {
         List<RobotInfo> robotInfos = super.list(queryWrapper);
         robotInfos.forEach(this::wrapRobotInfo);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
index 6692c5d..2afae14 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
@@ -10,9 +10,9 @@
 import com.casic.missiles.core.application.service.AbstractDictService;
 import com.casic.missiles.modular.robot.dao.RobotStatusInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.ProcessMessageResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.SensorStatusDTO;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -57,20 +57,21 @@
     }
 
     private void wrapInfo(RobotStatusInfo statusInfo) {
-        statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getTrackStatus()));
+        statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getDiscernType()));
 
         //暂停状态
         statusInfo.setAppNavPauseName(getDictName("appNavPause", statusInfo.getAppNavPause()));
 
         //开启状态
         statusInfo.setTrackStatusName(getDictName("trackStatus", statusInfo.getTrackStatus()));
-        statusInfo.setNavigationStatusName(getDictName("trackStatus", statusInfo.getNavigationStatus()));
+        String statusName = getDictName("trackStatus", statusInfo.getNavigationStatus());
+        statusInfo.setNavigationStatusName(statusName);
         statusInfo.setDataRecordName(getDictName("trackStatus", statusInfo.getDataRecord()));
         statusInfo.setTrackStatusName(getDictName("trackStatus", statusInfo.getTrackStatus()));
         statusInfo.setTrackName(getDictName("trackStatus", statusInfo.getTrack()));
         statusInfo.setInsStatusName(getDictName("trackStatus", statusInfo.getInsStatus()));
         statusInfo.setAppStopNavtrackName(getDictName("trackStatus", statusInfo.getAppStopNavtrack()));
-
+        statusInfo.setTrackRecordName(getDictName("trackStatus", statusInfo.getTrackRecord()));
         //收到状态
         statusInfo.setLidarMsgName(getDictName("lidarMsg", statusInfo.getLidarMsg()));
         statusInfo.setImuMsgName(getDictName("lidarMsg", statusInfo.getImuMsg()));
@@ -110,10 +111,10 @@
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             SensorStatusDTO msg = responseDTO.getMsg();
-            query.set("lidar_msg", msg.getLidarMsg());
-            query.set("imu_msg", msg.getImuMsg());
-            query.set("charge_msg", msg.getChargeMsg());
-            query.set("gps_msg", msg.getGpsMsg());
+            query.set("lidar_msg", msg.getLidarMsg() == null ? 0 : msg.getLidarMsg());
+            query.set("imu_msg", msg.getImuMsg() == null ? 0 : msg.getImuMsg());
+            query.set("charge_msg", msg.getChargeMsg() == null ? 0 : msg.getChargeMsg());
+            query.set("gps_msg", msg.getGpsMsg() == null ? 0 : msg.getGpsMsg());
             query.eq("robot_id", robotId);
             update(query);
         }
@@ -172,4 +173,20 @@
             update(query);
         }
     }
+
+    @Override
+    public void updateCurrTask(String robotId, Long currRouteId, Long currTaskId) {
+        UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
+        query.set("curr_route_id", currRouteId);
+        query.set("curr_task_id", currTaskId);
+        query.eq("robot_id", robotId);
+        update(query);
+    }
+
+    @Override
+    public RobotStatusInfo getStatusByRobotId(String robotId) {
+        QueryWrapper<RobotStatusInfo> query = new QueryWrapper<>();
+        query.eq("robot_id", robotId);
+        return getOne(query);
+    }
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotTrajectoryInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotTrajectoryInfoServiceImpl.java
index 278415a..4de13dc 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotTrajectoryInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotTrajectoryInfoServiceImpl.java
@@ -7,7 +7,7 @@
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.modular.robot.dao.RobotTrajectoryInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotTrajectoryInfo;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
 import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
index a965283..894fc75 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
@@ -5,12 +5,18 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dao.RouteInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.DeleteTrackRequest;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 
+import java.io.Serializable;
 import java.util.ArrayList;
 import java.util.Collection;
 import java.util.Date;
@@ -28,6 +34,11 @@
  */
 @Service
 public class RouteInfoServiceImpl extends ServiceImpl<RouteInfoMapper, RouteInfo> implements IRouteInfoService {
+    private final IBaseRobotService robotService;
+
+    public RouteInfoServiceImpl(@Lazy IBaseRobotService robotService) {
+        this.robotService = robotService;
+    }
 
     @Override
     public List<RouteInfo> selectRouteInfoPage(Page<RouteInfo> page, QueryWrapper<RouteInfo> query) {
@@ -40,6 +51,23 @@
     }
 
     @Override
+    public boolean removeById(Serializable id) {
+        RouteInfo routeInfo = getById(id);
+
+        RobotInfo info = new RobotInfo();
+        info.setId(routeInfo.getRobotId());
+        MessageRequestDTO<DeleteTrackRequest> messageDTO = new MessageRequestDTO();
+        DeleteTrackRequest deleteTrackRequest = new DeleteTrackRequest();
+        deleteTrackRequest.setSn(info.getId() + "");
+        deleteTrackRequest.setTrack_name(routeInfo.getTargetId());
+        messageDTO.setMsg(deleteTrackRequest);
+        robotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.DELETE_TRACK, messageDTO);
+        super.removeById(id);
+        //删除轨迹文件
+        return super.removeById(id);
+    }
+
+    @Override
     public List<RouteInfo> saveListByRouteTargetIds(RobotInfo robotInfo, List<String> result) {
         //检索当前库中机器人信息表
         QueryWrapper<RouteInfo> query = new QueryWrapper<>();
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
index c12a903..c16c954 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
@@ -1,15 +1,33 @@
 package com.casic.missiles.modular.robot.service.impl;
 
-import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
-import org.springframework.stereotype.Service;
-import com.casic.missiles.modular.robot.service.ITaskInfoService;
-import java.util.List;
-
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.date.DateUtil;
+import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
+import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
-
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.casic.missiles.core.application.service.AbstractDictService;
+import com.casic.missiles.model.exception.ServiceException;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dao.TaskInfoMapper;
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RobotStatusInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.service.IAlarmRecordService;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import org.springframework.context.annotation.Lazy;
+import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
+
+import java.io.Serializable;
+import java.util.Date;
+import java.util.List;
 
 
 /**
@@ -22,10 +40,98 @@
  */
 @Service
 public class TaskInfoServiceImpl extends ServiceImpl<TaskInfoMapper, TaskInfo> implements ITaskInfoService {
+    private final IRouteInfoService routeInfoService;
+    private final IRobotStatusInfoService statusInfoService;
+    private final AbstractDictService dictService;
+    private final IAlarmRecordService recordService;
 
-    @Override
-    public List<TaskInfo> selectTaskInfoPage(Page<TaskInfo> page,QueryWrapper<TaskInfo> query) {
-        return this.baseMapper.selectTaskInfoPage(page,query);
+    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService) {
+        this.routeInfoService = routeInfoService;
+        this.statusInfoService = statusInfoService;
+        this.dictService = dictService;
+        this.recordService = recordService;
     }
 
-}
+    @Override
+    public List<TaskInfo> selectTaskInfoPage(Page<TaskInfo> page, QueryWrapper<TaskInfo> query) {
+        return this.baseMapper.selectTaskInfoPage(page, query);
+    }
+
+    @Override
+    public TaskInfo getById(Serializable id) {
+        TaskInfo taskInfo = super.getById(id);
+        wrapTaskInfo(taskInfo);
+        return taskInfo;
+    }
+
+    @Override
+    public <E extends IPage<TaskInfo>> E page(E page, Wrapper<TaskInfo> queryWrapper) {
+        E infoIPage = super.page(page, queryWrapper);
+        infoIPage.getRecords().forEach(this::wrapTaskInfo);
+        return infoIPage;
+    }
+
+    private void wrapTaskInfo(TaskInfo taskInfo) {
+        taskInfo.setDiscernTypeName(dictService.getDictNameByCode(RobotDictConstants.DISCERN_TYPE, taskInfo.getDiscernType() + ""));
+        taskInfo.setTaskTypeName(dictService.getDictNameByCode(RobotDictConstants.TASK_TYPE, taskInfo.getTaskType() + ""));
+        //检索当前任务告警数量
+        taskInfo.setAlarmNum(recordService.selectCountByTaskId(taskInfo.getId(),taskInfo.getRobotId()));
+    }
+
+    @Transactional
+    @Override
+    public void reloadTask(StartTrackRequest request, RobotInfo info) {
+        String robotId = info.getId() + "";
+
+        //开启操作
+        if (request.getAction() == 1) {
+            QueryWrapper<RouteInfo> query = new QueryWrapper<>();
+            query.eq("target_id", request.getTrack_name());
+            List<RouteInfo> routeInfos = routeInfoService.list(query);
+
+            if (CollectionUtil.isEmpty(routeInfos)) {
+                throw new ServiceException(500, "路线不存在,请及时更新");
+            }
+            RouteInfo routeInfo = routeInfos.get(0);
+            //No.2 新增任务信息
+            TaskInfo taskInfo = new TaskInfo();
+            String currDate = DateUtil.format(new Date(), "yyyyMMdd");
+            Long maxNo = this.baseMapper.selectMaxNo(currDate + "%");
+            if (new Long(0L).equals(maxNo)) {
+                maxNo = new Long(currDate + String.format("%07d", 1));
+            } else {
+                maxNo = maxNo + 1;
+            }
+            taskInfo.setTaskNo(maxNo);
+            taskInfo.setCreateTime(new Date());
+            //任务类型 中子源
+            taskInfo.setTaskType(1);
+            taskInfo.setDiscernType(1);
+            taskInfo.setTaskName(routeInfo.getRouteName() + "巡线任务");
+            //执行状态 未完成
+            taskInfo.setTaskStatus(0);
+            taskInfo.setStartTime(new Date());
+            taskInfo.setRouteId(routeInfo.getId());
+            taskInfo.setRobotId(info.getId());
+            save(taskInfo);
+
+            //No.3 更新
+            Long currRouteId = routeInfo.getId();
+            Long currTaskId = taskInfo.getId();
+            statusInfoService.updateCurrTask(robotId, currRouteId, currTaskId);
+        } else {
+            //关闭操作
+            RobotStatusInfo statusInfo = statusInfoService.getStatusByRobotId(robotId);
+            if (statusInfo.getCurrTaskId() != null) {
+                UpdateWrapper<TaskInfo> updateWrapper = new UpdateWrapper<>();
+                updateWrapper.set("update_time", new Date());
+                updateWrapper.set("task_status", 1);
+                updateWrapper.set("end_time", new Date());
+                updateWrapper.eq("id", statusInfo.getCurrTaskId());
+                update(updateWrapper);
+            }
+            //清空当前任务
+            statusInfoService.updateCurrTask(robotId, null, null);
+        }
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/AlarmRecordVO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/AlarmRecordVO.java
index 2f55ae2..d09a438 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/AlarmRecordVO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/AlarmRecordVO.java
@@ -1,12 +1,11 @@
 package com.casic.missiles.modular.robot.vo;
 
+import cn.hutool.core.util.StrUtil;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.casic.missiles.modular.robot.model.AlarmRecord;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
-import java.math.BigDecimal;
-
 /**
  * 告警记录对象VO
  *
@@ -22,21 +21,6 @@
      */
     @ApiModelProperty(value = "机器人主键", dataType = "Long")
     private Long robotId;
-    /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    private Integer taskType;
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    private Integer discernType;
-    /**
-     * 监测值
-     */
-    @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
-    private BigDecimal monitorVal;
 
     /**
      * 机器人任务ID
@@ -44,19 +28,39 @@
     @ApiModelProperty(value = "机器人任务ID", dataType = "Long")
     private Long taskId;
 
+    @ApiModelProperty(value = "路线ID", dataType = "Long")
+    private Long routeId;
+
+    @ApiModelProperty(value = "有无监测值类型(0 无 1 有)", dataType = "Long")
+    private Integer valType;
+    @ApiModelProperty(value = "开始时间(yyyy-MM-dd HH:mm:ss)", dataType = "String")
+    private String startTime;
+    @ApiModelProperty(value = "结束时间(yyyy-MM-dd HH:mm:ss)", dataType = "String")
+    private String endTime;
+
     public QueryWrapper<AlarmRecord> genQuery() {
         QueryWrapper<AlarmRecord> query = new QueryWrapper<>();
         if (robotId != null) {
-            query.eq("robot_id", robotId);
-        }
-        if (taskType != null) {
-            query.eq("task_type", taskType);
-        }
-        if (discernType != null) {
-            query.eq("discern_type", discernType);
+            query.eq("a.robot_id", robotId);
         }
         if (taskId != null) {
-            query.eq("task_id", taskId);
+            query.eq("a.task_id", taskId);
+        }
+        if (routeId != null) {
+            query.eq("d.id", routeId);
+        }
+        if (StrUtil.isNotEmpty(startTime)) {
+            query.ge("a.alarm_time", startTime);
+        }
+        if (StrUtil.isNotEmpty((endTime))) {
+            query.le("a.alarm_time", endTime);
+        }
+        if (valType != null) {
+            if (1 == valType) {
+                query.eq("(a.monitor_val>=b.alarm_threshold)", true);
+            } else {
+                query.eq("(a.monitor_val<b.alarm_threshold)", true);
+            }
         }
         return query;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskInfoVO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskInfoVO.java
index c2ba982..0804b76 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskInfoVO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskInfoVO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.vo;
 
+import cn.hutool.core.util.StrUtil;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import io.swagger.annotations.ApiModelProperty;
@@ -15,6 +16,8 @@
 public class TaskInfoVO {
     private static final long serialVersionUID = 1L;
 
+    @ApiModelProperty(value = "机器ID", dataType = "Long")
+    private Long robotId;
     /**
      * 路线ID
      */
@@ -25,17 +28,21 @@
      */
     @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
     private Integer taskType;
-
     /**
      * 任务状态(0,未完成 1 执行完毕)
      */
     @ApiModelProperty(value = "任务状态(0,未完成 1 执行完毕)", dataType = "Integer")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "开始时间(yyyy-MM-dd HH:mm:ss)", dataType = "String")
+    private String startTime;
+    @ApiModelProperty(value = "结束时间(yyyy-MM-dd HH:mm:ss)", dataType = "String")
+    private String endTime;
+
     public QueryWrapper<TaskInfo> genQuery() {
         QueryWrapper<TaskInfo> query = new QueryWrapper<>();
-        if (routeId != null) {
-            query.eq("route_id", routeId);
+        if (robotId != null) {
+            query.eq("robot_id", robotId);
         }
         if (taskType != null) {
             query.eq("task_type", taskType);
@@ -43,6 +50,13 @@
         if (taskStatus != null) {
             query.eq("task_status", taskStatus);
         }
+        if (StrUtil.isNotEmpty(startTime)) {
+            query.ge("start_time", startTime);
+        }
+        if (StrUtil.isNotEmpty((endTime))) {
+            query.le("end_time", endTime);
+        }
+        query.orderByDesc("create_time");
         return query;
     }
 }

diff --git a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
index ceb3b95..d1cff15 100644
--- a/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
+++ b/casic-ptz/src/main/java/com/casic/missiles/modular/ptz/controller/PtzNetController.java
@@ -44,7 +44,7 @@
     /**
      * 预览设备（前端不再调用）
      */
-    @ApiOperation("预留设备")
+    @ApiOperation("预览设备")
     @GetMapping("/preview")
     @ResponseBody
     public ResponseDataDTO<Object> preview(@ApiParam("注册ID") Long userId) {
@@ -134,11 +134,11 @@
      * 实时云台控制（不带速度）
      *
      * @param deviceIp 设备ip
-     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小）
+     * @param command  控制指令类型（clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小）
      * @param isStop   开始控制还是结束控制 0-开始， 1-结束
      * @return 调用 不需要预览的不带速度控制接口 NET_DVR_PTZControl_Other
      */
-    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoonOut-视频缩小)")
+    @ApiOperation("设备控制-(clean-镜头清洁，zoomIn-视频放大，zoomOut-视频缩小)")
     @GetMapping("/control")
     @ResponseBody
     public Object control(@ApiParam("机器人ID") String robotId, @ApiParam("设备ip") String deviceIp, @ApiParam("指令") String command, @ApiParam("0-开始， 1-结束") Integer isStop) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
new file mode 100644
index 0000000..bc99a9a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.constants;
+
+public interface RobotDictConstants {
+    /**
+     * 巡线类型
+     */
+    String DISCERN_TYPE = "discernType";
+    /**
+     * 任务类型
+     */
+    String TASK_TYPE = "taskType";
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
index d92a081..ab3c71f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/IBaseRobotService.java
@@ -1,7 +1,12 @@
 package com.casic.missiles.modular.robot;
 
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
 
 /**
  * 机器人操作类
@@ -40,4 +45,22 @@
      * @param info 机器信息
      */
     void initMonitor(RobotInfo info);
+
+    /**
+     * 开启循迹任务
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<Integer> startTrack(StartTrackRequest request);
+
+    /**
+     * 机器人控制
+     *
+     * @param request
+     * @return
+     */
+    ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request);
+
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
index 56c3cb4..f7ca84c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/AlarmRecordController.java
@@ -50,8 +50,8 @@
     public ResponseDataDTO<PageInfoBT<AlarmRecord>> listPage(AlarmRecordVO alarmRecordVO) {
         Page<AlarmRecord> page = PageFactory.defaultPage();
         QueryWrapper<AlarmRecord> query = alarmRecordVO.genQuery();
-        query.orderByDesc("create_time");
-        page = alarmRecordService.page(page, query);
+        List<AlarmRecord> alarmRecords = alarmRecordService.selectAlarmRecordPage(page, query);
+        page.setRecords(alarmRecords);
         return ResponseDataDTO.success(super.packForBT(page));
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
index 5f32155..77ed723 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotInfoController.java
@@ -45,7 +45,7 @@
     /**
      * 机器人信息管理分页列表
      */
-    @ApiOperation(value = "分页查询",hidden = true)
+    @ApiOperation(value = "分页查询", hidden = true)
     @GetMapping(value = "/listPage")
     public ResponseDataDTO<PageInfoBT<RobotInfo>> listPage(RobotInfoVO robotInfoVO) {
         Page<RobotInfo> page = PageFactory.defaultPage();
@@ -55,9 +55,19 @@
     }
 
     /**
+     * 机器人速度设置
+     */
+    @ApiOperation(value = "机器人设置", hidden = true)
+    @PostMapping(value = "/setConfig")
+    public ResponseDataDTO setConfig(@RequestBody RobotInfo robotInfo) {
+        robotInfoService.updateSpeed(robotInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
      * 新增机器人信息管理
      */
-    @ApiOperation(value = "新增接口" , hidden = true)
+    @ApiOperation(value = "新增接口", hidden = true)
     @PostMapping(value = "/add")
     public ResponseDataDTO add(@RequestBody RobotInfo robotInfo) {
         robotInfoService.save(robotInfo);
@@ -67,7 +77,7 @@
     /**
      * 修改机器人信息管理
      */
-    @ApiOperation(value = "修改接口" , hidden = true)
+    @ApiOperation(value = "修改接口", hidden = true)
     @PostMapping(value = "/update")
     public ResponseDataDTO update(@RequestBody RobotInfo robotInfo) {
         robotInfoService.updateById(robotInfo);
@@ -77,7 +87,7 @@
     /**
      * 删除机器人信息管理
      */
-    @ApiOperation(value = "删除接口" , hidden = true)
+    @ApiOperation(value = "删除接口", hidden = true)
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         robotInfoService.removeById(id);
@@ -87,7 +97,7 @@
     /**
      * 机器人信息管理详情
      */
-    @ApiOperation(value = "详情查询" , hidden = true)
+    @ApiOperation(value = "详情查询", hidden = true)
     @GetMapping(value = "/detail")
     public ResponseDataDTO<RobotInfo> detail(String id) {
         return ResponseDataDTO.success(robotInfoService.getById(id));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index eedf651..6e959bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -1,14 +1,13 @@
 package com.casic.missiles.modular.robot.controller;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -96,12 +95,7 @@
     @ApiOperation(value = "循迹列表读取")
     @GetMapping(value = "/trackList")
     public ResponseDataDTO<List<RouteInfo>> trackList(@RequestBody TrackListRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        ResponseDataDTO<List<RouteInfo>> list = baseRobotService.getRobotRouteOptService().getTrackList(info);
-        return list;
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
     /**
@@ -132,13 +126,7 @@
     @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
-        }
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+        ResponseDataDTO<Integer> list = baseRobotService.startTrack(request);
         return list;
     }
 
@@ -174,14 +162,8 @@
     @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
-        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setPriority(request.getPriority());
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        System.out.println(JSON.toJSONString(messageDTO));
-//        return ResponseDataDTO.success();
-        ResponseDataDTO<AppCmdVelResponse> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
-        return list;
+        ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
+        return dto;
     }
 
     @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
index b72209d..674079a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteInfoController.java
@@ -77,7 +77,7 @@
     /**
      * 删除线路信息管理(其他信息待定)
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
     public ResponseDataDTO delete(String id) {
         routeInfoService.removeById(id);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
index 42f12dc..eab236d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/TaskInfoController.java
@@ -75,12 +75,12 @@
     }
 
     /**
-     * 删除任务管理(其他信息待定)
+     * 删除任务管理
      */
-    @ApiOperation(value = "删除接口", hidden = true)
+    @ApiOperation(value = "删除接口")
     @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(String id) {
-        taskInfoService.removeById(id);
+    public ResponseDataDTO delete(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
         return ResponseDataDTO.success();
     }
 
@@ -92,4 +92,14 @@
     public ResponseDataDTO<TaskInfo> detail(String id) {
         return ResponseDataDTO.success(taskInfoService.getById(id));
     }
+
+    /**
+     * 导出巡检报告
+     */
+    @ApiOperation(value = "导出接口-模板待定TO-DO")
+    @GetMapping(value = "/export")
+    public ResponseDataDTO export(@RequestBody List<String> ids) {
+        taskInfoService.removeByIds(ids);
+        return ResponseDataDTO.success();
+    }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
index d206427..24f7228 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoMapper.java
@@ -1,15 +1,18 @@
 package com.casic.missiles.modular.robot.dao;
 
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import org.apache.ibatis.annotations.Param;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.apache.ibatis.annotations.Select;
+
 import java.util.List;
+
 /**
  * <p>
- *  任务管理(其他信息待定) Mapper 接口
+ * 任务管理(其他信息待定) Mapper 接口
  * </p>
  *
  * @author lwh
@@ -19,5 +22,8 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage( @Param("page") Page<TaskInfo> page,@Param("ew" ) QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(@Param("page") Page<TaskInfo> page, @Param("ew") QueryWrapper<TaskInfo> query);
+
+    @Select("select IFNULL(max(task_no),0) as maxNo from task_info  where task_no like #{taskNo}")
+    Long selectMaxNo(@Param("taskNo") String taskNo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
index 9de434a..bac9599 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml
@@ -8,8 +8,6 @@
         <result column="create_time" property="createTime"/>
         <result column="update_time" property="updateTime"/>
         <result column="robot_id" property="robotId"/>
-        <result column="task_type" property="taskType"/>
-        <result column="discern_type" property="discernType"/>
         <result column="monitor_val" property="monitorVal"/>
         <result column="x" property="x"/>
         <result column="y" property="y"/>
@@ -24,8 +22,6 @@
                     create_time as createTime ,
                     update_time as updateTime ,
                     robot_id as robotId ,
-                    task_type as taskType ,
-                    discern_type as discernType ,
                     monitor_val as monitorVal ,
             x ,
             y ,
@@ -39,18 +35,25 @@
         a.create_time as createTime ,
         a.update_time as updateTime ,
         a.robot_id as robotId ,
-        a.task_type as taskType ,
-        a.discern_type as discernType ,
         a.monitor_val as monitorVal ,
         a.x ,
         a.y ,
         a.alarm_time as alarmTime ,
-        a.task_id as taskId
+        a.task_id as taskId,
+        b.robot_name as robotName,
+        c.start_time as startTime,
+        c.end_time as endTime,
+        d.route_name as routeName,
+        b.alarm_threshold as alarmThreshold
         from alarm_record a
+        inner join robot_info b on a.robot_id = b.id
+        inner join task_info c on a.task_id = c.id
+        inner join route_info d on d.id = c.route_id
         <where>
             <if test="ew != null">
                 ${ew.sqlSegment}
             </if>
         </where>
+        order by a.create_time desc
     </select>
 </mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
index 66dcf70..f5aa959 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/AlarmRecord.java
@@ -1,8 +1,10 @@
 package com.casic.missiles.modular.robot.model;
 
+import com.alibaba.fastjson.annotation.JSONField;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.baomidou.mybatisplus.extension.activerecord.Model;
+import com.casic.missiles.core.base.json.DateDeserializer;
 import com.fasterxml.jackson.annotation.JsonFormat;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
@@ -50,26 +52,15 @@
     private Long robotId;
 
     /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    @TableField("task_type")
-    private Integer taskType;
-
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    @TableField("discern_type")
-    private Integer discernType;
-
-    /**
      * 监测值
      */
     @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
     @TableField("monitor_val")
     private BigDecimal monitorVal;
 
+    @ApiModelProperty(value = "有无监测值", dataType = "BigDecimal")
+    @TableField(exist = false)
+    private String monitorValStatus;
     /**
      * 监测坐标x
      */
@@ -89,6 +80,7 @@
      */
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "告警时间", dataType = "Date")
+    @JSONField(serializeUsing = DateDeserializer.class)
     @TableField("alarm_time")
     private Date alarmTime;
 
@@ -99,6 +91,25 @@
     @TableField("task_id")
     private Long taskId;
 
+    @ApiModelProperty(value = "机器人名称", dataType = "String")
+    @TableField(exist = false)
+    private String robotName;
+
+    @ApiModelProperty(value = "巡航路线名称", dataType = "String")
+    @TableField(exist = false)
+    private String routeName;
+
+    @ApiModelProperty(value = "开始时间", dataType = "String")
+    @TableField(exist = false)
+    private String startTime;
+
+    @ApiModelProperty(value = "结束时间", dataType = "String")
+    @TableField(exist = false)
+    private String endTime;
+
+    @ApiModelProperty(value = "阈值", dataType = "String", hidden = true)
+    @TableField(exist = false)
+    private BigDecimal alarmThreshold;
 
     @Override
     public String toString() {
@@ -107,8 +118,6 @@
                 + "createTime=" + createTime
                 + "updateTime=" + updateTime
                 + "robotId=" + robotId
-                + "taskType=" + taskType
-                + "discernType=" + discernType
                 + "monitorVal=" + monitorVal
                 + "x=" + x
                 + "y=" + y
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index ebfb7af..f39a436 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -112,6 +112,10 @@
     @TableField("default_topic")
     private String defaultTopic;
 
+    @ApiModelProperty(value = "告警阈值配置", dataType = "String")
+    @TableField("alarm_threshold")
+    private BigDecimal alarmThreshold;
+
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
index 894ce90..2d8d705 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotStatusInfo.java
@@ -241,6 +241,9 @@
     @TableField(exist = false)
     private String connStatusName;
 
+    @ApiModelProperty(value = "当前任务信息ID", dataType = "Long")
+    @TableField("curr_task_id")
+    private Long currTaskId;
     @Override
     public String toString() {
         return "RobotStatusInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
index af2cfc6..60e8143 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java
@@ -55,21 +55,27 @@
     /**
      * 任务类型(1巡检任务)
      */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
+    @ApiModelProperty(value = "任务类型(taskType 1巡检任务)", dataType = "Integer")
     @TableField("task_type")
     private Integer taskType;
-
+    @ApiModelProperty(value = "任务类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String taskTypeName;
     /**
      * 识别类型(1中子源识别)
      */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
+    @ApiModelProperty(value = "识别类型(discernType 1中子源识别)", dataType = "Integer")
     @TableField("discern_type")
     private Integer discernType;
 
+    @ApiModelProperty(value = "识别类型字典名称", dataType = "String")
+    @TableField(exist = false)
+    private String discernTypeName;
+
     /**
      * 任务编号(yyyyMMdd+四位)
      */
-    @ApiModelProperty(value = "任务编号(yyyyMMdd+四位)", dataType = "Long")
+    @ApiModelProperty(value = "任务编号(yyyyMMdd+七位)", dataType = "Long")
     @TableField("task_no")
     private Long taskNo;
 
@@ -86,6 +92,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务开始时间", dataType = "Date")
     @TableField("start_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date startTime;
 
     /**
@@ -94,6 +101,7 @@
     @JsonFormat(pattern = "yyyy-MM-dd")
     @ApiModelProperty(value = "任务结束时间", dataType = "Date")
     @TableField("end_time")
+    @JSONField(serializeUsing = DateDeserializer.class)
     private Date endTime;
 
     /**
@@ -103,7 +111,13 @@
     @TableField("task_status")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "机器人ID", dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
 
+    @ApiModelProperty(value = "告警数量", dataType = "Integer")
+    @TableField(exist = false)
+    private Integer alarmNum;
     @Override
     public String toString() {
         return "TaskInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
index 6ffb7f2..b0f52f8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/IRobotRouteOptService.java
@@ -2,7 +2,7 @@
 
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.dto.RouteOptDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index 6d5118c..aed577f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -1,7 +1,7 @@
 package com.casic.missiles.modular.robot.opt.enums;
 
 import com.alibaba.fastjson.TypeReference;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
 import java.util.HashMap;
@@ -31,6 +31,8 @@
     }),
     START_TRACK("/start_track", "/start_track_response", "启动或关闭循迹功能", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
+    DELETE_TRACK("/delete_track", "/delete_track_response", "删除路线", false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    }),
     GET_NAVIGATION("/get_navigation", "/get_navigation_response", "导航开启/关闭状态读取", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     GET_DATA_RECORD("/get_data_record", "/get_data_record_response", "获取录包状态", true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
new file mode 100644
index 0000000..53b508c
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.context.annotation.Lazy;
+
+/**
+ * 指令抽象实现,增加机器人获取
+ *
+ * @param <T>
+ * @param <R>
+ */
+public abstract class AbstractCmdHandler<T extends BaseRobotCmdDTO, R> implements IBaseCmdHandler<T, R> {
+    private RobotInfo robotInfo;
+    protected final IRobotRouteOptService optService;
+    protected final IRobotInfoService service;
+
+    protected AbstractCmdHandler(@Lazy IRobotRouteOptService optService, @Lazy IRobotInfoService service) {
+        this.optService = optService;
+        this.service = service;
+    }
+
+    @Override
+    public void initHandler(BaseRobotCmdDTO baseRobotCmdDTO) {
+        robotInfo = service.getById(baseRobotCmdDTO.getRobotId());
+    }
+
+    public RobotInfo getRobotInfo() {
+        return robotInfo;
+    }
+
+    public void setRobotInfo(RobotInfo robotInfo) {
+        this.robotInfo = robotInfo;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
new file mode 100644
index 0000000..077f783
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseCmdHandler.java
@@ -0,0 +1,37 @@
+package com.casic.missiles.modular.robot.opt.handler;
+
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.RobotBaseMsg;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+
+
+/**
+ * 指令处理器
+ *
+ * @param <T> 命令泛型
+ */
+public interface IBaseCmdHandler<T extends BaseRobotCmdDTO, R> {
+    /**
+     * 资源初始化
+     *
+     * @param baseRobotCmdDTO 基类
+     */
+    void initHandler(BaseRobotCmdDTO baseRobotCmdDTO);
+
+    /**
+     * 指令发送
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    R senderCmd(T request, InstructCodeEnums enums);
+
+    /**
+     * 其他操作
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     */
+    R afterInvoke(T request, R response);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
index 7ad12e3..b8e561d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/IBaseMsgHandler.java
@@ -3,7 +3,7 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 
 /**
- * 业务消息处理
+ * 业务消息处理器
  */
 public interface IBaseMsgHandler {
     /**
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
new file mode 100644
index 0000000..e69ee28
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -0,0 +1,60 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TRACK_LIST")
+public class TrackListCmdHandler extends AbstractCmdHandler<TrackListRequest, ResponseDataDTO> {
+    private final IRouteInfoService routeInfoService;
+
+    protected TrackListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(TrackListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TRACK_LIST, messageDTO);
+
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(TrackListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
deleted file mode 100644
index e4b2b7e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppNavPauseMsgHandler.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/app_nav_pause")
-public class AppNavPauseMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppNavPause(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
deleted file mode 100644
index 59cdaa8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/AppStopNavtrackMsgHandler.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 停障状态实时接收器
- */
-@Slf4j
-@Component("/app_stop_navtrack")
-public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-
-    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        statusInfoService.saveAppStopNavtrack(robotId,message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
deleted file mode 100644
index b8df20e..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/PoseMessageMsgHandler.java
+++ /dev/null
@@ -1,28 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-/**
- * 实时位置接收器
- */
-@Slf4j
-@Component("/pose_message")
-public class PoseMessageMsgHandler implements IBaseMsgHandler {
-
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
-
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
-        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
deleted file mode 100644
index 75f63c5..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/ProcessMessageMsgHandler.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 暂停状态实时接收器
- */
-@Slf4j
-@Component("/process_message")
-public class ProcessMessageMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
deleted file mode 100644
index 5f07bd8..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/impl/SensorStatusMsgHandler.java
+++ /dev/null
@@ -1,40 +0,0 @@
-package com.casic.missiles.modular.robot.opt.handler.impl;
-
-import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
-import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
-import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-/**
- * 传感器状态
- */
-@Slf4j
-@Component("/sensor_status")
-public class SensorStatusMsgHandler implements IBaseMsgHandler {
-    private final IRobotStatusInfoService statusInfoService;
-    private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    static {
-        index.put("index", 0);
-    }
-
-    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
-        this.statusInfoService = statusInfoService;
-    }
-
-    @Override
-    public void process(String robotId, String topic, MqttMessage message) {
-        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
-        Integer val = index.get("index") + 1;
-        index.put("index", val);
-
-        if (val > 20) {
-            index.put("index", 0);
-            statusInfoService.saveSensorStatus(robotId,message);
-        }
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
new file mode 100644
index 0000000..aba1a57
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/app_nav_pause")
+public class AppNavPauseMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppNavPause(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
new file mode 100644
index 0000000..9bf1ce4
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 停障状态实时接收器
+ */
+@Slf4j
+@Component("/app_stop_navtrack")
+public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+
+    public AppStopNavtrackMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        statusInfoService.saveAppStopNavtrack(robotId,message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
new file mode 100644
index 0000000..b389e01
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
@@ -0,0 +1,28 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+/**
+ * 实时位置接收器
+ */
+@Slf4j
+@Component("/pose_message")
+public class PoseMessageMsgHandler implements IBaseMsgHandler {
+
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        // {"msg": {"y": -20.73847741021961, "x": -1.958316040901666, "z": 0.4921659690312511, "theta": -2.494841778370823}}
+        log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString());
+        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
new file mode 100644
index 0000000..702c091
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/ProcessMessageMsgHandler.java
@@ -0,0 +1,30 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 暂停状态实时接收器
+ */
+@Slf4j
+@Component("/process_message")
+public class ProcessMessageMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("建图进度:{}", message);
+        statusInfoService.saveProcessMessage(robotId, message);
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
new file mode 100644
index 0000000..da02b69
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java
@@ -0,0 +1,40 @@
+package com.casic.missiles.modular.robot.opt.handler.msg;
+
+import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 传感器状态
+ */
+@Slf4j
+@Component("/sensor_status")
+public class SensorStatusMsgHandler implements IBaseMsgHandler {
+    private final IRobotStatusInfoService statusInfoService;
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+
+    static {
+        index.put("index", 0);
+    }
+
+    public SensorStatusMsgHandler(IRobotStatusInfoService statusInfoService) {
+        this.statusInfoService = statusInfoService;
+    }
+
+    @Override
+    public void process(String robotId, String topic, MqttMessage message) {
+        log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        Integer val = index.get("index") + 1;
+        index.put("index", val);
+
+        if (val > 20) {
+            index.put("index", 0);
+            statusInfoService.saveSensorStatus(robotId,message);
+        }
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 58d9941..5f77817 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,13 +1,26 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
+import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.mqtt.config.MqttClientConnection;
 import lombok.SneakyThrows;
 import org.eclipse.paho.client.mqttv3.MqttClient;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 
 /**
  * 机器人操作实现
@@ -15,9 +28,13 @@
 @Service
 public class RobotOptServiceImpl implements IBaseRobotService {
     private final IRobotRouteOptService robotRouteOptService;
+    private final IRobotInfoService robotInfoService;
+    private final ITaskInfoService taskInfoService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
         this.robotRouteOptService = robotRouteOptService;
+        this.robotInfoService = robotInfoService;
+        this.taskInfoService = taskInfoService;
     }
 
     @Override
@@ -51,6 +68,49 @@
         }
     }
 
+    /**
+     * 开启循迹任务
+     *
+     * @param request 请求体
+     * @return
+     */
+    @Transactional
+    @Override
+    public ResponseDataDTO<Integer> startTrack(StartTrackRequest request) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        MessageRequestDTO<StartTrackRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<Integer> list = robotRouteOptService.robotCmd(info, InstructCodeEnums.START_TRACK, messageDTO);
+
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, info);
+
+        return list;
+    }
+
+    @Override
+    public ResponseDataDTO<AppCmdVelResponse> appCmdVel(AppCmdVelRequest request) {
+        MessageRequestDTO<AppCmdVelRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setPriority(request.getPriority());
+        RobotInfo info = robotInfoService.getById(request.getRobotId());
+        messageDTO.setMsg(request);
+        ResponseDataDTO<AppCmdVelResponse> responseDataDTO = robotRouteOptService.robotCmd(info, InstructCodeEnums.APP_CMD_VEL, messageDTO);
+        return responseDataDTO;
+    }
+
+    @Transactional
+    @Override
+    public <T, R> ResponseDataDTO<T> execCmdHandler(R request, InstructCodeEnums enums) {
+        IBaseCmdHandler cmdHandler = SpringContextHolder.getBean(enums.name());
+        cmdHandler.initHandler((BaseRobotCmdDTO) request);
+        ResponseDataDTO result = (ResponseDataDTO) cmdHandler.senderCmd((BaseRobotCmdDTO) request, InstructCodeEnums.TRACK_LIST);
+        result = (ResponseDataDTO) cmdHandler.afterInvoke((BaseRobotCmdDTO) request, result);
+        return result;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
index 00581fe..8f66f8d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotRouteOptServiceImpl.java
@@ -6,8 +6,8 @@
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.MapListRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.TrackListRequest;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
@@ -56,7 +56,7 @@
         messageDTO.setMsg(request);
 
         RobotMsgResponseDTO<List<String>> result = MsgUtils.senMsg(mqttClient, InstructCodeEnums.TRACK_LIST, messageDTO);
-        if (result != null) {
+        if (result != null&&result.getMsg()!=null) {
             //机器人路线更新至表中
             return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(robotInfo, result.getMsg().getResult()));
         }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
deleted file mode 100644
index f445171..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/MessageRequestDTO.java
+++ /dev/null
@@ -1,17 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-import java.io.Serializable;
-
-/**
- * 机器人消息请求体
- */
-@Data
-public class MessageRequestDTO<T> implements Serializable {
-    private T msg;
-
-    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
-    private Integer priority;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
new file mode 100644
index 0000000..8cb6f05
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotBaseMsg.java
@@ -0,0 +1,7 @@
+package com.casic.missiles.modular.robot.opt.instruct.base;
+
+/**
+ * 指令回复定义
+ */
+public interface RobotBaseMsg {
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
deleted file mode 100644
index 7b516ba..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/RobotMsgDTO.java
+++ /dev/null
@@ -1,38 +0,0 @@
-package com.casic.missiles.modular.robot.opt.instruct.base;
-
-import com.alibaba.fastjson.annotation.JSONField;
-import io.swagger.annotations.ApiModelProperty;
-import lombok.Data;
-
-@Data
-public class RobotMsgDTO<T> {
-    /**
-     * 消息编码
-     */
-    @ApiModelProperty(value = "消息编码", dataType = "String")
-    @JSONField(name = "error_code")
-    private String errorCode;
-    /**
-     * 错误消息
-     */
-    @ApiModelProperty(value = "错误消息", dataType = "String")
-    @JSONField(name = "error_msg")
-    private String errorMsg;
-    @ApiModelProperty(value = "返回结果")
-    private T result;
-
-    /**
-     * 机器人上传map
-     */
-    @JSONField(name = "map_name")
-    private String mapName;
-
-    private String x;
-    private String y;
-    private String z;
-    private String theta;
-
-    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
-    @JSONField(name = "get_speed")
-    private Float getSpeed;
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
new file mode 100644
index 0000000..4efaf84
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/MessageRequestDTO.java
@@ -0,0 +1,17 @@
+package com.casic.missiles.modular.robot.opt.instruct.base.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * 机器人消息请求体
+ */
+@Data
+public class MessageRequestDTO<T> implements Serializable {
+    private T msg;
+
+    @ApiModelProperty(value = "优先级0-5 遥操作:0 跟随:1 自主导航:2 其它:3", dataType = "String")
+    private Integer priority;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java
new file mode 100644
index 0000000..8f7ba24
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/base/dto/RobotMsgDTO.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.opt.instruct.base.dto;
+
+import com.alibaba.fastjson.annotation.JSONField;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+@Data
+public class RobotMsgDTO<T> {
+    /**
+     * 消息编码
+     */
+    @ApiModelProperty(value = "消息编码", dataType = "String")
+    @JSONField(name = "error_code")
+    private String errorCode;
+    /**
+     * 错误消息
+     */
+    @ApiModelProperty(value = "错误消息", dataType = "String")
+    @JSONField(name = "error_msg")
+    private String errorMsg;
+    @ApiModelProperty(value = "返回结果")
+    private T result;
+
+    /**
+     * 机器人上传map
+     */
+    @JSONField(name = "map_name")
+    private String mapName;
+
+
+    @ApiModelProperty(value = "当前速度限制设置", dataType = "String")
+    @JSONField(name = "get_speed")
+    private Float getSpeed;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java
new file mode 100644
index 0000000..ee41289
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DeleteTrackRequest.java
@@ -0,0 +1,17 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import com.alibaba.fastjson.annotation.JSONField;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 删除路线
+ */
+@Data
+public class DeleteTrackRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "sn编码(可不填 默认机器ID)", dataType = "String")
+    private String sn;
+
+    @ApiModelProperty(value = "下发状态 1:开启 0:关闭", dataType = "String")
+    private String track_name;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
index ec55a85..50a3536 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java
@@ -1,6 +1,5 @@
 package com.casic.missiles.modular.robot.opt.instruct.dto;
 
-import com.alibaba.fastjson.annotation.JSONField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,11 +15,11 @@
     private Integer action;
     @ApiModelProperty(value = "等待状态 1:等待 0:不等待", dataType = "String")
     private Integer wait;
-    @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "track_name")
-    private String tracName;
 
     @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "taskpoint_name")
-    private String taskpointName;
+    private String track_name;
+
+    @ApiModelProperty(value = "轨迹名称", dataType = "String")
+    private String taskpoint_name;
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
index 21b9112..bbb3c0c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackRecordRequest.java
@@ -1,6 +1,5 @@
 package com.casic.missiles.modular.robot.opt.instruct.dto;
 
-import com.alibaba.fastjson.annotation.JSONField;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
@@ -16,6 +15,5 @@
     private Integer action;
 
     @ApiModelProperty(value = "轨迹名称", dataType = "String")
-    @JSONField(name = "track_name")
-    private String tracName;
+    private String track_name;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
index e029be4..ed384a0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlarmRecordService.java
@@ -4,6 +4,7 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.IService;
 import com.casic.missiles.modular.robot.model.AlarmRecord;
+import com.casic.missiles.modular.robot.vo.AlarmRecordVO;
 
 import java.util.List;
 
@@ -21,4 +22,12 @@
      * 告警记录 分页检索
      */
     List<AlarmRecord> selectAlarmRecordPage(Page<AlarmRecord> page, QueryWrapper<AlarmRecord> query);
+
+    /**
+     * 根据任务ID查询报警总数
+     *
+     * @param id 任务ID
+     * @return
+     */
+    Integer selectCountByTaskId(Long id,Long robotId);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index fe9af27..e3bb91c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -1,9 +1,10 @@
 package com.casic.missiles.modular.robot.service;
 
-import com.baomidou.mybatisplus.extension.service.IService;
-import  com.casic.missiles.modular.robot.model.RobotInfo;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotInfo;
+
 import java.util.List;
 
 
@@ -19,5 +20,12 @@
     /**
      * 机器人信息管理 分页检索
      */
-    List<RobotInfo> selectRobotInfoPage(Page<RobotInfo> page,QueryWrapper<RobotInfo> query);
+    List<RobotInfo> selectRobotInfoPage(Page<RobotInfo> page, QueryWrapper<RobotInfo> query);
+
+    /**
+     * 机器人速度设置
+     *
+     * @param robotInfo 机器信息
+     */
+    void updateSpeed(RobotInfo robotInfo);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
index 6552038..4cfeccf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotStatusInfoService.java
@@ -62,4 +62,15 @@
      * @param message 消息体
      */
     void saveAppStopNavtrack(String robotId, MqttMessage message);
+
+    /**
+     * 更新车辆路线及任务信息
+     *
+     * @param currRouteId 当前路线信息
+     * @param currTaskId  当前任务信息
+     */
+    void updateCurrTask(String robotId,Long currRouteId, Long currTaskId);
+
+    RobotStatusInfo getStatusByRobotId(String robotId);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java
index f048fa2..ff145c2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoService.java
@@ -1,9 +1,12 @@
 package com.casic.missiles.modular.robot.service;
 
-import com.baomidou.mybatisplus.extension.service.IService;
-import  com.casic.missiles.modular.robot.model.TaskInfo;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+
 import java.util.List;
 
 
@@ -19,5 +22,13 @@
     /**
      * 任务管理(其他信息待定) 分页检索
      */
-    List<TaskInfo> selectTaskInfoPage(Page<TaskInfo> page,QueryWrapper<TaskInfo> query);
+    List<TaskInfo> selectTaskInfoPage(Page<TaskInfo> page, QueryWrapper<TaskInfo> query);
+
+    /**
+     * 启动循迹任务后 保存循迹任务信息
+     *
+     * @param request 循迹任务请求体
+     * @param info    机器信息
+     */
+    void reloadTask(StartTrackRequest request, RobotInfo info);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java
index 71c030f..0463880 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlarmRecordServiceImpl.java
@@ -5,9 +5,14 @@
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.modular.robot.dao.AlarmRecordMapper;
 import com.casic.missiles.modular.robot.model.AlarmRecord;
+import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.service.IAlarmRecordService;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.vo.AlarmRecordVO;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 
@@ -21,10 +26,41 @@
  */
 @Service
 public class AlarmRecordServiceImpl extends ServiceImpl<AlarmRecordMapper, AlarmRecord> implements IAlarmRecordService {
+    private final IRobotInfoService robotInfoService;
+
+    public AlarmRecordServiceImpl(@Lazy IRobotInfoService robotInfoService) {
+        this.robotInfoService = robotInfoService;
+    }
 
     @Override
     public List<AlarmRecord> selectAlarmRecordPage(Page<AlarmRecord> page, QueryWrapper<AlarmRecord> query) {
-        return this.baseMapper.selectAlarmRecordPage(page, query);
+        List<AlarmRecord> records = this.baseMapper.selectAlarmRecordPage(page, query);
+        records.forEach(this::wrapRecord);
+        return records;
+    }
+
+    private void wrapRecord(AlarmRecord record) {
+        //判断是否有检测值
+        record.setMonitorValStatus("无");
+        if (record.getAlarmThreshold() == null) {
+            record.setAlarmThreshold(new BigDecimal(0));
+        }
+        if (record.getAlarmThreshold().compareTo(record.getMonitorVal()) <= 0) {
+            record.setMonitorValStatus("有");
+        }
+    }
+
+    @Override
+    public Integer selectCountByTaskId(Long id, Long robotId) {
+        RobotInfo robotInfo = robotInfoService.getById(robotId);
+
+        QueryWrapper<AlarmRecord> query = new QueryWrapper<>();
+        query.eq("task_id", id);
+        if (robotInfo.getAlarmThreshold() != null) {
+            query.ge("monitor_val", robotInfo.getAlarmThreshold());
+        }
+        Integer num = this.count(query);
+        return num;
     }
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index 7531811..c405c9b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -3,6 +3,7 @@
 import cn.hutool.core.collection.CollectionUtil;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.core.application.service.AbstractDictService;
@@ -44,6 +45,15 @@
     }
 
     @Override
+    public void updateSpeed(RobotInfo robotInfo) {
+        UpdateWrapper<RobotInfo> update = new UpdateWrapper<>();
+        update.set("conf_v", robotInfo.getConfV());
+        update.set("conf_w", robotInfo.getConfW());
+        update.eq("id", robotInfo.getId());
+        update(update);
+    }
+
+    @Override
     public List<RobotInfo> list(Wrapper<RobotInfo> queryWrapper) {
         List<RobotInfo> robotInfos = super.list(queryWrapper);
         robotInfos.forEach(this::wrapRobotInfo);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
index 6692c5d..2afae14 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java
@@ -10,9 +10,9 @@
 import com.casic.missiles.core.application.service.AbstractDictService;
 import com.casic.missiles.modular.robot.dao.RobotStatusInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.ProcessMessageResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.SensorStatusDTO;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -57,20 +57,21 @@
     }
 
     private void wrapInfo(RobotStatusInfo statusInfo) {
-        statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getTrackStatus()));
+        statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getDiscernType()));
 
         //暂停状态
         statusInfo.setAppNavPauseName(getDictName("appNavPause", statusInfo.getAppNavPause()));
 
         //开启状态
         statusInfo.setTrackStatusName(getDictName("trackStatus", statusInfo.getTrackStatus()));
-        statusInfo.setNavigationStatusName(getDictName("trackStatus", statusInfo.getNavigationStatus()));
+        String statusName = getDictName("trackStatus", statusInfo.getNavigationStatus());
+        statusInfo.setNavigationStatusName(statusName);
         statusInfo.setDataRecordName(getDictName("trackStatus", statusInfo.getDataRecord()));
         statusInfo.setTrackStatusName(getDictName("trackStatus", statusInfo.getTrackStatus()));
         statusInfo.setTrackName(getDictName("trackStatus", statusInfo.getTrack()));
         statusInfo.setInsStatusName(getDictName("trackStatus", statusInfo.getInsStatus()));
         statusInfo.setAppStopNavtrackName(getDictName("trackStatus", statusInfo.getAppStopNavtrack()));
-
+        statusInfo.setTrackRecordName(getDictName("trackStatus", statusInfo.getTrackRecord()));
         //收到状态
         statusInfo.setLidarMsgName(getDictName("lidarMsg", statusInfo.getLidarMsg()));
         statusInfo.setImuMsgName(getDictName("lidarMsg", statusInfo.getImuMsg()));
@@ -110,10 +111,10 @@
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             SensorStatusDTO msg = responseDTO.getMsg();
-            query.set("lidar_msg", msg.getLidarMsg());
-            query.set("imu_msg", msg.getImuMsg());
-            query.set("charge_msg", msg.getChargeMsg());
-            query.set("gps_msg", msg.getGpsMsg());
+            query.set("lidar_msg", msg.getLidarMsg() == null ? 0 : msg.getLidarMsg());
+            query.set("imu_msg", msg.getImuMsg() == null ? 0 : msg.getImuMsg());
+            query.set("charge_msg", msg.getChargeMsg() == null ? 0 : msg.getChargeMsg());
+            query.set("gps_msg", msg.getGpsMsg() == null ? 0 : msg.getGpsMsg());
             query.eq("robot_id", robotId);
             update(query);
         }
@@ -172,4 +173,20 @@
             update(query);
         }
     }
+
+    @Override
+    public void updateCurrTask(String robotId, Long currRouteId, Long currTaskId) {
+        UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
+        query.set("curr_route_id", currRouteId);
+        query.set("curr_task_id", currTaskId);
+        query.eq("robot_id", robotId);
+        update(query);
+    }
+
+    @Override
+    public RobotStatusInfo getStatusByRobotId(String robotId) {
+        QueryWrapper<RobotStatusInfo> query = new QueryWrapper<>();
+        query.eq("robot_id", robotId);
+        return getOne(query);
+    }
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotTrajectoryInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotTrajectoryInfoServiceImpl.java
index 278415a..4de13dc 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotTrajectoryInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotTrajectoryInfoServiceImpl.java
@@ -7,7 +7,7 @@
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.modular.robot.dao.RobotTrajectoryInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotTrajectoryInfo;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
 import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
index a965283..894fc75 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
@@ -5,12 +5,18 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dao.RouteInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.DeleteTrackRequest;
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 
+import java.io.Serializable;
 import java.util.ArrayList;
 import java.util.Collection;
 import java.util.Date;
@@ -28,6 +34,11 @@
  */
 @Service
 public class RouteInfoServiceImpl extends ServiceImpl<RouteInfoMapper, RouteInfo> implements IRouteInfoService {
+    private final IBaseRobotService robotService;
+
+    public RouteInfoServiceImpl(@Lazy IBaseRobotService robotService) {
+        this.robotService = robotService;
+    }
 
     @Override
     public List<RouteInfo> selectRouteInfoPage(Page<RouteInfo> page, QueryWrapper<RouteInfo> query) {
@@ -40,6 +51,23 @@
     }
 
     @Override
+    public boolean removeById(Serializable id) {
+        RouteInfo routeInfo = getById(id);
+
+        RobotInfo info = new RobotInfo();
+        info.setId(routeInfo.getRobotId());
+        MessageRequestDTO<DeleteTrackRequest> messageDTO = new MessageRequestDTO();
+        DeleteTrackRequest deleteTrackRequest = new DeleteTrackRequest();
+        deleteTrackRequest.setSn(info.getId() + "");
+        deleteTrackRequest.setTrack_name(routeInfo.getTargetId());
+        messageDTO.setMsg(deleteTrackRequest);
+        robotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.DELETE_TRACK, messageDTO);
+        super.removeById(id);
+        //删除轨迹文件
+        return super.removeById(id);
+    }
+
+    @Override
     public List<RouteInfo> saveListByRouteTargetIds(RobotInfo robotInfo, List<String> result) {
         //检索当前库中机器人信息表
         QueryWrapper<RouteInfo> query = new QueryWrapper<>();
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
index c12a903..c16c954 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
@@ -1,15 +1,33 @@
 package com.casic.missiles.modular.robot.service.impl;
 
-import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
-import org.springframework.stereotype.Service;
-import com.casic.missiles.modular.robot.service.ITaskInfoService;
-import java.util.List;
-
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.date.DateUtil;
+import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
+import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
-
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.casic.missiles.core.application.service.AbstractDictService;
+import com.casic.missiles.model.exception.ServiceException;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dao.TaskInfoMapper;
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RobotStatusInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.service.IAlarmRecordService;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import org.springframework.context.annotation.Lazy;
+import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
+
+import java.io.Serializable;
+import java.util.Date;
+import java.util.List;
 
 
 /**
@@ -22,10 +40,98 @@
  */
 @Service
 public class TaskInfoServiceImpl extends ServiceImpl<TaskInfoMapper, TaskInfo> implements ITaskInfoService {
+    private final IRouteInfoService routeInfoService;
+    private final IRobotStatusInfoService statusInfoService;
+    private final AbstractDictService dictService;
+    private final IAlarmRecordService recordService;
 
-    @Override
-    public List<TaskInfo> selectTaskInfoPage(Page<TaskInfo> page,QueryWrapper<TaskInfo> query) {
-        return this.baseMapper.selectTaskInfoPage(page,query);
+    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService) {
+        this.routeInfoService = routeInfoService;
+        this.statusInfoService = statusInfoService;
+        this.dictService = dictService;
+        this.recordService = recordService;
     }
 
-}
+    @Override
+    public List<TaskInfo> selectTaskInfoPage(Page<TaskInfo> page, QueryWrapper<TaskInfo> query) {
+        return this.baseMapper.selectTaskInfoPage(page, query);
+    }
+
+    @Override
+    public TaskInfo getById(Serializable id) {
+        TaskInfo taskInfo = super.getById(id);
+        wrapTaskInfo(taskInfo);
+        return taskInfo;
+    }
+
+    @Override
+    public <E extends IPage<TaskInfo>> E page(E page, Wrapper<TaskInfo> queryWrapper) {
+        E infoIPage = super.page(page, queryWrapper);
+        infoIPage.getRecords().forEach(this::wrapTaskInfo);
+        return infoIPage;
+    }
+
+    private void wrapTaskInfo(TaskInfo taskInfo) {
+        taskInfo.setDiscernTypeName(dictService.getDictNameByCode(RobotDictConstants.DISCERN_TYPE, taskInfo.getDiscernType() + ""));
+        taskInfo.setTaskTypeName(dictService.getDictNameByCode(RobotDictConstants.TASK_TYPE, taskInfo.getTaskType() + ""));
+        //检索当前任务告警数量
+        taskInfo.setAlarmNum(recordService.selectCountByTaskId(taskInfo.getId(),taskInfo.getRobotId()));
+    }
+
+    @Transactional
+    @Override
+    public void reloadTask(StartTrackRequest request, RobotInfo info) {
+        String robotId = info.getId() + "";
+
+        //开启操作
+        if (request.getAction() == 1) {
+            QueryWrapper<RouteInfo> query = new QueryWrapper<>();
+            query.eq("target_id", request.getTrack_name());
+            List<RouteInfo> routeInfos = routeInfoService.list(query);
+
+            if (CollectionUtil.isEmpty(routeInfos)) {
+                throw new ServiceException(500, "路线不存在,请及时更新");
+            }
+            RouteInfo routeInfo = routeInfos.get(0);
+            //No.2 新增任务信息
+            TaskInfo taskInfo = new TaskInfo();
+            String currDate = DateUtil.format(new Date(), "yyyyMMdd");
+            Long maxNo = this.baseMapper.selectMaxNo(currDate + "%");
+            if (new Long(0L).equals(maxNo)) {
+                maxNo = new Long(currDate + String.format("%07d", 1));
+            } else {
+                maxNo = maxNo + 1;
+            }
+            taskInfo.setTaskNo(maxNo);
+            taskInfo.setCreateTime(new Date());
+            //任务类型 中子源
+            taskInfo.setTaskType(1);
+            taskInfo.setDiscernType(1);
+            taskInfo.setTaskName(routeInfo.getRouteName() + "巡线任务");
+            //执行状态 未完成
+            taskInfo.setTaskStatus(0);
+            taskInfo.setStartTime(new Date());
+            taskInfo.setRouteId(routeInfo.getId());
+            taskInfo.setRobotId(info.getId());
+            save(taskInfo);
+
+            //No.3 更新
+            Long currRouteId = routeInfo.getId();
+            Long currTaskId = taskInfo.getId();
+            statusInfoService.updateCurrTask(robotId, currRouteId, currTaskId);
+        } else {
+            //关闭操作
+            RobotStatusInfo statusInfo = statusInfoService.getStatusByRobotId(robotId);
+            if (statusInfo.getCurrTaskId() != null) {
+                UpdateWrapper<TaskInfo> updateWrapper = new UpdateWrapper<>();
+                updateWrapper.set("update_time", new Date());
+                updateWrapper.set("task_status", 1);
+                updateWrapper.set("end_time", new Date());
+                updateWrapper.eq("id", statusInfo.getCurrTaskId());
+                update(updateWrapper);
+            }
+            //清空当前任务
+            statusInfoService.updateCurrTask(robotId, null, null);
+        }
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/AlarmRecordVO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/AlarmRecordVO.java
index 2f55ae2..d09a438 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/AlarmRecordVO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/AlarmRecordVO.java
@@ -1,12 +1,11 @@
 package com.casic.missiles.modular.robot.vo;
 
+import cn.hutool.core.util.StrUtil;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.casic.missiles.modular.robot.model.AlarmRecord;
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
-import java.math.BigDecimal;
-
 /**
  * 告警记录对象VO
  *
@@ -22,21 +21,6 @@
      */
     @ApiModelProperty(value = "机器人主键", dataType = "Long")
     private Long robotId;
-    /**
-     * 任务类型(1巡检任务)
-     */
-    @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
-    private Integer taskType;
-    /**
-     * 识别类型(1中子源识别)
-     */
-    @ApiModelProperty(value = "识别类型(1中子源识别)", dataType = "Integer")
-    private Integer discernType;
-    /**
-     * 监测值
-     */
-    @ApiModelProperty(value = "监测值", dataType = "BigDecimal")
-    private BigDecimal monitorVal;
 
     /**
      * 机器人任务ID
@@ -44,19 +28,39 @@
     @ApiModelProperty(value = "机器人任务ID", dataType = "Long")
     private Long taskId;
 
+    @ApiModelProperty(value = "路线ID", dataType = "Long")
+    private Long routeId;
+
+    @ApiModelProperty(value = "有无监测值类型(0 无 1 有)", dataType = "Long")
+    private Integer valType;
+    @ApiModelProperty(value = "开始时间(yyyy-MM-dd HH:mm:ss)", dataType = "String")
+    private String startTime;
+    @ApiModelProperty(value = "结束时间(yyyy-MM-dd HH:mm:ss)", dataType = "String")
+    private String endTime;
+
     public QueryWrapper<AlarmRecord> genQuery() {
         QueryWrapper<AlarmRecord> query = new QueryWrapper<>();
         if (robotId != null) {
-            query.eq("robot_id", robotId);
-        }
-        if (taskType != null) {
-            query.eq("task_type", taskType);
-        }
-        if (discernType != null) {
-            query.eq("discern_type", discernType);
+            query.eq("a.robot_id", robotId);
         }
         if (taskId != null) {
-            query.eq("task_id", taskId);
+            query.eq("a.task_id", taskId);
+        }
+        if (routeId != null) {
+            query.eq("d.id", routeId);
+        }
+        if (StrUtil.isNotEmpty(startTime)) {
+            query.ge("a.alarm_time", startTime);
+        }
+        if (StrUtil.isNotEmpty((endTime))) {
+            query.le("a.alarm_time", endTime);
+        }
+        if (valType != null) {
+            if (1 == valType) {
+                query.eq("(a.monitor_val>=b.alarm_threshold)", true);
+            } else {
+                query.eq("(a.monitor_val<b.alarm_threshold)", true);
+            }
         }
         return query;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskInfoVO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskInfoVO.java
index c2ba982..0804b76 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskInfoVO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskInfoVO.java
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.vo;
 
+import cn.hutool.core.util.StrUtil;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.casic.missiles.modular.robot.model.TaskInfo;
 import io.swagger.annotations.ApiModelProperty;
@@ -15,6 +16,8 @@
 public class TaskInfoVO {
     private static final long serialVersionUID = 1L;
 
+    @ApiModelProperty(value = "机器ID", dataType = "Long")
+    private Long robotId;
     /**
      * 路线ID
      */
@@ -25,17 +28,21 @@
      */
     @ApiModelProperty(value = "任务类型(1巡检任务)", dataType = "Integer")
     private Integer taskType;
-
     /**
      * 任务状态(0,未完成 1 执行完毕)
      */
     @ApiModelProperty(value = "任务状态(0,未完成 1 执行完毕)", dataType = "Integer")
     private Integer taskStatus;
 
+    @ApiModelProperty(value = "开始时间(yyyy-MM-dd HH:mm:ss)", dataType = "String")
+    private String startTime;
+    @ApiModelProperty(value = "结束时间(yyyy-MM-dd HH:mm:ss)", dataType = "String")
+    private String endTime;
+
     public QueryWrapper<TaskInfo> genQuery() {
         QueryWrapper<TaskInfo> query = new QueryWrapper<>();
-        if (routeId != null) {
-            query.eq("route_id", routeId);
+        if (robotId != null) {
+            query.eq("robot_id", robotId);
         }
         if (taskType != null) {
             query.eq("task_type", taskType);
@@ -43,6 +50,13 @@
         if (taskStatus != null) {
             query.eq("task_status", taskStatus);
         }
+        if (StrUtil.isNotEmpty(startTime)) {
+            query.ge("start_time", startTime);
+        }
+        if (StrUtil.isNotEmpty((endTime))) {
+            query.le("end_time", endTime);
+        }
+        query.orderByDesc("create_time");
         return query;
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/mqtt/MsgUtils.java b/casic-server/src/main/java/com/casic/missiles/mqtt/MsgUtils.java
index 14502f6..d5a1c13 100644
--- a/casic-server/src/main/java/com/casic/missiles/mqtt/MsgUtils.java
+++ b/casic-server/src/main/java/com/casic/missiles/mqtt/MsgUtils.java
@@ -5,8 +5,8 @@
 import com.alibaba.fastjson.TypeReference;
 import com.casic.missiles.model.exception.ServiceException;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
-import com.casic.missiles.modular.robot.opt.instruct.base.MessageRequestDTO;
-import com.casic.missiles.modular.robot.opt.instruct.base.RobotMsgResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.mqtt.config.MqttClientConnection;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;