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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
new file mode 100644
index 0000000..9d012da
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  任务照片存储 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface TaskInfoImgMapper extends BaseMapper<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage( @Param("page") Page<TaskInfoImg> page,@Param("ew" ) QueryWrapper<TaskInfoImg> query);
+}

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
new file mode 100644
index 0000000..9d012da
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  任务照片存储 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface TaskInfoImgMapper extends BaseMapper<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage( @Param("page") Page<TaskInfoImg> page,@Param("ew" ) QueryWrapper<TaskInfoImg> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
new file mode 100644
index 0000000..e330c68
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.TaskInfoImgMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskInfoImg">
+            <result column="id" property="id"/>
+            <result column="mca_img" property="mcaImg"/>
+            <result column="psd_img" property="psdImg"/>
+            <result column="route_img" property="routeImg"/>
+            <result column="heat_img" property="heatImg"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    mca_img as mcaImg ,
+                    psd_img as psdImg ,
+                    route_img as routeImg ,
+                    heat_img as heatImg 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.mca_img
+            as mcaImg ,
+            a.psd_img
+            as psdImg ,
+            a.route_img
+            as routeImg ,
+            a.heat_img
+            as heatImg 
+</sql>
+<select id="selectTaskInfoImgPage" resultType="com.casic.missiles.modular.robot.model.TaskInfoImg">
+    select
+    <include refid="Base_Column_Alias"/>
+    from task_info_img a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.mcaImg!= null and request.mcaImg!=''">
+            and mca_img = #{request.mcaImg}
+</if>
+<if test="request.psdImg!= null and request.psdImg!=''">
+            and psd_img = #{request.psdImg}
+</if>
+<if test="request.routeImg!= null and request.routeImg!=''">
+            and route_img = #{request.routeImg}
+</if>
+<if test="request.heatImg!= null and request.heatImg!=''">
+            and heat_img = #{request.heatImg}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
new file mode 100644
index 0000000..9d012da
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  任务照片存储 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface TaskInfoImgMapper extends BaseMapper<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage( @Param("page") Page<TaskInfoImg> page,@Param("ew" ) QueryWrapper<TaskInfoImg> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
new file mode 100644
index 0000000..e330c68
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.TaskInfoImgMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskInfoImg">
+            <result column="id" property="id"/>
+            <result column="mca_img" property="mcaImg"/>
+            <result column="psd_img" property="psdImg"/>
+            <result column="route_img" property="routeImg"/>
+            <result column="heat_img" property="heatImg"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    mca_img as mcaImg ,
+                    psd_img as psdImg ,
+                    route_img as routeImg ,
+                    heat_img as heatImg 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.mca_img
+            as mcaImg ,
+            a.psd_img
+            as psdImg ,
+            a.route_img
+            as routeImg ,
+            a.heat_img
+            as heatImg 
+</sql>
+<select id="selectTaskInfoImgPage" resultType="com.casic.missiles.modular.robot.model.TaskInfoImg">
+    select
+    <include refid="Base_Column_Alias"/>
+    from task_info_img a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.mcaImg!= null and request.mcaImg!=''">
+            and mca_img = #{request.mcaImg}
+</if>
+<if test="request.psdImg!= null and request.psdImg!=''">
+            and psd_img = #{request.psdImg}
+</if>
+<if test="request.routeImg!= null and request.routeImg!=''">
+            and route_img = #{request.routeImg}
+</if>
+<if test="request.heatImg!= null and request.heatImg!=''">
+            and heat_img = #{request.heatImg}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
new file mode 100644
index 0000000..ed06f3b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
@@ -0,0 +1,32 @@
+package com.casic.missiles.modular.robot.event;
+
+import com.casic.missiles.model.application.event.core.ModelEvent;
+import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+/**
+ * 用户登录数据变化事件
+ *
+ * @author lwh
+ */
+public class PoseMessageEvent extends ModelEvent<MqttMessage> {
+    private String robotId;
+    /**
+     * Create a new {@code ApplicationEvent}.
+     *
+     * @param type   事件类型
+     * @param source the object on which the event initially occurred or with
+     *               which the event is associated (never {@code null})
+     */
+    public PoseMessageEvent(AbstractEventTypeEnum type, MqttMessage source) {
+        super(type, source);
+    }
+
+    public String getRobotId() {
+        return robotId;
+    }
+
+    public void setRobotId(String robotId) {
+        this.robotId = robotId;
+    }
+}

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
new file mode 100644
index 0000000..9d012da
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  任务照片存储 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface TaskInfoImgMapper extends BaseMapper<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage( @Param("page") Page<TaskInfoImg> page,@Param("ew" ) QueryWrapper<TaskInfoImg> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
new file mode 100644
index 0000000..e330c68
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.TaskInfoImgMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskInfoImg">
+            <result column="id" property="id"/>
+            <result column="mca_img" property="mcaImg"/>
+            <result column="psd_img" property="psdImg"/>
+            <result column="route_img" property="routeImg"/>
+            <result column="heat_img" property="heatImg"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    mca_img as mcaImg ,
+                    psd_img as psdImg ,
+                    route_img as routeImg ,
+                    heat_img as heatImg 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.mca_img
+            as mcaImg ,
+            a.psd_img
+            as psdImg ,
+            a.route_img
+            as routeImg ,
+            a.heat_img
+            as heatImg 
+</sql>
+<select id="selectTaskInfoImgPage" resultType="com.casic.missiles.modular.robot.model.TaskInfoImg">
+    select
+    <include refid="Base_Column_Alias"/>
+    from task_info_img a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.mcaImg!= null and request.mcaImg!=''">
+            and mca_img = #{request.mcaImg}
+</if>
+<if test="request.psdImg!= null and request.psdImg!=''">
+            and psd_img = #{request.psdImg}
+</if>
+<if test="request.routeImg!= null and request.routeImg!=''">
+            and route_img = #{request.routeImg}
+</if>
+<if test="request.heatImg!= null and request.heatImg!=''">
+            and heat_img = #{request.heatImg}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
new file mode 100644
index 0000000..ed06f3b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
@@ -0,0 +1,32 @@
+package com.casic.missiles.modular.robot.event;
+
+import com.casic.missiles.model.application.event.core.ModelEvent;
+import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+/**
+ * 用户登录数据变化事件
+ *
+ * @author lwh
+ */
+public class PoseMessageEvent extends ModelEvent<MqttMessage> {
+    private String robotId;
+    /**
+     * Create a new {@code ApplicationEvent}.
+     *
+     * @param type   事件类型
+     * @param source the object on which the event initially occurred or with
+     *               which the event is associated (never {@code null})
+     */
+    public PoseMessageEvent(AbstractEventTypeEnum type, MqttMessage source) {
+        super(type, source);
+    }
+
+    public String getRobotId() {
+        return robotId;
+    }
+
+    public void setRobotId(String robotId) {
+        this.robotId = robotId;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
new file mode 100644
index 0000000..2cc6cdc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.event;
+
+import cn.hutool.core.thread.ExecutorBuilder;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.ThreadPoolExecutor;
+
+/**
+ * 定位事件监听器
+ * @see  com.casic.missiles.modular.robot.opt.handler.msg.PoseMessageMsgHandler
+ */
+@Slf4j
+@Component
+public class PoseMessageListener {
+    private static ThreadPoolExecutor threadPoolExecutor = ExecutorBuilder.create().setCorePoolSize(5).setMaxPoolSize(10).build();
+    private final IRobotStatusInfoService statusInfoService;
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageListener(IRobotStatusInfoService statusInfoService, IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.statusInfoService = statusInfoService;
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @EventListener
+    public void onApplicationEvent(PoseMessageEvent event) {
+//        threadPoolExecutor.execute(() -> { });
+        robotTrajectoryInfoService.savePoseMessage(event.getRobotId(), (MqttMessage) event.getSource());
+    }
+}
\ No newline at end of file

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
new file mode 100644
index 0000000..9d012da
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  任务照片存储 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface TaskInfoImgMapper extends BaseMapper<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage( @Param("page") Page<TaskInfoImg> page,@Param("ew" ) QueryWrapper<TaskInfoImg> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
new file mode 100644
index 0000000..e330c68
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.TaskInfoImgMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskInfoImg">
+            <result column="id" property="id"/>
+            <result column="mca_img" property="mcaImg"/>
+            <result column="psd_img" property="psdImg"/>
+            <result column="route_img" property="routeImg"/>
+            <result column="heat_img" property="heatImg"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    mca_img as mcaImg ,
+                    psd_img as psdImg ,
+                    route_img as routeImg ,
+                    heat_img as heatImg 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.mca_img
+            as mcaImg ,
+            a.psd_img
+            as psdImg ,
+            a.route_img
+            as routeImg ,
+            a.heat_img
+            as heatImg 
+</sql>
+<select id="selectTaskInfoImgPage" resultType="com.casic.missiles.modular.robot.model.TaskInfoImg">
+    select
+    <include refid="Base_Column_Alias"/>
+    from task_info_img a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.mcaImg!= null and request.mcaImg!=''">
+            and mca_img = #{request.mcaImg}
+</if>
+<if test="request.psdImg!= null and request.psdImg!=''">
+            and psd_img = #{request.psdImg}
+</if>
+<if test="request.routeImg!= null and request.routeImg!=''">
+            and route_img = #{request.routeImg}
+</if>
+<if test="request.heatImg!= null and request.heatImg!=''">
+            and heat_img = #{request.heatImg}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
new file mode 100644
index 0000000..ed06f3b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
@@ -0,0 +1,32 @@
+package com.casic.missiles.modular.robot.event;
+
+import com.casic.missiles.model.application.event.core.ModelEvent;
+import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+/**
+ * 用户登录数据变化事件
+ *
+ * @author lwh
+ */
+public class PoseMessageEvent extends ModelEvent<MqttMessage> {
+    private String robotId;
+    /**
+     * Create a new {@code ApplicationEvent}.
+     *
+     * @param type   事件类型
+     * @param source the object on which the event initially occurred or with
+     *               which the event is associated (never {@code null})
+     */
+    public PoseMessageEvent(AbstractEventTypeEnum type, MqttMessage source) {
+        super(type, source);
+    }
+
+    public String getRobotId() {
+        return robotId;
+    }
+
+    public void setRobotId(String robotId) {
+        this.robotId = robotId;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
new file mode 100644
index 0000000..2cc6cdc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.event;
+
+import cn.hutool.core.thread.ExecutorBuilder;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.ThreadPoolExecutor;
+
+/**
+ * 定位事件监听器
+ * @see  com.casic.missiles.modular.robot.opt.handler.msg.PoseMessageMsgHandler
+ */
+@Slf4j
+@Component
+public class PoseMessageListener {
+    private static ThreadPoolExecutor threadPoolExecutor = ExecutorBuilder.create().setCorePoolSize(5).setMaxPoolSize(10).build();
+    private final IRobotStatusInfoService statusInfoService;
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageListener(IRobotStatusInfoService statusInfoService, IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.statusInfoService = statusInfoService;
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @EventListener
+    public void onApplicationEvent(PoseMessageEvent event) {
+//        threadPoolExecutor.execute(() -> { });
+        robotTrajectoryInfoService.savePoseMessage(event.getRobotId(), (MqttMessage) event.getSource());
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
new file mode 100644
index 0000000..7e881d9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
@@ -0,0 +1,52 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+
+/**
+ * 任务照片存储对象 task_info_img
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+@TableName("task_info_img")
+public class TaskInfoImg extends Model<TaskInfoImg> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "任务ID", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "MCA图片", dataType = "String")
+    @TableField("mca_img")
+    private String mcaImg;
+
+    @ApiModelProperty(value = "PSD图片", dataType = "String")
+    @TableField("psd_img")
+    private String psdImg;
+
+    @ApiModelProperty(value = "巡检路线img", dataType = "String")
+    @TableField("route_img")
+    private String routeImg;
+
+    @ApiModelProperty(value = "热点分布图", dataType = "String")
+    @TableField("heat_img")
+    private String heatImg;
+
+
+    @Override
+    public String toString() {
+        return "TaskInfoImg{"
+                + "id=" + id
+                + "mcaImg=" + mcaImg
+                + "psdImg=" + psdImg
+                + "routeImg=" + routeImg
+                + "heatImg=" + heatImg
+                + "}";
+    }
+}
\ No newline at end of file

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
new file mode 100644
index 0000000..9d012da
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  任务照片存储 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface TaskInfoImgMapper extends BaseMapper<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage( @Param("page") Page<TaskInfoImg> page,@Param("ew" ) QueryWrapper<TaskInfoImg> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
new file mode 100644
index 0000000..e330c68
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.TaskInfoImgMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskInfoImg">
+            <result column="id" property="id"/>
+            <result column="mca_img" property="mcaImg"/>
+            <result column="psd_img" property="psdImg"/>
+            <result column="route_img" property="routeImg"/>
+            <result column="heat_img" property="heatImg"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    mca_img as mcaImg ,
+                    psd_img as psdImg ,
+                    route_img as routeImg ,
+                    heat_img as heatImg 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.mca_img
+            as mcaImg ,
+            a.psd_img
+            as psdImg ,
+            a.route_img
+            as routeImg ,
+            a.heat_img
+            as heatImg 
+</sql>
+<select id="selectTaskInfoImgPage" resultType="com.casic.missiles.modular.robot.model.TaskInfoImg">
+    select
+    <include refid="Base_Column_Alias"/>
+    from task_info_img a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.mcaImg!= null and request.mcaImg!=''">
+            and mca_img = #{request.mcaImg}
+</if>
+<if test="request.psdImg!= null and request.psdImg!=''">
+            and psd_img = #{request.psdImg}
+</if>
+<if test="request.routeImg!= null and request.routeImg!=''">
+            and route_img = #{request.routeImg}
+</if>
+<if test="request.heatImg!= null and request.heatImg!=''">
+            and heat_img = #{request.heatImg}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
new file mode 100644
index 0000000..ed06f3b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
@@ -0,0 +1,32 @@
+package com.casic.missiles.modular.robot.event;
+
+import com.casic.missiles.model.application.event.core.ModelEvent;
+import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+/**
+ * 用户登录数据变化事件
+ *
+ * @author lwh
+ */
+public class PoseMessageEvent extends ModelEvent<MqttMessage> {
+    private String robotId;
+    /**
+     * Create a new {@code ApplicationEvent}.
+     *
+     * @param type   事件类型
+     * @param source the object on which the event initially occurred or with
+     *               which the event is associated (never {@code null})
+     */
+    public PoseMessageEvent(AbstractEventTypeEnum type, MqttMessage source) {
+        super(type, source);
+    }
+
+    public String getRobotId() {
+        return robotId;
+    }
+
+    public void setRobotId(String robotId) {
+        this.robotId = robotId;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
new file mode 100644
index 0000000..2cc6cdc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.event;
+
+import cn.hutool.core.thread.ExecutorBuilder;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.ThreadPoolExecutor;
+
+/**
+ * 定位事件监听器
+ * @see  com.casic.missiles.modular.robot.opt.handler.msg.PoseMessageMsgHandler
+ */
+@Slf4j
+@Component
+public class PoseMessageListener {
+    private static ThreadPoolExecutor threadPoolExecutor = ExecutorBuilder.create().setCorePoolSize(5).setMaxPoolSize(10).build();
+    private final IRobotStatusInfoService statusInfoService;
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageListener(IRobotStatusInfoService statusInfoService, IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.statusInfoService = statusInfoService;
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @EventListener
+    public void onApplicationEvent(PoseMessageEvent event) {
+//        threadPoolExecutor.execute(() -> { });
+        robotTrajectoryInfoService.savePoseMessage(event.getRobotId(), (MqttMessage) event.getSource());
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
new file mode 100644
index 0000000..7e881d9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
@@ -0,0 +1,52 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+
+/**
+ * 任务照片存储对象 task_info_img
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+@TableName("task_info_img")
+public class TaskInfoImg extends Model<TaskInfoImg> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "任务ID", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "MCA图片", dataType = "String")
+    @TableField("mca_img")
+    private String mcaImg;
+
+    @ApiModelProperty(value = "PSD图片", dataType = "String")
+    @TableField("psd_img")
+    private String psdImg;
+
+    @ApiModelProperty(value = "巡检路线img", dataType = "String")
+    @TableField("route_img")
+    private String routeImg;
+
+    @ApiModelProperty(value = "热点分布图", dataType = "String")
+    @TableField("heat_img")
+    private String heatImg;
+
+
+    @Override
+    public String toString() {
+        return "TaskInfoImg{"
+                + "id=" + id
+                + "mcaImg=" + mcaImg
+                + "psdImg=" + psdImg
+                + "routeImg=" + routeImg
+                + "heatImg=" + heatImg
+                + "}";
+    }
+}
\ No newline at end of file
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 d74a38b..c4bc25d 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
@@ -35,7 +35,7 @@
     }),
     TRACK_RECORD("/track_record" , "/track_record_response" , "启动或关闭轨迹录制功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
-    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     DELETE_TRACK("/delete_track" , "/delete_track_response" , "删除路线" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
new file mode 100644
index 0000000..9d012da
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  任务照片存储 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface TaskInfoImgMapper extends BaseMapper<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage( @Param("page") Page<TaskInfoImg> page,@Param("ew" ) QueryWrapper<TaskInfoImg> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
new file mode 100644
index 0000000..e330c68
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.TaskInfoImgMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskInfoImg">
+            <result column="id" property="id"/>
+            <result column="mca_img" property="mcaImg"/>
+            <result column="psd_img" property="psdImg"/>
+            <result column="route_img" property="routeImg"/>
+            <result column="heat_img" property="heatImg"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    mca_img as mcaImg ,
+                    psd_img as psdImg ,
+                    route_img as routeImg ,
+                    heat_img as heatImg 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.mca_img
+            as mcaImg ,
+            a.psd_img
+            as psdImg ,
+            a.route_img
+            as routeImg ,
+            a.heat_img
+            as heatImg 
+</sql>
+<select id="selectTaskInfoImgPage" resultType="com.casic.missiles.modular.robot.model.TaskInfoImg">
+    select
+    <include refid="Base_Column_Alias"/>
+    from task_info_img a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.mcaImg!= null and request.mcaImg!=''">
+            and mca_img = #{request.mcaImg}
+</if>
+<if test="request.psdImg!= null and request.psdImg!=''">
+            and psd_img = #{request.psdImg}
+</if>
+<if test="request.routeImg!= null and request.routeImg!=''">
+            and route_img = #{request.routeImg}
+</if>
+<if test="request.heatImg!= null and request.heatImg!=''">
+            and heat_img = #{request.heatImg}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
new file mode 100644
index 0000000..ed06f3b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
@@ -0,0 +1,32 @@
+package com.casic.missiles.modular.robot.event;
+
+import com.casic.missiles.model.application.event.core.ModelEvent;
+import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+/**
+ * 用户登录数据变化事件
+ *
+ * @author lwh
+ */
+public class PoseMessageEvent extends ModelEvent<MqttMessage> {
+    private String robotId;
+    /**
+     * Create a new {@code ApplicationEvent}.
+     *
+     * @param type   事件类型
+     * @param source the object on which the event initially occurred or with
+     *               which the event is associated (never {@code null})
+     */
+    public PoseMessageEvent(AbstractEventTypeEnum type, MqttMessage source) {
+        super(type, source);
+    }
+
+    public String getRobotId() {
+        return robotId;
+    }
+
+    public void setRobotId(String robotId) {
+        this.robotId = robotId;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
new file mode 100644
index 0000000..2cc6cdc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.event;
+
+import cn.hutool.core.thread.ExecutorBuilder;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.ThreadPoolExecutor;
+
+/**
+ * 定位事件监听器
+ * @see  com.casic.missiles.modular.robot.opt.handler.msg.PoseMessageMsgHandler
+ */
+@Slf4j
+@Component
+public class PoseMessageListener {
+    private static ThreadPoolExecutor threadPoolExecutor = ExecutorBuilder.create().setCorePoolSize(5).setMaxPoolSize(10).build();
+    private final IRobotStatusInfoService statusInfoService;
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageListener(IRobotStatusInfoService statusInfoService, IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.statusInfoService = statusInfoService;
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @EventListener
+    public void onApplicationEvent(PoseMessageEvent event) {
+//        threadPoolExecutor.execute(() -> { });
+        robotTrajectoryInfoService.savePoseMessage(event.getRobotId(), (MqttMessage) event.getSource());
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
new file mode 100644
index 0000000..7e881d9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
@@ -0,0 +1,52 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+
+/**
+ * 任务照片存储对象 task_info_img
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+@TableName("task_info_img")
+public class TaskInfoImg extends Model<TaskInfoImg> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "任务ID", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "MCA图片", dataType = "String")
+    @TableField("mca_img")
+    private String mcaImg;
+
+    @ApiModelProperty(value = "PSD图片", dataType = "String")
+    @TableField("psd_img")
+    private String psdImg;
+
+    @ApiModelProperty(value = "巡检路线img", dataType = "String")
+    @TableField("route_img")
+    private String routeImg;
+
+    @ApiModelProperty(value = "热点分布图", dataType = "String")
+    @TableField("heat_img")
+    private String heatImg;
+
+
+    @Override
+    public String toString() {
+        return "TaskInfoImg{"
+                + "id=" + id
+                + "mcaImg=" + mcaImg
+                + "psdImg=" + psdImg
+                + "routeImg=" + routeImg
+                + "heatImg=" + heatImg
+                + "}";
+    }
+}
\ No newline at end of file
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 d74a38b..c4bc25d 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
@@ -35,7 +35,7 @@
     }),
     TRACK_RECORD("/track_record" , "/track_record_response" , "启动或关闭轨迹录制功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
-    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     DELETE_TRACK("/delete_track" , "/delete_track_response" , "删除路线" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
index 41879dd..83f4cb2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
@@ -13,6 +13,7 @@
 
 /**
  * websocket 推送消息
+ * @see com.casic.missiles.mqtt.config.MqttClientConfigListener#createMqtt
  */
 @Slf4j
 public abstract class AbstractSocketHandler implements IBaseMsgHandler {
@@ -48,7 +49,7 @@
                 wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
                 wsMsgBaseDTO.setData(jsonObject.get("msg"));
                 String msg = JSON.toJSONString(wsMsgBaseDTO);
-//                log.info("推送{}消息：{}", enums.getRemarks(), msg);
+                log.info("推送{}消息：{}", enums.getRemarks(), msg);
                 webSocket.sendOneMessage(robotId, msg);
             }
         } catch (Exception e) {

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
new file mode 100644
index 0000000..9d012da
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  任务照片存储 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface TaskInfoImgMapper extends BaseMapper<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage( @Param("page") Page<TaskInfoImg> page,@Param("ew" ) QueryWrapper<TaskInfoImg> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
new file mode 100644
index 0000000..e330c68
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.TaskInfoImgMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskInfoImg">
+            <result column="id" property="id"/>
+            <result column="mca_img" property="mcaImg"/>
+            <result column="psd_img" property="psdImg"/>
+            <result column="route_img" property="routeImg"/>
+            <result column="heat_img" property="heatImg"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    mca_img as mcaImg ,
+                    psd_img as psdImg ,
+                    route_img as routeImg ,
+                    heat_img as heatImg 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.mca_img
+            as mcaImg ,
+            a.psd_img
+            as psdImg ,
+            a.route_img
+            as routeImg ,
+            a.heat_img
+            as heatImg 
+</sql>
+<select id="selectTaskInfoImgPage" resultType="com.casic.missiles.modular.robot.model.TaskInfoImg">
+    select
+    <include refid="Base_Column_Alias"/>
+    from task_info_img a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.mcaImg!= null and request.mcaImg!=''">
+            and mca_img = #{request.mcaImg}
+</if>
+<if test="request.psdImg!= null and request.psdImg!=''">
+            and psd_img = #{request.psdImg}
+</if>
+<if test="request.routeImg!= null and request.routeImg!=''">
+            and route_img = #{request.routeImg}
+</if>
+<if test="request.heatImg!= null and request.heatImg!=''">
+            and heat_img = #{request.heatImg}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
new file mode 100644
index 0000000..ed06f3b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
@@ -0,0 +1,32 @@
+package com.casic.missiles.modular.robot.event;
+
+import com.casic.missiles.model.application.event.core.ModelEvent;
+import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+/**
+ * 用户登录数据变化事件
+ *
+ * @author lwh
+ */
+public class PoseMessageEvent extends ModelEvent<MqttMessage> {
+    private String robotId;
+    /**
+     * Create a new {@code ApplicationEvent}.
+     *
+     * @param type   事件类型
+     * @param source the object on which the event initially occurred or with
+     *               which the event is associated (never {@code null})
+     */
+    public PoseMessageEvent(AbstractEventTypeEnum type, MqttMessage source) {
+        super(type, source);
+    }
+
+    public String getRobotId() {
+        return robotId;
+    }
+
+    public void setRobotId(String robotId) {
+        this.robotId = robotId;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
new file mode 100644
index 0000000..2cc6cdc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.event;
+
+import cn.hutool.core.thread.ExecutorBuilder;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.ThreadPoolExecutor;
+
+/**
+ * 定位事件监听器
+ * @see  com.casic.missiles.modular.robot.opt.handler.msg.PoseMessageMsgHandler
+ */
+@Slf4j
+@Component
+public class PoseMessageListener {
+    private static ThreadPoolExecutor threadPoolExecutor = ExecutorBuilder.create().setCorePoolSize(5).setMaxPoolSize(10).build();
+    private final IRobotStatusInfoService statusInfoService;
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageListener(IRobotStatusInfoService statusInfoService, IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.statusInfoService = statusInfoService;
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @EventListener
+    public void onApplicationEvent(PoseMessageEvent event) {
+//        threadPoolExecutor.execute(() -> { });
+        robotTrajectoryInfoService.savePoseMessage(event.getRobotId(), (MqttMessage) event.getSource());
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
new file mode 100644
index 0000000..7e881d9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
@@ -0,0 +1,52 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+
+/**
+ * 任务照片存储对象 task_info_img
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+@TableName("task_info_img")
+public class TaskInfoImg extends Model<TaskInfoImg> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "任务ID", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "MCA图片", dataType = "String")
+    @TableField("mca_img")
+    private String mcaImg;
+
+    @ApiModelProperty(value = "PSD图片", dataType = "String")
+    @TableField("psd_img")
+    private String psdImg;
+
+    @ApiModelProperty(value = "巡检路线img", dataType = "String")
+    @TableField("route_img")
+    private String routeImg;
+
+    @ApiModelProperty(value = "热点分布图", dataType = "String")
+    @TableField("heat_img")
+    private String heatImg;
+
+
+    @Override
+    public String toString() {
+        return "TaskInfoImg{"
+                + "id=" + id
+                + "mcaImg=" + mcaImg
+                + "psdImg=" + psdImg
+                + "routeImg=" + routeImg
+                + "heatImg=" + heatImg
+                + "}";
+    }
+}
\ No newline at end of file
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 d74a38b..c4bc25d 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
@@ -35,7 +35,7 @@
     }),
     TRACK_RECORD("/track_record" , "/track_record_response" , "启动或关闭轨迹录制功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
-    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     DELETE_TRACK("/delete_track" , "/delete_track_response" , "删除路线" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
index 41879dd..83f4cb2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
@@ -13,6 +13,7 @@
 
 /**
  * websocket 推送消息
+ * @see com.casic.missiles.mqtt.config.MqttClientConfigListener#createMqtt
  */
 @Slf4j
 public abstract class AbstractSocketHandler implements IBaseMsgHandler {
@@ -48,7 +49,7 @@
                 wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
                 wsMsgBaseDTO.setData(jsonObject.get("msg"));
                 String msg = JSON.toJSONString(wsMsgBaseDTO);
-//                log.info("推送{}消息：{}", enums.getRemarks(), msg);
+                log.info("推送{}消息：{}", enums.getRemarks(), msg);
                 webSocket.sendOneMessage(robotId, msg);
             }
         } catch (Exception e) {
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 b8e561d..5e3fe49 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
@@ -6,6 +6,8 @@
  * 业务消息处理器
  */
 public interface IBaseMsgHandler {
+    static String index_key = "index";
+
     /**
      * 消息处理handler
      *

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
new file mode 100644
index 0000000..9d012da
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  任务照片存储 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface TaskInfoImgMapper extends BaseMapper<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage( @Param("page") Page<TaskInfoImg> page,@Param("ew" ) QueryWrapper<TaskInfoImg> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
new file mode 100644
index 0000000..e330c68
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.TaskInfoImgMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskInfoImg">
+            <result column="id" property="id"/>
+            <result column="mca_img" property="mcaImg"/>
+            <result column="psd_img" property="psdImg"/>
+            <result column="route_img" property="routeImg"/>
+            <result column="heat_img" property="heatImg"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    mca_img as mcaImg ,
+                    psd_img as psdImg ,
+                    route_img as routeImg ,
+                    heat_img as heatImg 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.mca_img
+            as mcaImg ,
+            a.psd_img
+            as psdImg ,
+            a.route_img
+            as routeImg ,
+            a.heat_img
+            as heatImg 
+</sql>
+<select id="selectTaskInfoImgPage" resultType="com.casic.missiles.modular.robot.model.TaskInfoImg">
+    select
+    <include refid="Base_Column_Alias"/>
+    from task_info_img a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.mcaImg!= null and request.mcaImg!=''">
+            and mca_img = #{request.mcaImg}
+</if>
+<if test="request.psdImg!= null and request.psdImg!=''">
+            and psd_img = #{request.psdImg}
+</if>
+<if test="request.routeImg!= null and request.routeImg!=''">
+            and route_img = #{request.routeImg}
+</if>
+<if test="request.heatImg!= null and request.heatImg!=''">
+            and heat_img = #{request.heatImg}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
new file mode 100644
index 0000000..ed06f3b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
@@ -0,0 +1,32 @@
+package com.casic.missiles.modular.robot.event;
+
+import com.casic.missiles.model.application.event.core.ModelEvent;
+import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+/**
+ * 用户登录数据变化事件
+ *
+ * @author lwh
+ */
+public class PoseMessageEvent extends ModelEvent<MqttMessage> {
+    private String robotId;
+    /**
+     * Create a new {@code ApplicationEvent}.
+     *
+     * @param type   事件类型
+     * @param source the object on which the event initially occurred or with
+     *               which the event is associated (never {@code null})
+     */
+    public PoseMessageEvent(AbstractEventTypeEnum type, MqttMessage source) {
+        super(type, source);
+    }
+
+    public String getRobotId() {
+        return robotId;
+    }
+
+    public void setRobotId(String robotId) {
+        this.robotId = robotId;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
new file mode 100644
index 0000000..2cc6cdc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.event;
+
+import cn.hutool.core.thread.ExecutorBuilder;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.ThreadPoolExecutor;
+
+/**
+ * 定位事件监听器
+ * @see  com.casic.missiles.modular.robot.opt.handler.msg.PoseMessageMsgHandler
+ */
+@Slf4j
+@Component
+public class PoseMessageListener {
+    private static ThreadPoolExecutor threadPoolExecutor = ExecutorBuilder.create().setCorePoolSize(5).setMaxPoolSize(10).build();
+    private final IRobotStatusInfoService statusInfoService;
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageListener(IRobotStatusInfoService statusInfoService, IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.statusInfoService = statusInfoService;
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @EventListener
+    public void onApplicationEvent(PoseMessageEvent event) {
+//        threadPoolExecutor.execute(() -> { });
+        robotTrajectoryInfoService.savePoseMessage(event.getRobotId(), (MqttMessage) event.getSource());
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
new file mode 100644
index 0000000..7e881d9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
@@ -0,0 +1,52 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+
+/**
+ * 任务照片存储对象 task_info_img
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+@TableName("task_info_img")
+public class TaskInfoImg extends Model<TaskInfoImg> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "任务ID", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "MCA图片", dataType = "String")
+    @TableField("mca_img")
+    private String mcaImg;
+
+    @ApiModelProperty(value = "PSD图片", dataType = "String")
+    @TableField("psd_img")
+    private String psdImg;
+
+    @ApiModelProperty(value = "巡检路线img", dataType = "String")
+    @TableField("route_img")
+    private String routeImg;
+
+    @ApiModelProperty(value = "热点分布图", dataType = "String")
+    @TableField("heat_img")
+    private String heatImg;
+
+
+    @Override
+    public String toString() {
+        return "TaskInfoImg{"
+                + "id=" + id
+                + "mcaImg=" + mcaImg
+                + "psdImg=" + psdImg
+                + "routeImg=" + routeImg
+                + "heatImg=" + heatImg
+                + "}";
+    }
+}
\ No newline at end of file
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 d74a38b..c4bc25d 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
@@ -35,7 +35,7 @@
     }),
     TRACK_RECORD("/track_record" , "/track_record_response" , "启动或关闭轨迹录制功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
-    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     DELETE_TRACK("/delete_track" , "/delete_track_response" , "删除路线" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
index 41879dd..83f4cb2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
@@ -13,6 +13,7 @@
 
 /**
  * websocket 推送消息
+ * @see com.casic.missiles.mqtt.config.MqttClientConfigListener#createMqtt
  */
 @Slf4j
 public abstract class AbstractSocketHandler implements IBaseMsgHandler {
@@ -48,7 +49,7 @@
                 wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
                 wsMsgBaseDTO.setData(jsonObject.get("msg"));
                 String msg = JSON.toJSONString(wsMsgBaseDTO);
-//                log.info("推送{}消息：{}", enums.getRemarks(), msg);
+                log.info("推送{}消息：{}", enums.getRemarks(), msg);
                 webSocket.sendOneMessage(robotId, msg);
             }
         } catch (Exception e) {
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 b8e561d..5e3fe49 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
@@ -6,6 +6,8 @@
  * 业务消息处理器
  */
 public interface IBaseMsgHandler {
+    static String index_key = "index";
+
     /**
      * 消息处理handler
      *
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
index cefe2cd..27bed0e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
@@ -55,9 +55,6 @@
         }
         messageDTO.setMsg(request);
         ResponseDataDTO<Integer> list = null;
-        if (request.getAction() != 1) {
-            taskInfoService.reloadTask(request, getRobotInfo());
-        }
         try {
             list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.START_TRACK, messageDTO);
         } catch (Exception e) {
@@ -75,8 +72,7 @@
      */
     @Override
     public ResponseDataDTO afterInvoke(StartTrackRequest request, ResponseDataDTO response) {
-        //增加循迹任务记录
-        taskInfoService.reloadTask(request, getRobotInfo());
+
         return response;
     }
 }

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
new file mode 100644
index 0000000..9d012da
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  任务照片存储 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface TaskInfoImgMapper extends BaseMapper<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage( @Param("page") Page<TaskInfoImg> page,@Param("ew" ) QueryWrapper<TaskInfoImg> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
new file mode 100644
index 0000000..e330c68
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.TaskInfoImgMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskInfoImg">
+            <result column="id" property="id"/>
+            <result column="mca_img" property="mcaImg"/>
+            <result column="psd_img" property="psdImg"/>
+            <result column="route_img" property="routeImg"/>
+            <result column="heat_img" property="heatImg"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    mca_img as mcaImg ,
+                    psd_img as psdImg ,
+                    route_img as routeImg ,
+                    heat_img as heatImg 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.mca_img
+            as mcaImg ,
+            a.psd_img
+            as psdImg ,
+            a.route_img
+            as routeImg ,
+            a.heat_img
+            as heatImg 
+</sql>
+<select id="selectTaskInfoImgPage" resultType="com.casic.missiles.modular.robot.model.TaskInfoImg">
+    select
+    <include refid="Base_Column_Alias"/>
+    from task_info_img a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.mcaImg!= null and request.mcaImg!=''">
+            and mca_img = #{request.mcaImg}
+</if>
+<if test="request.psdImg!= null and request.psdImg!=''">
+            and psd_img = #{request.psdImg}
+</if>
+<if test="request.routeImg!= null and request.routeImg!=''">
+            and route_img = #{request.routeImg}
+</if>
+<if test="request.heatImg!= null and request.heatImg!=''">
+            and heat_img = #{request.heatImg}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
new file mode 100644
index 0000000..ed06f3b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
@@ -0,0 +1,32 @@
+package com.casic.missiles.modular.robot.event;
+
+import com.casic.missiles.model.application.event.core.ModelEvent;
+import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+/**
+ * 用户登录数据变化事件
+ *
+ * @author lwh
+ */
+public class PoseMessageEvent extends ModelEvent<MqttMessage> {
+    private String robotId;
+    /**
+     * Create a new {@code ApplicationEvent}.
+     *
+     * @param type   事件类型
+     * @param source the object on which the event initially occurred or with
+     *               which the event is associated (never {@code null})
+     */
+    public PoseMessageEvent(AbstractEventTypeEnum type, MqttMessage source) {
+        super(type, source);
+    }
+
+    public String getRobotId() {
+        return robotId;
+    }
+
+    public void setRobotId(String robotId) {
+        this.robotId = robotId;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
new file mode 100644
index 0000000..2cc6cdc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.event;
+
+import cn.hutool.core.thread.ExecutorBuilder;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.ThreadPoolExecutor;
+
+/**
+ * 定位事件监听器
+ * @see  com.casic.missiles.modular.robot.opt.handler.msg.PoseMessageMsgHandler
+ */
+@Slf4j
+@Component
+public class PoseMessageListener {
+    private static ThreadPoolExecutor threadPoolExecutor = ExecutorBuilder.create().setCorePoolSize(5).setMaxPoolSize(10).build();
+    private final IRobotStatusInfoService statusInfoService;
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageListener(IRobotStatusInfoService statusInfoService, IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.statusInfoService = statusInfoService;
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @EventListener
+    public void onApplicationEvent(PoseMessageEvent event) {
+//        threadPoolExecutor.execute(() -> { });
+        robotTrajectoryInfoService.savePoseMessage(event.getRobotId(), (MqttMessage) event.getSource());
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
new file mode 100644
index 0000000..7e881d9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
@@ -0,0 +1,52 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+
+/**
+ * 任务照片存储对象 task_info_img
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+@TableName("task_info_img")
+public class TaskInfoImg extends Model<TaskInfoImg> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "任务ID", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "MCA图片", dataType = "String")
+    @TableField("mca_img")
+    private String mcaImg;
+
+    @ApiModelProperty(value = "PSD图片", dataType = "String")
+    @TableField("psd_img")
+    private String psdImg;
+
+    @ApiModelProperty(value = "巡检路线img", dataType = "String")
+    @TableField("route_img")
+    private String routeImg;
+
+    @ApiModelProperty(value = "热点分布图", dataType = "String")
+    @TableField("heat_img")
+    private String heatImg;
+
+
+    @Override
+    public String toString() {
+        return "TaskInfoImg{"
+                + "id=" + id
+                + "mcaImg=" + mcaImg
+                + "psdImg=" + psdImg
+                + "routeImg=" + routeImg
+                + "heatImg=" + heatImg
+                + "}";
+    }
+}
\ No newline at end of file
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 d74a38b..c4bc25d 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
@@ -35,7 +35,7 @@
     }),
     TRACK_RECORD("/track_record" , "/track_record_response" , "启动或关闭轨迹录制功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
-    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     DELETE_TRACK("/delete_track" , "/delete_track_response" , "删除路线" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
index 41879dd..83f4cb2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
@@ -13,6 +13,7 @@
 
 /**
  * websocket 推送消息
+ * @see com.casic.missiles.mqtt.config.MqttClientConfigListener#createMqtt
  */
 @Slf4j
 public abstract class AbstractSocketHandler implements IBaseMsgHandler {
@@ -48,7 +49,7 @@
                 wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
                 wsMsgBaseDTO.setData(jsonObject.get("msg"));
                 String msg = JSON.toJSONString(wsMsgBaseDTO);
-//                log.info("推送{}消息：{}", enums.getRemarks(), msg);
+                log.info("推送{}消息：{}", enums.getRemarks(), msg);
                 webSocket.sendOneMessage(robotId, msg);
             }
         } catch (Exception e) {
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 b8e561d..5e3fe49 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
@@ -6,6 +6,8 @@
  * 业务消息处理器
  */
 public interface IBaseMsgHandler {
+    static String index_key = "index";
+
     /**
      * 消息处理handler
      *
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
index cefe2cd..27bed0e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
@@ -55,9 +55,6 @@
         }
         messageDTO.setMsg(request);
         ResponseDataDTO<Integer> list = null;
-        if (request.getAction() != 1) {
-            taskInfoService.reloadTask(request, getRobotInfo());
-        }
         try {
             list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.START_TRACK, messageDTO);
         } catch (Exception e) {
@@ -75,8 +72,7 @@
      */
     @Override
     public ResponseDataDTO afterInvoke(StartTrackRequest request, ResponseDataDTO response) {
-        //增加循迹任务记录
-        taskInfoService.reloadTask(request, getRobotInfo());
+
         return response;
     }
 }
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
index 316fd8f..8b7fd0e 100644
--- 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
@@ -19,7 +19,7 @@
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
     static {
-        index.put("index", 0);
+        index.put(index_key, 0);
     }
 
     public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
@@ -28,7 +28,12 @@
 
     @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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
new file mode 100644
index 0000000..9d012da
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  任务照片存储 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface TaskInfoImgMapper extends BaseMapper<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage( @Param("page") Page<TaskInfoImg> page,@Param("ew" ) QueryWrapper<TaskInfoImg> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
new file mode 100644
index 0000000..e330c68
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.TaskInfoImgMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskInfoImg">
+            <result column="id" property="id"/>
+            <result column="mca_img" property="mcaImg"/>
+            <result column="psd_img" property="psdImg"/>
+            <result column="route_img" property="routeImg"/>
+            <result column="heat_img" property="heatImg"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    mca_img as mcaImg ,
+                    psd_img as psdImg ,
+                    route_img as routeImg ,
+                    heat_img as heatImg 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.mca_img
+            as mcaImg ,
+            a.psd_img
+            as psdImg ,
+            a.route_img
+            as routeImg ,
+            a.heat_img
+            as heatImg 
+</sql>
+<select id="selectTaskInfoImgPage" resultType="com.casic.missiles.modular.robot.model.TaskInfoImg">
+    select
+    <include refid="Base_Column_Alias"/>
+    from task_info_img a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.mcaImg!= null and request.mcaImg!=''">
+            and mca_img = #{request.mcaImg}
+</if>
+<if test="request.psdImg!= null and request.psdImg!=''">
+            and psd_img = #{request.psdImg}
+</if>
+<if test="request.routeImg!= null and request.routeImg!=''">
+            and route_img = #{request.routeImg}
+</if>
+<if test="request.heatImg!= null and request.heatImg!=''">
+            and heat_img = #{request.heatImg}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
new file mode 100644
index 0000000..ed06f3b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
@@ -0,0 +1,32 @@
+package com.casic.missiles.modular.robot.event;
+
+import com.casic.missiles.model.application.event.core.ModelEvent;
+import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+/**
+ * 用户登录数据变化事件
+ *
+ * @author lwh
+ */
+public class PoseMessageEvent extends ModelEvent<MqttMessage> {
+    private String robotId;
+    /**
+     * Create a new {@code ApplicationEvent}.
+     *
+     * @param type   事件类型
+     * @param source the object on which the event initially occurred or with
+     *               which the event is associated (never {@code null})
+     */
+    public PoseMessageEvent(AbstractEventTypeEnum type, MqttMessage source) {
+        super(type, source);
+    }
+
+    public String getRobotId() {
+        return robotId;
+    }
+
+    public void setRobotId(String robotId) {
+        this.robotId = robotId;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
new file mode 100644
index 0000000..2cc6cdc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.event;
+
+import cn.hutool.core.thread.ExecutorBuilder;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.ThreadPoolExecutor;
+
+/**
+ * 定位事件监听器
+ * @see  com.casic.missiles.modular.robot.opt.handler.msg.PoseMessageMsgHandler
+ */
+@Slf4j
+@Component
+public class PoseMessageListener {
+    private static ThreadPoolExecutor threadPoolExecutor = ExecutorBuilder.create().setCorePoolSize(5).setMaxPoolSize(10).build();
+    private final IRobotStatusInfoService statusInfoService;
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageListener(IRobotStatusInfoService statusInfoService, IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.statusInfoService = statusInfoService;
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @EventListener
+    public void onApplicationEvent(PoseMessageEvent event) {
+//        threadPoolExecutor.execute(() -> { });
+        robotTrajectoryInfoService.savePoseMessage(event.getRobotId(), (MqttMessage) event.getSource());
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
new file mode 100644
index 0000000..7e881d9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
@@ -0,0 +1,52 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+
+/**
+ * 任务照片存储对象 task_info_img
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+@TableName("task_info_img")
+public class TaskInfoImg extends Model<TaskInfoImg> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "任务ID", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "MCA图片", dataType = "String")
+    @TableField("mca_img")
+    private String mcaImg;
+
+    @ApiModelProperty(value = "PSD图片", dataType = "String")
+    @TableField("psd_img")
+    private String psdImg;
+
+    @ApiModelProperty(value = "巡检路线img", dataType = "String")
+    @TableField("route_img")
+    private String routeImg;
+
+    @ApiModelProperty(value = "热点分布图", dataType = "String")
+    @TableField("heat_img")
+    private String heatImg;
+
+
+    @Override
+    public String toString() {
+        return "TaskInfoImg{"
+                + "id=" + id
+                + "mcaImg=" + mcaImg
+                + "psdImg=" + psdImg
+                + "routeImg=" + routeImg
+                + "heatImg=" + heatImg
+                + "}";
+    }
+}
\ No newline at end of file
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 d74a38b..c4bc25d 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
@@ -35,7 +35,7 @@
     }),
     TRACK_RECORD("/track_record" , "/track_record_response" , "启动或关闭轨迹录制功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
-    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     DELETE_TRACK("/delete_track" , "/delete_track_response" , "删除路线" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
index 41879dd..83f4cb2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
@@ -13,6 +13,7 @@
 
 /**
  * websocket 推送消息
+ * @see com.casic.missiles.mqtt.config.MqttClientConfigListener#createMqtt
  */
 @Slf4j
 public abstract class AbstractSocketHandler implements IBaseMsgHandler {
@@ -48,7 +49,7 @@
                 wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
                 wsMsgBaseDTO.setData(jsonObject.get("msg"));
                 String msg = JSON.toJSONString(wsMsgBaseDTO);
-//                log.info("推送{}消息：{}", enums.getRemarks(), msg);
+                log.info("推送{}消息：{}", enums.getRemarks(), msg);
                 webSocket.sendOneMessage(robotId, msg);
             }
         } catch (Exception e) {
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 b8e561d..5e3fe49 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
@@ -6,6 +6,8 @@
  * 业务消息处理器
  */
 public interface IBaseMsgHandler {
+    static String index_key = "index";
+
     /**
      * 消息处理handler
      *
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
index cefe2cd..27bed0e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
@@ -55,9 +55,6 @@
         }
         messageDTO.setMsg(request);
         ResponseDataDTO<Integer> list = null;
-        if (request.getAction() != 1) {
-            taskInfoService.reloadTask(request, getRobotInfo());
-        }
         try {
             list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.START_TRACK, messageDTO);
         } catch (Exception e) {
@@ -75,8 +72,7 @@
      */
     @Override
     public ResponseDataDTO afterInvoke(StartTrackRequest request, ResponseDataDTO response) {
-        //增加循迹任务记录
-        taskInfoService.reloadTask(request, getRobotInfo());
+
         return response;
     }
 }
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
index 316fd8f..8b7fd0e 100644
--- 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
@@ -19,7 +19,7 @@
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
     static {
-        index.put("index", 0);
+        index.put(index_key, 0);
     }
 
     public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
@@ -28,7 +28,12 @@
 
     @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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 83d1d39..67ec20e 100644
--- 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
@@ -6,6 +6,9 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.stereotype.Component;
 
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
 /**
  * 停障状态实时接收器
  */
@@ -13,14 +16,23 @@
 @Component("/app_stop_navtrack")
 public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
     private final IRobotStatusInfoService statusInfoService;
-
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+    static {
+        index.put(index_key, 0);
+    }
     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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
new file mode 100644
index 0000000..9d012da
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  任务照片存储 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface TaskInfoImgMapper extends BaseMapper<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage( @Param("page") Page<TaskInfoImg> page,@Param("ew" ) QueryWrapper<TaskInfoImg> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
new file mode 100644
index 0000000..e330c68
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.TaskInfoImgMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskInfoImg">
+            <result column="id" property="id"/>
+            <result column="mca_img" property="mcaImg"/>
+            <result column="psd_img" property="psdImg"/>
+            <result column="route_img" property="routeImg"/>
+            <result column="heat_img" property="heatImg"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    mca_img as mcaImg ,
+                    psd_img as psdImg ,
+                    route_img as routeImg ,
+                    heat_img as heatImg 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.mca_img
+            as mcaImg ,
+            a.psd_img
+            as psdImg ,
+            a.route_img
+            as routeImg ,
+            a.heat_img
+            as heatImg 
+</sql>
+<select id="selectTaskInfoImgPage" resultType="com.casic.missiles.modular.robot.model.TaskInfoImg">
+    select
+    <include refid="Base_Column_Alias"/>
+    from task_info_img a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.mcaImg!= null and request.mcaImg!=''">
+            and mca_img = #{request.mcaImg}
+</if>
+<if test="request.psdImg!= null and request.psdImg!=''">
+            and psd_img = #{request.psdImg}
+</if>
+<if test="request.routeImg!= null and request.routeImg!=''">
+            and route_img = #{request.routeImg}
+</if>
+<if test="request.heatImg!= null and request.heatImg!=''">
+            and heat_img = #{request.heatImg}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
new file mode 100644
index 0000000..ed06f3b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
@@ -0,0 +1,32 @@
+package com.casic.missiles.modular.robot.event;
+
+import com.casic.missiles.model.application.event.core.ModelEvent;
+import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+/**
+ * 用户登录数据变化事件
+ *
+ * @author lwh
+ */
+public class PoseMessageEvent extends ModelEvent<MqttMessage> {
+    private String robotId;
+    /**
+     * Create a new {@code ApplicationEvent}.
+     *
+     * @param type   事件类型
+     * @param source the object on which the event initially occurred or with
+     *               which the event is associated (never {@code null})
+     */
+    public PoseMessageEvent(AbstractEventTypeEnum type, MqttMessage source) {
+        super(type, source);
+    }
+
+    public String getRobotId() {
+        return robotId;
+    }
+
+    public void setRobotId(String robotId) {
+        this.robotId = robotId;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
new file mode 100644
index 0000000..2cc6cdc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.event;
+
+import cn.hutool.core.thread.ExecutorBuilder;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.ThreadPoolExecutor;
+
+/**
+ * 定位事件监听器
+ * @see  com.casic.missiles.modular.robot.opt.handler.msg.PoseMessageMsgHandler
+ */
+@Slf4j
+@Component
+public class PoseMessageListener {
+    private static ThreadPoolExecutor threadPoolExecutor = ExecutorBuilder.create().setCorePoolSize(5).setMaxPoolSize(10).build();
+    private final IRobotStatusInfoService statusInfoService;
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageListener(IRobotStatusInfoService statusInfoService, IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.statusInfoService = statusInfoService;
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @EventListener
+    public void onApplicationEvent(PoseMessageEvent event) {
+//        threadPoolExecutor.execute(() -> { });
+        robotTrajectoryInfoService.savePoseMessage(event.getRobotId(), (MqttMessage) event.getSource());
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
new file mode 100644
index 0000000..7e881d9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
@@ -0,0 +1,52 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+
+/**
+ * 任务照片存储对象 task_info_img
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+@TableName("task_info_img")
+public class TaskInfoImg extends Model<TaskInfoImg> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "任务ID", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "MCA图片", dataType = "String")
+    @TableField("mca_img")
+    private String mcaImg;
+
+    @ApiModelProperty(value = "PSD图片", dataType = "String")
+    @TableField("psd_img")
+    private String psdImg;
+
+    @ApiModelProperty(value = "巡检路线img", dataType = "String")
+    @TableField("route_img")
+    private String routeImg;
+
+    @ApiModelProperty(value = "热点分布图", dataType = "String")
+    @TableField("heat_img")
+    private String heatImg;
+
+
+    @Override
+    public String toString() {
+        return "TaskInfoImg{"
+                + "id=" + id
+                + "mcaImg=" + mcaImg
+                + "psdImg=" + psdImg
+                + "routeImg=" + routeImg
+                + "heatImg=" + heatImg
+                + "}";
+    }
+}
\ No newline at end of file
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 d74a38b..c4bc25d 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
@@ -35,7 +35,7 @@
     }),
     TRACK_RECORD("/track_record" , "/track_record_response" , "启动或关闭轨迹录制功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
-    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     DELETE_TRACK("/delete_track" , "/delete_track_response" , "删除路线" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
index 41879dd..83f4cb2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
@@ -13,6 +13,7 @@
 
 /**
  * websocket 推送消息
+ * @see com.casic.missiles.mqtt.config.MqttClientConfigListener#createMqtt
  */
 @Slf4j
 public abstract class AbstractSocketHandler implements IBaseMsgHandler {
@@ -48,7 +49,7 @@
                 wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
                 wsMsgBaseDTO.setData(jsonObject.get("msg"));
                 String msg = JSON.toJSONString(wsMsgBaseDTO);
-//                log.info("推送{}消息：{}", enums.getRemarks(), msg);
+                log.info("推送{}消息：{}", enums.getRemarks(), msg);
                 webSocket.sendOneMessage(robotId, msg);
             }
         } catch (Exception e) {
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 b8e561d..5e3fe49 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
@@ -6,6 +6,8 @@
  * 业务消息处理器
  */
 public interface IBaseMsgHandler {
+    static String index_key = "index";
+
     /**
      * 消息处理handler
      *
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
index cefe2cd..27bed0e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
@@ -55,9 +55,6 @@
         }
         messageDTO.setMsg(request);
         ResponseDataDTO<Integer> list = null;
-        if (request.getAction() != 1) {
-            taskInfoService.reloadTask(request, getRobotInfo());
-        }
         try {
             list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.START_TRACK, messageDTO);
         } catch (Exception e) {
@@ -75,8 +72,7 @@
      */
     @Override
     public ResponseDataDTO afterInvoke(StartTrackRequest request, ResponseDataDTO response) {
-        //增加循迹任务记录
-        taskInfoService.reloadTask(request, getRobotInfo());
+
         return response;
     }
 }
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
index 316fd8f..8b7fd0e 100644
--- 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
@@ -19,7 +19,7 @@
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
     static {
-        index.put("index", 0);
+        index.put(index_key, 0);
     }
 
     public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
@@ -28,7 +28,12 @@
 
     @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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 83d1d39..67ec20e 100644
--- 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
@@ -6,6 +6,9 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.stereotype.Component;
 
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
 /**
  * 停障状态实时接收器
  */
@@ -13,14 +16,23 @@
 @Component("/app_stop_navtrack")
 public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
     private final IRobotStatusInfoService statusInfoService;
-
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+    static {
+        index.put(index_key, 0);
+    }
     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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 1cf0e55..9c26129 100644
--- 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
@@ -1,28 +1,37 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.application.enums.LoginEventTypeEnum;
+import com.casic.missiles.model.application.event.core.EventPublisher;
+import com.casic.missiles.modular.robot.event.PoseMessageEvent;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
-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 extends AbstractSocketHandler {
 
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
 
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    private final EventPublisher publisher;
+
+    public PoseMessageMsgHandler(EventPublisher publisher) {
+
+        this.publisher = publisher;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+//        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
         sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message);
+        PoseMessageEvent event = new PoseMessageEvent(LoginEventTypeEnum.RELOAD_SCOPE, message);
+        event.setRobotId(robotId);
+        publisher.publishEvent(event);
+        log.info("实时定位已发送！！");
     }
 }

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
new file mode 100644
index 0000000..9d012da
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  任务照片存储 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface TaskInfoImgMapper extends BaseMapper<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage( @Param("page") Page<TaskInfoImg> page,@Param("ew" ) QueryWrapper<TaskInfoImg> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
new file mode 100644
index 0000000..e330c68
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.TaskInfoImgMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskInfoImg">
+            <result column="id" property="id"/>
+            <result column="mca_img" property="mcaImg"/>
+            <result column="psd_img" property="psdImg"/>
+            <result column="route_img" property="routeImg"/>
+            <result column="heat_img" property="heatImg"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    mca_img as mcaImg ,
+                    psd_img as psdImg ,
+                    route_img as routeImg ,
+                    heat_img as heatImg 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.mca_img
+            as mcaImg ,
+            a.psd_img
+            as psdImg ,
+            a.route_img
+            as routeImg ,
+            a.heat_img
+            as heatImg 
+</sql>
+<select id="selectTaskInfoImgPage" resultType="com.casic.missiles.modular.robot.model.TaskInfoImg">
+    select
+    <include refid="Base_Column_Alias"/>
+    from task_info_img a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.mcaImg!= null and request.mcaImg!=''">
+            and mca_img = #{request.mcaImg}
+</if>
+<if test="request.psdImg!= null and request.psdImg!=''">
+            and psd_img = #{request.psdImg}
+</if>
+<if test="request.routeImg!= null and request.routeImg!=''">
+            and route_img = #{request.routeImg}
+</if>
+<if test="request.heatImg!= null and request.heatImg!=''">
+            and heat_img = #{request.heatImg}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
new file mode 100644
index 0000000..ed06f3b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
@@ -0,0 +1,32 @@
+package com.casic.missiles.modular.robot.event;
+
+import com.casic.missiles.model.application.event.core.ModelEvent;
+import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+/**
+ * 用户登录数据变化事件
+ *
+ * @author lwh
+ */
+public class PoseMessageEvent extends ModelEvent<MqttMessage> {
+    private String robotId;
+    /**
+     * Create a new {@code ApplicationEvent}.
+     *
+     * @param type   事件类型
+     * @param source the object on which the event initially occurred or with
+     *               which the event is associated (never {@code null})
+     */
+    public PoseMessageEvent(AbstractEventTypeEnum type, MqttMessage source) {
+        super(type, source);
+    }
+
+    public String getRobotId() {
+        return robotId;
+    }
+
+    public void setRobotId(String robotId) {
+        this.robotId = robotId;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
new file mode 100644
index 0000000..2cc6cdc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.event;
+
+import cn.hutool.core.thread.ExecutorBuilder;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.ThreadPoolExecutor;
+
+/**
+ * 定位事件监听器
+ * @see  com.casic.missiles.modular.robot.opt.handler.msg.PoseMessageMsgHandler
+ */
+@Slf4j
+@Component
+public class PoseMessageListener {
+    private static ThreadPoolExecutor threadPoolExecutor = ExecutorBuilder.create().setCorePoolSize(5).setMaxPoolSize(10).build();
+    private final IRobotStatusInfoService statusInfoService;
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageListener(IRobotStatusInfoService statusInfoService, IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.statusInfoService = statusInfoService;
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @EventListener
+    public void onApplicationEvent(PoseMessageEvent event) {
+//        threadPoolExecutor.execute(() -> { });
+        robotTrajectoryInfoService.savePoseMessage(event.getRobotId(), (MqttMessage) event.getSource());
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
new file mode 100644
index 0000000..7e881d9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
@@ -0,0 +1,52 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+
+/**
+ * 任务照片存储对象 task_info_img
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+@TableName("task_info_img")
+public class TaskInfoImg extends Model<TaskInfoImg> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "任务ID", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "MCA图片", dataType = "String")
+    @TableField("mca_img")
+    private String mcaImg;
+
+    @ApiModelProperty(value = "PSD图片", dataType = "String")
+    @TableField("psd_img")
+    private String psdImg;
+
+    @ApiModelProperty(value = "巡检路线img", dataType = "String")
+    @TableField("route_img")
+    private String routeImg;
+
+    @ApiModelProperty(value = "热点分布图", dataType = "String")
+    @TableField("heat_img")
+    private String heatImg;
+
+
+    @Override
+    public String toString() {
+        return "TaskInfoImg{"
+                + "id=" + id
+                + "mcaImg=" + mcaImg
+                + "psdImg=" + psdImg
+                + "routeImg=" + routeImg
+                + "heatImg=" + heatImg
+                + "}";
+    }
+}
\ No newline at end of file
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 d74a38b..c4bc25d 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
@@ -35,7 +35,7 @@
     }),
     TRACK_RECORD("/track_record" , "/track_record_response" , "启动或关闭轨迹录制功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
-    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     DELETE_TRACK("/delete_track" , "/delete_track_response" , "删除路线" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
index 41879dd..83f4cb2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
@@ -13,6 +13,7 @@
 
 /**
  * websocket 推送消息
+ * @see com.casic.missiles.mqtt.config.MqttClientConfigListener#createMqtt
  */
 @Slf4j
 public abstract class AbstractSocketHandler implements IBaseMsgHandler {
@@ -48,7 +49,7 @@
                 wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
                 wsMsgBaseDTO.setData(jsonObject.get("msg"));
                 String msg = JSON.toJSONString(wsMsgBaseDTO);
-//                log.info("推送{}消息：{}", enums.getRemarks(), msg);
+                log.info("推送{}消息：{}", enums.getRemarks(), msg);
                 webSocket.sendOneMessage(robotId, msg);
             }
         } catch (Exception e) {
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 b8e561d..5e3fe49 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
@@ -6,6 +6,8 @@
  * 业务消息处理器
  */
 public interface IBaseMsgHandler {
+    static String index_key = "index";
+
     /**
      * 消息处理handler
      *
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
index cefe2cd..27bed0e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
@@ -55,9 +55,6 @@
         }
         messageDTO.setMsg(request);
         ResponseDataDTO<Integer> list = null;
-        if (request.getAction() != 1) {
-            taskInfoService.reloadTask(request, getRobotInfo());
-        }
         try {
             list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.START_TRACK, messageDTO);
         } catch (Exception e) {
@@ -75,8 +72,7 @@
      */
     @Override
     public ResponseDataDTO afterInvoke(StartTrackRequest request, ResponseDataDTO response) {
-        //增加循迹任务记录
-        taskInfoService.reloadTask(request, getRobotInfo());
+
         return response;
     }
 }
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
index 316fd8f..8b7fd0e 100644
--- 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
@@ -19,7 +19,7 @@
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
     static {
-        index.put("index", 0);
+        index.put(index_key, 0);
     }
 
     public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
@@ -28,7 +28,12 @@
 
     @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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 83d1d39..67ec20e 100644
--- 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
@@ -6,6 +6,9 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.stereotype.Component;
 
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
 /**
  * 停障状态实时接收器
  */
@@ -13,14 +16,23 @@
 @Component("/app_stop_navtrack")
 public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
     private final IRobotStatusInfoService statusInfoService;
-
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+    static {
+        index.put(index_key, 0);
+    }
     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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 1cf0e55..9c26129 100644
--- 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
@@ -1,28 +1,37 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.application.enums.LoginEventTypeEnum;
+import com.casic.missiles.model.application.event.core.EventPublisher;
+import com.casic.missiles.modular.robot.event.PoseMessageEvent;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
-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 extends AbstractSocketHandler {
 
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
 
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    private final EventPublisher publisher;
+
+    public PoseMessageMsgHandler(EventPublisher publisher) {
+
+        this.publisher = publisher;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+//        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
         sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message);
+        PoseMessageEvent event = new PoseMessageEvent(LoginEventTypeEnum.RELOAD_SCOPE, message);
+        event.setRobotId(robotId);
+        publisher.publishEvent(event);
+        log.info("实时定位已发送！！");
     }
 }
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
index 4910f62..b248839 100644
--- 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
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.model.application.event.core.EventPublisher;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -16,17 +17,18 @@
 @Slf4j
 @Component("/process_message")
 public class ProcessMessageMsgHandler extends AbstractSocketHandler {
-    private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+    private final EventPublisher publisher;
+    private final IRobotStatusInfoService statusInfoService;
+    public ProcessMessageMsgHandler(EventPublisher publisher, IRobotStatusInfoService statusInfoService) {
+        this.publisher = publisher;
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
+        statusInfoService.saveProcessMessage(robotId,message);
         sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
     }
 }

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
new file mode 100644
index 0000000..9d012da
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  任务照片存储 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface TaskInfoImgMapper extends BaseMapper<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage( @Param("page") Page<TaskInfoImg> page,@Param("ew" ) QueryWrapper<TaskInfoImg> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
new file mode 100644
index 0000000..e330c68
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.TaskInfoImgMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskInfoImg">
+            <result column="id" property="id"/>
+            <result column="mca_img" property="mcaImg"/>
+            <result column="psd_img" property="psdImg"/>
+            <result column="route_img" property="routeImg"/>
+            <result column="heat_img" property="heatImg"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    mca_img as mcaImg ,
+                    psd_img as psdImg ,
+                    route_img as routeImg ,
+                    heat_img as heatImg 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.mca_img
+            as mcaImg ,
+            a.psd_img
+            as psdImg ,
+            a.route_img
+            as routeImg ,
+            a.heat_img
+            as heatImg 
+</sql>
+<select id="selectTaskInfoImgPage" resultType="com.casic.missiles.modular.robot.model.TaskInfoImg">
+    select
+    <include refid="Base_Column_Alias"/>
+    from task_info_img a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.mcaImg!= null and request.mcaImg!=''">
+            and mca_img = #{request.mcaImg}
+</if>
+<if test="request.psdImg!= null and request.psdImg!=''">
+            and psd_img = #{request.psdImg}
+</if>
+<if test="request.routeImg!= null and request.routeImg!=''">
+            and route_img = #{request.routeImg}
+</if>
+<if test="request.heatImg!= null and request.heatImg!=''">
+            and heat_img = #{request.heatImg}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
new file mode 100644
index 0000000..ed06f3b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
@@ -0,0 +1,32 @@
+package com.casic.missiles.modular.robot.event;
+
+import com.casic.missiles.model.application.event.core.ModelEvent;
+import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+/**
+ * 用户登录数据变化事件
+ *
+ * @author lwh
+ */
+public class PoseMessageEvent extends ModelEvent<MqttMessage> {
+    private String robotId;
+    /**
+     * Create a new {@code ApplicationEvent}.
+     *
+     * @param type   事件类型
+     * @param source the object on which the event initially occurred or with
+     *               which the event is associated (never {@code null})
+     */
+    public PoseMessageEvent(AbstractEventTypeEnum type, MqttMessage source) {
+        super(type, source);
+    }
+
+    public String getRobotId() {
+        return robotId;
+    }
+
+    public void setRobotId(String robotId) {
+        this.robotId = robotId;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
new file mode 100644
index 0000000..2cc6cdc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.event;
+
+import cn.hutool.core.thread.ExecutorBuilder;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.ThreadPoolExecutor;
+
+/**
+ * 定位事件监听器
+ * @see  com.casic.missiles.modular.robot.opt.handler.msg.PoseMessageMsgHandler
+ */
+@Slf4j
+@Component
+public class PoseMessageListener {
+    private static ThreadPoolExecutor threadPoolExecutor = ExecutorBuilder.create().setCorePoolSize(5).setMaxPoolSize(10).build();
+    private final IRobotStatusInfoService statusInfoService;
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageListener(IRobotStatusInfoService statusInfoService, IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.statusInfoService = statusInfoService;
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @EventListener
+    public void onApplicationEvent(PoseMessageEvent event) {
+//        threadPoolExecutor.execute(() -> { });
+        robotTrajectoryInfoService.savePoseMessage(event.getRobotId(), (MqttMessage) event.getSource());
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
new file mode 100644
index 0000000..7e881d9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
@@ -0,0 +1,52 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+
+/**
+ * 任务照片存储对象 task_info_img
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+@TableName("task_info_img")
+public class TaskInfoImg extends Model<TaskInfoImg> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "任务ID", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "MCA图片", dataType = "String")
+    @TableField("mca_img")
+    private String mcaImg;
+
+    @ApiModelProperty(value = "PSD图片", dataType = "String")
+    @TableField("psd_img")
+    private String psdImg;
+
+    @ApiModelProperty(value = "巡检路线img", dataType = "String")
+    @TableField("route_img")
+    private String routeImg;
+
+    @ApiModelProperty(value = "热点分布图", dataType = "String")
+    @TableField("heat_img")
+    private String heatImg;
+
+
+    @Override
+    public String toString() {
+        return "TaskInfoImg{"
+                + "id=" + id
+                + "mcaImg=" + mcaImg
+                + "psdImg=" + psdImg
+                + "routeImg=" + routeImg
+                + "heatImg=" + heatImg
+                + "}";
+    }
+}
\ No newline at end of file
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 d74a38b..c4bc25d 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
@@ -35,7 +35,7 @@
     }),
     TRACK_RECORD("/track_record" , "/track_record_response" , "启动或关闭轨迹录制功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
-    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     DELETE_TRACK("/delete_track" , "/delete_track_response" , "删除路线" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
index 41879dd..83f4cb2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
@@ -13,6 +13,7 @@
 
 /**
  * websocket 推送消息
+ * @see com.casic.missiles.mqtt.config.MqttClientConfigListener#createMqtt
  */
 @Slf4j
 public abstract class AbstractSocketHandler implements IBaseMsgHandler {
@@ -48,7 +49,7 @@
                 wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
                 wsMsgBaseDTO.setData(jsonObject.get("msg"));
                 String msg = JSON.toJSONString(wsMsgBaseDTO);
-//                log.info("推送{}消息：{}", enums.getRemarks(), msg);
+                log.info("推送{}消息：{}", enums.getRemarks(), msg);
                 webSocket.sendOneMessage(robotId, msg);
             }
         } catch (Exception e) {
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 b8e561d..5e3fe49 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
@@ -6,6 +6,8 @@
  * 业务消息处理器
  */
 public interface IBaseMsgHandler {
+    static String index_key = "index";
+
     /**
      * 消息处理handler
      *
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
index cefe2cd..27bed0e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
@@ -55,9 +55,6 @@
         }
         messageDTO.setMsg(request);
         ResponseDataDTO<Integer> list = null;
-        if (request.getAction() != 1) {
-            taskInfoService.reloadTask(request, getRobotInfo());
-        }
         try {
             list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.START_TRACK, messageDTO);
         } catch (Exception e) {
@@ -75,8 +72,7 @@
      */
     @Override
     public ResponseDataDTO afterInvoke(StartTrackRequest request, ResponseDataDTO response) {
-        //增加循迹任务记录
-        taskInfoService.reloadTask(request, getRobotInfo());
+
         return response;
     }
 }
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
index 316fd8f..8b7fd0e 100644
--- 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
@@ -19,7 +19,7 @@
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
     static {
-        index.put("index", 0);
+        index.put(index_key, 0);
     }
 
     public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
@@ -28,7 +28,12 @@
 
     @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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 83d1d39..67ec20e 100644
--- 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
@@ -6,6 +6,9 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.stereotype.Component;
 
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
 /**
  * 停障状态实时接收器
  */
@@ -13,14 +16,23 @@
 @Component("/app_stop_navtrack")
 public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
     private final IRobotStatusInfoService statusInfoService;
-
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+    static {
+        index.put(index_key, 0);
+    }
     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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 1cf0e55..9c26129 100644
--- 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
@@ -1,28 +1,37 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.application.enums.LoginEventTypeEnum;
+import com.casic.missiles.model.application.event.core.EventPublisher;
+import com.casic.missiles.modular.robot.event.PoseMessageEvent;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
-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 extends AbstractSocketHandler {
 
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
 
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    private final EventPublisher publisher;
+
+    public PoseMessageMsgHandler(EventPublisher publisher) {
+
+        this.publisher = publisher;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+//        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
         sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message);
+        PoseMessageEvent event = new PoseMessageEvent(LoginEventTypeEnum.RELOAD_SCOPE, message);
+        event.setRobotId(robotId);
+        publisher.publishEvent(event);
+        log.info("实时定位已发送！！");
     }
 }
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
index 4910f62..b248839 100644
--- 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
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.model.application.event.core.EventPublisher;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -16,17 +17,18 @@
 @Slf4j
 @Component("/process_message")
 public class ProcessMessageMsgHandler extends AbstractSocketHandler {
-    private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+    private final EventPublisher publisher;
+    private final IRobotStatusInfoService statusInfoService;
+    public ProcessMessageMsgHandler(EventPublisher publisher, IRobotStatusInfoService statusInfoService) {
+        this.publisher = publisher;
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
+        statusInfoService.saveProcessMessage(robotId,message);
         sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, 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
index 3a19ebe..9d275bd 100644
--- 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
@@ -34,7 +34,7 @@
         index.put("index" , val);
         if (val > 30) {
             index.put("index" , 0);
-            statusInfoService.saveSensorStatus(robotId, message);
+//            statusInfoService.saveSensorStatus(robotId, message);
         }
     }
 }

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
new file mode 100644
index 0000000..9d012da
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  任务照片存储 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface TaskInfoImgMapper extends BaseMapper<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage( @Param("page") Page<TaskInfoImg> page,@Param("ew" ) QueryWrapper<TaskInfoImg> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
new file mode 100644
index 0000000..e330c68
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.TaskInfoImgMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskInfoImg">
+            <result column="id" property="id"/>
+            <result column="mca_img" property="mcaImg"/>
+            <result column="psd_img" property="psdImg"/>
+            <result column="route_img" property="routeImg"/>
+            <result column="heat_img" property="heatImg"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    mca_img as mcaImg ,
+                    psd_img as psdImg ,
+                    route_img as routeImg ,
+                    heat_img as heatImg 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.mca_img
+            as mcaImg ,
+            a.psd_img
+            as psdImg ,
+            a.route_img
+            as routeImg ,
+            a.heat_img
+            as heatImg 
+</sql>
+<select id="selectTaskInfoImgPage" resultType="com.casic.missiles.modular.robot.model.TaskInfoImg">
+    select
+    <include refid="Base_Column_Alias"/>
+    from task_info_img a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.mcaImg!= null and request.mcaImg!=''">
+            and mca_img = #{request.mcaImg}
+</if>
+<if test="request.psdImg!= null and request.psdImg!=''">
+            and psd_img = #{request.psdImg}
+</if>
+<if test="request.routeImg!= null and request.routeImg!=''">
+            and route_img = #{request.routeImg}
+</if>
+<if test="request.heatImg!= null and request.heatImg!=''">
+            and heat_img = #{request.heatImg}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
new file mode 100644
index 0000000..ed06f3b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
@@ -0,0 +1,32 @@
+package com.casic.missiles.modular.robot.event;
+
+import com.casic.missiles.model.application.event.core.ModelEvent;
+import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+/**
+ * 用户登录数据变化事件
+ *
+ * @author lwh
+ */
+public class PoseMessageEvent extends ModelEvent<MqttMessage> {
+    private String robotId;
+    /**
+     * Create a new {@code ApplicationEvent}.
+     *
+     * @param type   事件类型
+     * @param source the object on which the event initially occurred or with
+     *               which the event is associated (never {@code null})
+     */
+    public PoseMessageEvent(AbstractEventTypeEnum type, MqttMessage source) {
+        super(type, source);
+    }
+
+    public String getRobotId() {
+        return robotId;
+    }
+
+    public void setRobotId(String robotId) {
+        this.robotId = robotId;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
new file mode 100644
index 0000000..2cc6cdc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.event;
+
+import cn.hutool.core.thread.ExecutorBuilder;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.ThreadPoolExecutor;
+
+/**
+ * 定位事件监听器
+ * @see  com.casic.missiles.modular.robot.opt.handler.msg.PoseMessageMsgHandler
+ */
+@Slf4j
+@Component
+public class PoseMessageListener {
+    private static ThreadPoolExecutor threadPoolExecutor = ExecutorBuilder.create().setCorePoolSize(5).setMaxPoolSize(10).build();
+    private final IRobotStatusInfoService statusInfoService;
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageListener(IRobotStatusInfoService statusInfoService, IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.statusInfoService = statusInfoService;
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @EventListener
+    public void onApplicationEvent(PoseMessageEvent event) {
+//        threadPoolExecutor.execute(() -> { });
+        robotTrajectoryInfoService.savePoseMessage(event.getRobotId(), (MqttMessage) event.getSource());
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
new file mode 100644
index 0000000..7e881d9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
@@ -0,0 +1,52 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+
+/**
+ * 任务照片存储对象 task_info_img
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+@TableName("task_info_img")
+public class TaskInfoImg extends Model<TaskInfoImg> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "任务ID", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "MCA图片", dataType = "String")
+    @TableField("mca_img")
+    private String mcaImg;
+
+    @ApiModelProperty(value = "PSD图片", dataType = "String")
+    @TableField("psd_img")
+    private String psdImg;
+
+    @ApiModelProperty(value = "巡检路线img", dataType = "String")
+    @TableField("route_img")
+    private String routeImg;
+
+    @ApiModelProperty(value = "热点分布图", dataType = "String")
+    @TableField("heat_img")
+    private String heatImg;
+
+
+    @Override
+    public String toString() {
+        return "TaskInfoImg{"
+                + "id=" + id
+                + "mcaImg=" + mcaImg
+                + "psdImg=" + psdImg
+                + "routeImg=" + routeImg
+                + "heatImg=" + heatImg
+                + "}";
+    }
+}
\ No newline at end of file
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 d74a38b..c4bc25d 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
@@ -35,7 +35,7 @@
     }),
     TRACK_RECORD("/track_record" , "/track_record_response" , "启动或关闭轨迹录制功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
-    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     DELETE_TRACK("/delete_track" , "/delete_track_response" , "删除路线" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
index 41879dd..83f4cb2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
@@ -13,6 +13,7 @@
 
 /**
  * websocket 推送消息
+ * @see com.casic.missiles.mqtt.config.MqttClientConfigListener#createMqtt
  */
 @Slf4j
 public abstract class AbstractSocketHandler implements IBaseMsgHandler {
@@ -48,7 +49,7 @@
                 wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
                 wsMsgBaseDTO.setData(jsonObject.get("msg"));
                 String msg = JSON.toJSONString(wsMsgBaseDTO);
-//                log.info("推送{}消息：{}", enums.getRemarks(), msg);
+                log.info("推送{}消息：{}", enums.getRemarks(), msg);
                 webSocket.sendOneMessage(robotId, msg);
             }
         } catch (Exception e) {
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 b8e561d..5e3fe49 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
@@ -6,6 +6,8 @@
  * 业务消息处理器
  */
 public interface IBaseMsgHandler {
+    static String index_key = "index";
+
     /**
      * 消息处理handler
      *
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
index cefe2cd..27bed0e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
@@ -55,9 +55,6 @@
         }
         messageDTO.setMsg(request);
         ResponseDataDTO<Integer> list = null;
-        if (request.getAction() != 1) {
-            taskInfoService.reloadTask(request, getRobotInfo());
-        }
         try {
             list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.START_TRACK, messageDTO);
         } catch (Exception e) {
@@ -75,8 +72,7 @@
      */
     @Override
     public ResponseDataDTO afterInvoke(StartTrackRequest request, ResponseDataDTO response) {
-        //增加循迹任务记录
-        taskInfoService.reloadTask(request, getRobotInfo());
+
         return response;
     }
 }
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
index 316fd8f..8b7fd0e 100644
--- 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
@@ -19,7 +19,7 @@
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
     static {
-        index.put("index", 0);
+        index.put(index_key, 0);
     }
 
     public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
@@ -28,7 +28,12 @@
 
     @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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 83d1d39..67ec20e 100644
--- 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
@@ -6,6 +6,9 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.stereotype.Component;
 
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
 /**
  * 停障状态实时接收器
  */
@@ -13,14 +16,23 @@
 @Component("/app_stop_navtrack")
 public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
     private final IRobotStatusInfoService statusInfoService;
-
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+    static {
+        index.put(index_key, 0);
+    }
     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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 1cf0e55..9c26129 100644
--- 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
@@ -1,28 +1,37 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.application.enums.LoginEventTypeEnum;
+import com.casic.missiles.model.application.event.core.EventPublisher;
+import com.casic.missiles.modular.robot.event.PoseMessageEvent;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
-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 extends AbstractSocketHandler {
 
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
 
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    private final EventPublisher publisher;
+
+    public PoseMessageMsgHandler(EventPublisher publisher) {
+
+        this.publisher = publisher;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+//        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
         sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message);
+        PoseMessageEvent event = new PoseMessageEvent(LoginEventTypeEnum.RELOAD_SCOPE, message);
+        event.setRobotId(robotId);
+        publisher.publishEvent(event);
+        log.info("实时定位已发送！！");
     }
 }
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
index 4910f62..b248839 100644
--- 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
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.model.application.event.core.EventPublisher;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -16,17 +17,18 @@
 @Slf4j
 @Component("/process_message")
 public class ProcessMessageMsgHandler extends AbstractSocketHandler {
-    private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+    private final EventPublisher publisher;
+    private final IRobotStatusInfoService statusInfoService;
+    public ProcessMessageMsgHandler(EventPublisher publisher, IRobotStatusInfoService statusInfoService) {
+        this.publisher = publisher;
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
+        statusInfoService.saveProcessMessage(robotId,message);
         sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, 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
index 3a19ebe..9d275bd 100644
--- 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
@@ -34,7 +34,7 @@
         index.put("index" , val);
         if (val > 30) {
             index.put("index" , 0);
-            statusInfoService.saveSensorStatus(robotId, message);
+//            statusInfoService.saveSensorStatus(robotId, message);
         }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
index 3acf1d7..8950815 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
@@ -19,13 +19,22 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
     public StopStateMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        statusInfoService.saveStopState(robotId, message);
-//        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+
+            statusInfoService.saveStopState(robotId, message);
+        }
     }
 }

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
new file mode 100644
index 0000000..9d012da
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  任务照片存储 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface TaskInfoImgMapper extends BaseMapper<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage( @Param("page") Page<TaskInfoImg> page,@Param("ew" ) QueryWrapper<TaskInfoImg> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
new file mode 100644
index 0000000..e330c68
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.TaskInfoImgMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskInfoImg">
+            <result column="id" property="id"/>
+            <result column="mca_img" property="mcaImg"/>
+            <result column="psd_img" property="psdImg"/>
+            <result column="route_img" property="routeImg"/>
+            <result column="heat_img" property="heatImg"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    mca_img as mcaImg ,
+                    psd_img as psdImg ,
+                    route_img as routeImg ,
+                    heat_img as heatImg 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.mca_img
+            as mcaImg ,
+            a.psd_img
+            as psdImg ,
+            a.route_img
+            as routeImg ,
+            a.heat_img
+            as heatImg 
+</sql>
+<select id="selectTaskInfoImgPage" resultType="com.casic.missiles.modular.robot.model.TaskInfoImg">
+    select
+    <include refid="Base_Column_Alias"/>
+    from task_info_img a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.mcaImg!= null and request.mcaImg!=''">
+            and mca_img = #{request.mcaImg}
+</if>
+<if test="request.psdImg!= null and request.psdImg!=''">
+            and psd_img = #{request.psdImg}
+</if>
+<if test="request.routeImg!= null and request.routeImg!=''">
+            and route_img = #{request.routeImg}
+</if>
+<if test="request.heatImg!= null and request.heatImg!=''">
+            and heat_img = #{request.heatImg}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
new file mode 100644
index 0000000..ed06f3b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
@@ -0,0 +1,32 @@
+package com.casic.missiles.modular.robot.event;
+
+import com.casic.missiles.model.application.event.core.ModelEvent;
+import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+/**
+ * 用户登录数据变化事件
+ *
+ * @author lwh
+ */
+public class PoseMessageEvent extends ModelEvent<MqttMessage> {
+    private String robotId;
+    /**
+     * Create a new {@code ApplicationEvent}.
+     *
+     * @param type   事件类型
+     * @param source the object on which the event initially occurred or with
+     *               which the event is associated (never {@code null})
+     */
+    public PoseMessageEvent(AbstractEventTypeEnum type, MqttMessage source) {
+        super(type, source);
+    }
+
+    public String getRobotId() {
+        return robotId;
+    }
+
+    public void setRobotId(String robotId) {
+        this.robotId = robotId;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
new file mode 100644
index 0000000..2cc6cdc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.event;
+
+import cn.hutool.core.thread.ExecutorBuilder;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.ThreadPoolExecutor;
+
+/**
+ * 定位事件监听器
+ * @see  com.casic.missiles.modular.robot.opt.handler.msg.PoseMessageMsgHandler
+ */
+@Slf4j
+@Component
+public class PoseMessageListener {
+    private static ThreadPoolExecutor threadPoolExecutor = ExecutorBuilder.create().setCorePoolSize(5).setMaxPoolSize(10).build();
+    private final IRobotStatusInfoService statusInfoService;
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageListener(IRobotStatusInfoService statusInfoService, IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.statusInfoService = statusInfoService;
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @EventListener
+    public void onApplicationEvent(PoseMessageEvent event) {
+//        threadPoolExecutor.execute(() -> { });
+        robotTrajectoryInfoService.savePoseMessage(event.getRobotId(), (MqttMessage) event.getSource());
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
new file mode 100644
index 0000000..7e881d9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
@@ -0,0 +1,52 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+
+/**
+ * 任务照片存储对象 task_info_img
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+@TableName("task_info_img")
+public class TaskInfoImg extends Model<TaskInfoImg> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "任务ID", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "MCA图片", dataType = "String")
+    @TableField("mca_img")
+    private String mcaImg;
+
+    @ApiModelProperty(value = "PSD图片", dataType = "String")
+    @TableField("psd_img")
+    private String psdImg;
+
+    @ApiModelProperty(value = "巡检路线img", dataType = "String")
+    @TableField("route_img")
+    private String routeImg;
+
+    @ApiModelProperty(value = "热点分布图", dataType = "String")
+    @TableField("heat_img")
+    private String heatImg;
+
+
+    @Override
+    public String toString() {
+        return "TaskInfoImg{"
+                + "id=" + id
+                + "mcaImg=" + mcaImg
+                + "psdImg=" + psdImg
+                + "routeImg=" + routeImg
+                + "heatImg=" + heatImg
+                + "}";
+    }
+}
\ No newline at end of file
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 d74a38b..c4bc25d 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
@@ -35,7 +35,7 @@
     }),
     TRACK_RECORD("/track_record" , "/track_record_response" , "启动或关闭轨迹录制功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
-    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     DELETE_TRACK("/delete_track" , "/delete_track_response" , "删除路线" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
index 41879dd..83f4cb2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
@@ -13,6 +13,7 @@
 
 /**
  * websocket 推送消息
+ * @see com.casic.missiles.mqtt.config.MqttClientConfigListener#createMqtt
  */
 @Slf4j
 public abstract class AbstractSocketHandler implements IBaseMsgHandler {
@@ -48,7 +49,7 @@
                 wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
                 wsMsgBaseDTO.setData(jsonObject.get("msg"));
                 String msg = JSON.toJSONString(wsMsgBaseDTO);
-//                log.info("推送{}消息：{}", enums.getRemarks(), msg);
+                log.info("推送{}消息：{}", enums.getRemarks(), msg);
                 webSocket.sendOneMessage(robotId, msg);
             }
         } catch (Exception e) {
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 b8e561d..5e3fe49 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
@@ -6,6 +6,8 @@
  * 业务消息处理器
  */
 public interface IBaseMsgHandler {
+    static String index_key = "index";
+
     /**
      * 消息处理handler
      *
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
index cefe2cd..27bed0e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
@@ -55,9 +55,6 @@
         }
         messageDTO.setMsg(request);
         ResponseDataDTO<Integer> list = null;
-        if (request.getAction() != 1) {
-            taskInfoService.reloadTask(request, getRobotInfo());
-        }
         try {
             list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.START_TRACK, messageDTO);
         } catch (Exception e) {
@@ -75,8 +72,7 @@
      */
     @Override
     public ResponseDataDTO afterInvoke(StartTrackRequest request, ResponseDataDTO response) {
-        //增加循迹任务记录
-        taskInfoService.reloadTask(request, getRobotInfo());
+
         return response;
     }
 }
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
index 316fd8f..8b7fd0e 100644
--- 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
@@ -19,7 +19,7 @@
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
     static {
-        index.put("index", 0);
+        index.put(index_key, 0);
     }
 
     public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
@@ -28,7 +28,12 @@
 
     @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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 83d1d39..67ec20e 100644
--- 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
@@ -6,6 +6,9 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.stereotype.Component;
 
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
 /**
  * 停障状态实时接收器
  */
@@ -13,14 +16,23 @@
 @Component("/app_stop_navtrack")
 public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
     private final IRobotStatusInfoService statusInfoService;
-
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+    static {
+        index.put(index_key, 0);
+    }
     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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 1cf0e55..9c26129 100644
--- 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
@@ -1,28 +1,37 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.application.enums.LoginEventTypeEnum;
+import com.casic.missiles.model.application.event.core.EventPublisher;
+import com.casic.missiles.modular.robot.event.PoseMessageEvent;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
-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 extends AbstractSocketHandler {
 
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
 
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    private final EventPublisher publisher;
+
+    public PoseMessageMsgHandler(EventPublisher publisher) {
+
+        this.publisher = publisher;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+//        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
         sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message);
+        PoseMessageEvent event = new PoseMessageEvent(LoginEventTypeEnum.RELOAD_SCOPE, message);
+        event.setRobotId(robotId);
+        publisher.publishEvent(event);
+        log.info("实时定位已发送！！");
     }
 }
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
index 4910f62..b248839 100644
--- 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
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.model.application.event.core.EventPublisher;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -16,17 +17,18 @@
 @Slf4j
 @Component("/process_message")
 public class ProcessMessageMsgHandler extends AbstractSocketHandler {
-    private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+    private final EventPublisher publisher;
+    private final IRobotStatusInfoService statusInfoService;
+    public ProcessMessageMsgHandler(EventPublisher publisher, IRobotStatusInfoService statusInfoService) {
+        this.publisher = publisher;
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
+        statusInfoService.saveProcessMessage(robotId,message);
         sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, 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
index 3a19ebe..9d275bd 100644
--- 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
@@ -34,7 +34,7 @@
         index.put("index" , val);
         if (val > 30) {
             index.put("index" , 0);
-            statusInfoService.saveSensorStatus(robotId, message);
+//            statusInfoService.saveSensorStatus(robotId, message);
         }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
index 3acf1d7..8950815 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
@@ -19,13 +19,22 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
     public StopStateMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        statusInfoService.saveStopState(robotId, message);
-//        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+
+            statusInfoService.saveStopState(robotId, message);
+        }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
index ad0eda8..a9d7914 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.VoltageDTO;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
@@ -20,20 +25,58 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
+
     public VoltageResponseMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-//        log.info("----------------------电压信息反馈:{}", message);
-        statusInfoService.saveVoltageResponseMessage(robotId, message);
-        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
-        try{
 
-        RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
-        sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
-        }catch (Exception e){
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key) > 50) {
+            index.put(index_key, 0);
+            log.info("----------------------电压信息反馈:{}", message);
+            statusInfoService.saveVoltageResponseMessage(robotId, message);
+        }
+        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+        try {
+
+            RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
+            Integer appNav = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_NAV_PAUSE + robotId);
+            Integer appStop = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_STOP_NAVTRACK + robotId);
+            PoseMessageResponseDTO dto = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + robotId);
+            StopStateResponseDTO stopStateResponseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + robotId);
+            VoltageDTO voltageDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.VOLTAGE_RESPONSE + robotId);
+            if (robotStatusInfo != null) {
+                if (appNav != null) {
+                    robotStatusInfo.setAppNavPause(appNav);
+                }
+                if (appStop != null) {
+                    robotStatusInfo.setAppStopNavtrack(appStop);
+                }
+                if (dto != null) {
+                    robotStatusInfo.setPostionX(dto.getX());
+                    robotStatusInfo.setPostionY(dto.getY());
+                    robotStatusInfo.setPostionZ(dto.getZ());
+                }
+                if (stopStateResponseDTO != null) {
+                    robotStatusInfo.setSoft(stopStateResponseDTO.getSoft());
+                    robotStatusInfo.setSonic(stopStateResponseDTO.getSonic());
+                    robotStatusInfo.setCollision(stopStateResponseDTO.getCollision());
+                    robotStatusInfo.setButton(stopStateResponseDTO.getButton());
+                }
+                if (voltageDTO != null) {
+                    robotStatusInfo.setVoltage(voltageDTO.getVoltage());
+                    robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
+                }
+            }
+            //读取缓存信息
+            sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
+        } catch (Exception e) {
             e.printStackTrace();
         }
     }

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
new file mode 100644
index 0000000..9d012da
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  任务照片存储 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface TaskInfoImgMapper extends BaseMapper<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage( @Param("page") Page<TaskInfoImg> page,@Param("ew" ) QueryWrapper<TaskInfoImg> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
new file mode 100644
index 0000000..e330c68
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.TaskInfoImgMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskInfoImg">
+            <result column="id" property="id"/>
+            <result column="mca_img" property="mcaImg"/>
+            <result column="psd_img" property="psdImg"/>
+            <result column="route_img" property="routeImg"/>
+            <result column="heat_img" property="heatImg"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    mca_img as mcaImg ,
+                    psd_img as psdImg ,
+                    route_img as routeImg ,
+                    heat_img as heatImg 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.mca_img
+            as mcaImg ,
+            a.psd_img
+            as psdImg ,
+            a.route_img
+            as routeImg ,
+            a.heat_img
+            as heatImg 
+</sql>
+<select id="selectTaskInfoImgPage" resultType="com.casic.missiles.modular.robot.model.TaskInfoImg">
+    select
+    <include refid="Base_Column_Alias"/>
+    from task_info_img a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.mcaImg!= null and request.mcaImg!=''">
+            and mca_img = #{request.mcaImg}
+</if>
+<if test="request.psdImg!= null and request.psdImg!=''">
+            and psd_img = #{request.psdImg}
+</if>
+<if test="request.routeImg!= null and request.routeImg!=''">
+            and route_img = #{request.routeImg}
+</if>
+<if test="request.heatImg!= null and request.heatImg!=''">
+            and heat_img = #{request.heatImg}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
new file mode 100644
index 0000000..ed06f3b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
@@ -0,0 +1,32 @@
+package com.casic.missiles.modular.robot.event;
+
+import com.casic.missiles.model.application.event.core.ModelEvent;
+import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+/**
+ * 用户登录数据变化事件
+ *
+ * @author lwh
+ */
+public class PoseMessageEvent extends ModelEvent<MqttMessage> {
+    private String robotId;
+    /**
+     * Create a new {@code ApplicationEvent}.
+     *
+     * @param type   事件类型
+     * @param source the object on which the event initially occurred or with
+     *               which the event is associated (never {@code null})
+     */
+    public PoseMessageEvent(AbstractEventTypeEnum type, MqttMessage source) {
+        super(type, source);
+    }
+
+    public String getRobotId() {
+        return robotId;
+    }
+
+    public void setRobotId(String robotId) {
+        this.robotId = robotId;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
new file mode 100644
index 0000000..2cc6cdc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.event;
+
+import cn.hutool.core.thread.ExecutorBuilder;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.ThreadPoolExecutor;
+
+/**
+ * 定位事件监听器
+ * @see  com.casic.missiles.modular.robot.opt.handler.msg.PoseMessageMsgHandler
+ */
+@Slf4j
+@Component
+public class PoseMessageListener {
+    private static ThreadPoolExecutor threadPoolExecutor = ExecutorBuilder.create().setCorePoolSize(5).setMaxPoolSize(10).build();
+    private final IRobotStatusInfoService statusInfoService;
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageListener(IRobotStatusInfoService statusInfoService, IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.statusInfoService = statusInfoService;
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @EventListener
+    public void onApplicationEvent(PoseMessageEvent event) {
+//        threadPoolExecutor.execute(() -> { });
+        robotTrajectoryInfoService.savePoseMessage(event.getRobotId(), (MqttMessage) event.getSource());
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
new file mode 100644
index 0000000..7e881d9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
@@ -0,0 +1,52 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+
+/**
+ * 任务照片存储对象 task_info_img
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+@TableName("task_info_img")
+public class TaskInfoImg extends Model<TaskInfoImg> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "任务ID", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "MCA图片", dataType = "String")
+    @TableField("mca_img")
+    private String mcaImg;
+
+    @ApiModelProperty(value = "PSD图片", dataType = "String")
+    @TableField("psd_img")
+    private String psdImg;
+
+    @ApiModelProperty(value = "巡检路线img", dataType = "String")
+    @TableField("route_img")
+    private String routeImg;
+
+    @ApiModelProperty(value = "热点分布图", dataType = "String")
+    @TableField("heat_img")
+    private String heatImg;
+
+
+    @Override
+    public String toString() {
+        return "TaskInfoImg{"
+                + "id=" + id
+                + "mcaImg=" + mcaImg
+                + "psdImg=" + psdImg
+                + "routeImg=" + routeImg
+                + "heatImg=" + heatImg
+                + "}";
+    }
+}
\ No newline at end of file
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 d74a38b..c4bc25d 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
@@ -35,7 +35,7 @@
     }),
     TRACK_RECORD("/track_record" , "/track_record_response" , "启动或关闭轨迹录制功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
-    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     DELETE_TRACK("/delete_track" , "/delete_track_response" , "删除路线" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
index 41879dd..83f4cb2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
@@ -13,6 +13,7 @@
 
 /**
  * websocket 推送消息
+ * @see com.casic.missiles.mqtt.config.MqttClientConfigListener#createMqtt
  */
 @Slf4j
 public abstract class AbstractSocketHandler implements IBaseMsgHandler {
@@ -48,7 +49,7 @@
                 wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
                 wsMsgBaseDTO.setData(jsonObject.get("msg"));
                 String msg = JSON.toJSONString(wsMsgBaseDTO);
-//                log.info("推送{}消息：{}", enums.getRemarks(), msg);
+                log.info("推送{}消息：{}", enums.getRemarks(), msg);
                 webSocket.sendOneMessage(robotId, msg);
             }
         } catch (Exception e) {
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 b8e561d..5e3fe49 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
@@ -6,6 +6,8 @@
  * 业务消息处理器
  */
 public interface IBaseMsgHandler {
+    static String index_key = "index";
+
     /**
      * 消息处理handler
      *
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
index cefe2cd..27bed0e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
@@ -55,9 +55,6 @@
         }
         messageDTO.setMsg(request);
         ResponseDataDTO<Integer> list = null;
-        if (request.getAction() != 1) {
-            taskInfoService.reloadTask(request, getRobotInfo());
-        }
         try {
             list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.START_TRACK, messageDTO);
         } catch (Exception e) {
@@ -75,8 +72,7 @@
      */
     @Override
     public ResponseDataDTO afterInvoke(StartTrackRequest request, ResponseDataDTO response) {
-        //增加循迹任务记录
-        taskInfoService.reloadTask(request, getRobotInfo());
+
         return response;
     }
 }
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
index 316fd8f..8b7fd0e 100644
--- 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
@@ -19,7 +19,7 @@
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
     static {
-        index.put("index", 0);
+        index.put(index_key, 0);
     }
 
     public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
@@ -28,7 +28,12 @@
 
     @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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 83d1d39..67ec20e 100644
--- 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
@@ -6,6 +6,9 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.stereotype.Component;
 
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
 /**
  * 停障状态实时接收器
  */
@@ -13,14 +16,23 @@
 @Component("/app_stop_navtrack")
 public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
     private final IRobotStatusInfoService statusInfoService;
-
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+    static {
+        index.put(index_key, 0);
+    }
     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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 1cf0e55..9c26129 100644
--- 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
@@ -1,28 +1,37 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.application.enums.LoginEventTypeEnum;
+import com.casic.missiles.model.application.event.core.EventPublisher;
+import com.casic.missiles.modular.robot.event.PoseMessageEvent;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
-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 extends AbstractSocketHandler {
 
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
 
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    private final EventPublisher publisher;
+
+    public PoseMessageMsgHandler(EventPublisher publisher) {
+
+        this.publisher = publisher;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+//        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
         sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message);
+        PoseMessageEvent event = new PoseMessageEvent(LoginEventTypeEnum.RELOAD_SCOPE, message);
+        event.setRobotId(robotId);
+        publisher.publishEvent(event);
+        log.info("实时定位已发送！！");
     }
 }
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
index 4910f62..b248839 100644
--- 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
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.model.application.event.core.EventPublisher;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -16,17 +17,18 @@
 @Slf4j
 @Component("/process_message")
 public class ProcessMessageMsgHandler extends AbstractSocketHandler {
-    private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+    private final EventPublisher publisher;
+    private final IRobotStatusInfoService statusInfoService;
+    public ProcessMessageMsgHandler(EventPublisher publisher, IRobotStatusInfoService statusInfoService) {
+        this.publisher = publisher;
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
+        statusInfoService.saveProcessMessage(robotId,message);
         sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, 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
index 3a19ebe..9d275bd 100644
--- 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
@@ -34,7 +34,7 @@
         index.put("index" , val);
         if (val > 30) {
             index.put("index" , 0);
-            statusInfoService.saveSensorStatus(robotId, message);
+//            statusInfoService.saveSensorStatus(robotId, message);
         }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
index 3acf1d7..8950815 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
@@ -19,13 +19,22 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
     public StopStateMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        statusInfoService.saveStopState(robotId, message);
-//        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+
+            statusInfoService.saveStopState(robotId, message);
+        }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
index ad0eda8..a9d7914 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.VoltageDTO;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
@@ -20,20 +25,58 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
+
     public VoltageResponseMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-//        log.info("----------------------电压信息反馈:{}", message);
-        statusInfoService.saveVoltageResponseMessage(robotId, message);
-        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
-        try{
 
-        RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
-        sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
-        }catch (Exception e){
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key) > 50) {
+            index.put(index_key, 0);
+            log.info("----------------------电压信息反馈:{}", message);
+            statusInfoService.saveVoltageResponseMessage(robotId, message);
+        }
+        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+        try {
+
+            RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
+            Integer appNav = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_NAV_PAUSE + robotId);
+            Integer appStop = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_STOP_NAVTRACK + robotId);
+            PoseMessageResponseDTO dto = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + robotId);
+            StopStateResponseDTO stopStateResponseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + robotId);
+            VoltageDTO voltageDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.VOLTAGE_RESPONSE + robotId);
+            if (robotStatusInfo != null) {
+                if (appNav != null) {
+                    robotStatusInfo.setAppNavPause(appNav);
+                }
+                if (appStop != null) {
+                    robotStatusInfo.setAppStopNavtrack(appStop);
+                }
+                if (dto != null) {
+                    robotStatusInfo.setPostionX(dto.getX());
+                    robotStatusInfo.setPostionY(dto.getY());
+                    robotStatusInfo.setPostionZ(dto.getZ());
+                }
+                if (stopStateResponseDTO != null) {
+                    robotStatusInfo.setSoft(stopStateResponseDTO.getSoft());
+                    robotStatusInfo.setSonic(stopStateResponseDTO.getSonic());
+                    robotStatusInfo.setCollision(stopStateResponseDTO.getCollision());
+                    robotStatusInfo.setButton(stopStateResponseDTO.getButton());
+                }
+                if (voltageDTO != null) {
+                    robotStatusInfo.setVoltage(voltageDTO.getVoltage());
+                    robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
+                }
+            }
+            //读取缓存信息
+            sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
+        } catch (Exception e) {
             e.printStackTrace();
         }
     }
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 c2c2773..8471e7a 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
@@ -141,6 +141,13 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+    @Transactional
+    @Override
+    public void startTrack(StartTrackRequest request) {
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, robotInfoService.getById(request.getRobotId()));
+        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+    }
 
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
new file mode 100644
index 0000000..9d012da
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  任务照片存储 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface TaskInfoImgMapper extends BaseMapper<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage( @Param("page") Page<TaskInfoImg> page,@Param("ew" ) QueryWrapper<TaskInfoImg> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
new file mode 100644
index 0000000..e330c68
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.TaskInfoImgMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskInfoImg">
+            <result column="id" property="id"/>
+            <result column="mca_img" property="mcaImg"/>
+            <result column="psd_img" property="psdImg"/>
+            <result column="route_img" property="routeImg"/>
+            <result column="heat_img" property="heatImg"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    mca_img as mcaImg ,
+                    psd_img as psdImg ,
+                    route_img as routeImg ,
+                    heat_img as heatImg 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.mca_img
+            as mcaImg ,
+            a.psd_img
+            as psdImg ,
+            a.route_img
+            as routeImg ,
+            a.heat_img
+            as heatImg 
+</sql>
+<select id="selectTaskInfoImgPage" resultType="com.casic.missiles.modular.robot.model.TaskInfoImg">
+    select
+    <include refid="Base_Column_Alias"/>
+    from task_info_img a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.mcaImg!= null and request.mcaImg!=''">
+            and mca_img = #{request.mcaImg}
+</if>
+<if test="request.psdImg!= null and request.psdImg!=''">
+            and psd_img = #{request.psdImg}
+</if>
+<if test="request.routeImg!= null and request.routeImg!=''">
+            and route_img = #{request.routeImg}
+</if>
+<if test="request.heatImg!= null and request.heatImg!=''">
+            and heat_img = #{request.heatImg}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
new file mode 100644
index 0000000..ed06f3b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
@@ -0,0 +1,32 @@
+package com.casic.missiles.modular.robot.event;
+
+import com.casic.missiles.model.application.event.core.ModelEvent;
+import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+/**
+ * 用户登录数据变化事件
+ *
+ * @author lwh
+ */
+public class PoseMessageEvent extends ModelEvent<MqttMessage> {
+    private String robotId;
+    /**
+     * Create a new {@code ApplicationEvent}.
+     *
+     * @param type   事件类型
+     * @param source the object on which the event initially occurred or with
+     *               which the event is associated (never {@code null})
+     */
+    public PoseMessageEvent(AbstractEventTypeEnum type, MqttMessage source) {
+        super(type, source);
+    }
+
+    public String getRobotId() {
+        return robotId;
+    }
+
+    public void setRobotId(String robotId) {
+        this.robotId = robotId;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
new file mode 100644
index 0000000..2cc6cdc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.event;
+
+import cn.hutool.core.thread.ExecutorBuilder;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.ThreadPoolExecutor;
+
+/**
+ * 定位事件监听器
+ * @see  com.casic.missiles.modular.robot.opt.handler.msg.PoseMessageMsgHandler
+ */
+@Slf4j
+@Component
+public class PoseMessageListener {
+    private static ThreadPoolExecutor threadPoolExecutor = ExecutorBuilder.create().setCorePoolSize(5).setMaxPoolSize(10).build();
+    private final IRobotStatusInfoService statusInfoService;
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageListener(IRobotStatusInfoService statusInfoService, IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.statusInfoService = statusInfoService;
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @EventListener
+    public void onApplicationEvent(PoseMessageEvent event) {
+//        threadPoolExecutor.execute(() -> { });
+        robotTrajectoryInfoService.savePoseMessage(event.getRobotId(), (MqttMessage) event.getSource());
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
new file mode 100644
index 0000000..7e881d9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
@@ -0,0 +1,52 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+
+/**
+ * 任务照片存储对象 task_info_img
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+@TableName("task_info_img")
+public class TaskInfoImg extends Model<TaskInfoImg> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "任务ID", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "MCA图片", dataType = "String")
+    @TableField("mca_img")
+    private String mcaImg;
+
+    @ApiModelProperty(value = "PSD图片", dataType = "String")
+    @TableField("psd_img")
+    private String psdImg;
+
+    @ApiModelProperty(value = "巡检路线img", dataType = "String")
+    @TableField("route_img")
+    private String routeImg;
+
+    @ApiModelProperty(value = "热点分布图", dataType = "String")
+    @TableField("heat_img")
+    private String heatImg;
+
+
+    @Override
+    public String toString() {
+        return "TaskInfoImg{"
+                + "id=" + id
+                + "mcaImg=" + mcaImg
+                + "psdImg=" + psdImg
+                + "routeImg=" + routeImg
+                + "heatImg=" + heatImg
+                + "}";
+    }
+}
\ No newline at end of file
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 d74a38b..c4bc25d 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
@@ -35,7 +35,7 @@
     }),
     TRACK_RECORD("/track_record" , "/track_record_response" , "启动或关闭轨迹录制功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
-    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     DELETE_TRACK("/delete_track" , "/delete_track_response" , "删除路线" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
index 41879dd..83f4cb2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
@@ -13,6 +13,7 @@
 
 /**
  * websocket 推送消息
+ * @see com.casic.missiles.mqtt.config.MqttClientConfigListener#createMqtt
  */
 @Slf4j
 public abstract class AbstractSocketHandler implements IBaseMsgHandler {
@@ -48,7 +49,7 @@
                 wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
                 wsMsgBaseDTO.setData(jsonObject.get("msg"));
                 String msg = JSON.toJSONString(wsMsgBaseDTO);
-//                log.info("推送{}消息：{}", enums.getRemarks(), msg);
+                log.info("推送{}消息：{}", enums.getRemarks(), msg);
                 webSocket.sendOneMessage(robotId, msg);
             }
         } catch (Exception e) {
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 b8e561d..5e3fe49 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
@@ -6,6 +6,8 @@
  * 业务消息处理器
  */
 public interface IBaseMsgHandler {
+    static String index_key = "index";
+
     /**
      * 消息处理handler
      *
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
index cefe2cd..27bed0e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
@@ -55,9 +55,6 @@
         }
         messageDTO.setMsg(request);
         ResponseDataDTO<Integer> list = null;
-        if (request.getAction() != 1) {
-            taskInfoService.reloadTask(request, getRobotInfo());
-        }
         try {
             list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.START_TRACK, messageDTO);
         } catch (Exception e) {
@@ -75,8 +72,7 @@
      */
     @Override
     public ResponseDataDTO afterInvoke(StartTrackRequest request, ResponseDataDTO response) {
-        //增加循迹任务记录
-        taskInfoService.reloadTask(request, getRobotInfo());
+
         return response;
     }
 }
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
index 316fd8f..8b7fd0e 100644
--- 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
@@ -19,7 +19,7 @@
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
     static {
-        index.put("index", 0);
+        index.put(index_key, 0);
     }
 
     public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
@@ -28,7 +28,12 @@
 
     @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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 83d1d39..67ec20e 100644
--- 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
@@ -6,6 +6,9 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.stereotype.Component;
 
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
 /**
  * 停障状态实时接收器
  */
@@ -13,14 +16,23 @@
 @Component("/app_stop_navtrack")
 public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
     private final IRobotStatusInfoService statusInfoService;
-
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+    static {
+        index.put(index_key, 0);
+    }
     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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 1cf0e55..9c26129 100644
--- 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
@@ -1,28 +1,37 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.application.enums.LoginEventTypeEnum;
+import com.casic.missiles.model.application.event.core.EventPublisher;
+import com.casic.missiles.modular.robot.event.PoseMessageEvent;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
-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 extends AbstractSocketHandler {
 
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
 
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    private final EventPublisher publisher;
+
+    public PoseMessageMsgHandler(EventPublisher publisher) {
+
+        this.publisher = publisher;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+//        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
         sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message);
+        PoseMessageEvent event = new PoseMessageEvent(LoginEventTypeEnum.RELOAD_SCOPE, message);
+        event.setRobotId(robotId);
+        publisher.publishEvent(event);
+        log.info("实时定位已发送！！");
     }
 }
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
index 4910f62..b248839 100644
--- 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
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.model.application.event.core.EventPublisher;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -16,17 +17,18 @@
 @Slf4j
 @Component("/process_message")
 public class ProcessMessageMsgHandler extends AbstractSocketHandler {
-    private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+    private final EventPublisher publisher;
+    private final IRobotStatusInfoService statusInfoService;
+    public ProcessMessageMsgHandler(EventPublisher publisher, IRobotStatusInfoService statusInfoService) {
+        this.publisher = publisher;
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
+        statusInfoService.saveProcessMessage(robotId,message);
         sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, 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
index 3a19ebe..9d275bd 100644
--- 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
@@ -34,7 +34,7 @@
         index.put("index" , val);
         if (val > 30) {
             index.put("index" , 0);
-            statusInfoService.saveSensorStatus(robotId, message);
+//            statusInfoService.saveSensorStatus(robotId, message);
         }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
index 3acf1d7..8950815 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
@@ -19,13 +19,22 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
     public StopStateMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        statusInfoService.saveStopState(robotId, message);
-//        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+
+            statusInfoService.saveStopState(robotId, message);
+        }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
index ad0eda8..a9d7914 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.VoltageDTO;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
@@ -20,20 +25,58 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
+
     public VoltageResponseMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-//        log.info("----------------------电压信息反馈:{}", message);
-        statusInfoService.saveVoltageResponseMessage(robotId, message);
-        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
-        try{
 
-        RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
-        sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
-        }catch (Exception e){
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key) > 50) {
+            index.put(index_key, 0);
+            log.info("----------------------电压信息反馈:{}", message);
+            statusInfoService.saveVoltageResponseMessage(robotId, message);
+        }
+        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+        try {
+
+            RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
+            Integer appNav = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_NAV_PAUSE + robotId);
+            Integer appStop = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_STOP_NAVTRACK + robotId);
+            PoseMessageResponseDTO dto = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + robotId);
+            StopStateResponseDTO stopStateResponseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + robotId);
+            VoltageDTO voltageDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.VOLTAGE_RESPONSE + robotId);
+            if (robotStatusInfo != null) {
+                if (appNav != null) {
+                    robotStatusInfo.setAppNavPause(appNav);
+                }
+                if (appStop != null) {
+                    robotStatusInfo.setAppStopNavtrack(appStop);
+                }
+                if (dto != null) {
+                    robotStatusInfo.setPostionX(dto.getX());
+                    robotStatusInfo.setPostionY(dto.getY());
+                    robotStatusInfo.setPostionZ(dto.getZ());
+                }
+                if (stopStateResponseDTO != null) {
+                    robotStatusInfo.setSoft(stopStateResponseDTO.getSoft());
+                    robotStatusInfo.setSonic(stopStateResponseDTO.getSonic());
+                    robotStatusInfo.setCollision(stopStateResponseDTO.getCollision());
+                    robotStatusInfo.setButton(stopStateResponseDTO.getButton());
+                }
+                if (voltageDTO != null) {
+                    robotStatusInfo.setVoltage(voltageDTO.getVoltage());
+                    robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
+                }
+            }
+            //读取缓存信息
+            sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
+        } catch (Exception e) {
             e.printStackTrace();
         }
     }
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 c2c2773..8471e7a 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
@@ -141,6 +141,13 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+    @Transactional
+    @Override
+    public void startTrack(StartTrackRequest request) {
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, robotInfoService.getById(request.getRobotId()));
+        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+    }
 
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
new file mode 100644
index 0000000..c5071bc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.robot.opt.instruct.response;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+
+@Data
+public class VoltageDTO implements Serializable {
+    private Integer electricityQuantity;
+    private BigDecimal voltage;
+}
\ No newline at end of file

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
new file mode 100644
index 0000000..9d012da
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  任务照片存储 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface TaskInfoImgMapper extends BaseMapper<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage( @Param("page") Page<TaskInfoImg> page,@Param("ew" ) QueryWrapper<TaskInfoImg> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
new file mode 100644
index 0000000..e330c68
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.TaskInfoImgMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskInfoImg">
+            <result column="id" property="id"/>
+            <result column="mca_img" property="mcaImg"/>
+            <result column="psd_img" property="psdImg"/>
+            <result column="route_img" property="routeImg"/>
+            <result column="heat_img" property="heatImg"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    mca_img as mcaImg ,
+                    psd_img as psdImg ,
+                    route_img as routeImg ,
+                    heat_img as heatImg 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.mca_img
+            as mcaImg ,
+            a.psd_img
+            as psdImg ,
+            a.route_img
+            as routeImg ,
+            a.heat_img
+            as heatImg 
+</sql>
+<select id="selectTaskInfoImgPage" resultType="com.casic.missiles.modular.robot.model.TaskInfoImg">
+    select
+    <include refid="Base_Column_Alias"/>
+    from task_info_img a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.mcaImg!= null and request.mcaImg!=''">
+            and mca_img = #{request.mcaImg}
+</if>
+<if test="request.psdImg!= null and request.psdImg!=''">
+            and psd_img = #{request.psdImg}
+</if>
+<if test="request.routeImg!= null and request.routeImg!=''">
+            and route_img = #{request.routeImg}
+</if>
+<if test="request.heatImg!= null and request.heatImg!=''">
+            and heat_img = #{request.heatImg}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
new file mode 100644
index 0000000..ed06f3b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
@@ -0,0 +1,32 @@
+package com.casic.missiles.modular.robot.event;
+
+import com.casic.missiles.model.application.event.core.ModelEvent;
+import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+/**
+ * 用户登录数据变化事件
+ *
+ * @author lwh
+ */
+public class PoseMessageEvent extends ModelEvent<MqttMessage> {
+    private String robotId;
+    /**
+     * Create a new {@code ApplicationEvent}.
+     *
+     * @param type   事件类型
+     * @param source the object on which the event initially occurred or with
+     *               which the event is associated (never {@code null})
+     */
+    public PoseMessageEvent(AbstractEventTypeEnum type, MqttMessage source) {
+        super(type, source);
+    }
+
+    public String getRobotId() {
+        return robotId;
+    }
+
+    public void setRobotId(String robotId) {
+        this.robotId = robotId;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
new file mode 100644
index 0000000..2cc6cdc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.event;
+
+import cn.hutool.core.thread.ExecutorBuilder;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.ThreadPoolExecutor;
+
+/**
+ * 定位事件监听器
+ * @see  com.casic.missiles.modular.robot.opt.handler.msg.PoseMessageMsgHandler
+ */
+@Slf4j
+@Component
+public class PoseMessageListener {
+    private static ThreadPoolExecutor threadPoolExecutor = ExecutorBuilder.create().setCorePoolSize(5).setMaxPoolSize(10).build();
+    private final IRobotStatusInfoService statusInfoService;
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageListener(IRobotStatusInfoService statusInfoService, IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.statusInfoService = statusInfoService;
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @EventListener
+    public void onApplicationEvent(PoseMessageEvent event) {
+//        threadPoolExecutor.execute(() -> { });
+        robotTrajectoryInfoService.savePoseMessage(event.getRobotId(), (MqttMessage) event.getSource());
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
new file mode 100644
index 0000000..7e881d9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
@@ -0,0 +1,52 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+
+/**
+ * 任务照片存储对象 task_info_img
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+@TableName("task_info_img")
+public class TaskInfoImg extends Model<TaskInfoImg> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "任务ID", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "MCA图片", dataType = "String")
+    @TableField("mca_img")
+    private String mcaImg;
+
+    @ApiModelProperty(value = "PSD图片", dataType = "String")
+    @TableField("psd_img")
+    private String psdImg;
+
+    @ApiModelProperty(value = "巡检路线img", dataType = "String")
+    @TableField("route_img")
+    private String routeImg;
+
+    @ApiModelProperty(value = "热点分布图", dataType = "String")
+    @TableField("heat_img")
+    private String heatImg;
+
+
+    @Override
+    public String toString() {
+        return "TaskInfoImg{"
+                + "id=" + id
+                + "mcaImg=" + mcaImg
+                + "psdImg=" + psdImg
+                + "routeImg=" + routeImg
+                + "heatImg=" + heatImg
+                + "}";
+    }
+}
\ No newline at end of file
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 d74a38b..c4bc25d 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
@@ -35,7 +35,7 @@
     }),
     TRACK_RECORD("/track_record" , "/track_record_response" , "启动或关闭轨迹录制功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
-    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     DELETE_TRACK("/delete_track" , "/delete_track_response" , "删除路线" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
index 41879dd..83f4cb2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
@@ -13,6 +13,7 @@
 
 /**
  * websocket 推送消息
+ * @see com.casic.missiles.mqtt.config.MqttClientConfigListener#createMqtt
  */
 @Slf4j
 public abstract class AbstractSocketHandler implements IBaseMsgHandler {
@@ -48,7 +49,7 @@
                 wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
                 wsMsgBaseDTO.setData(jsonObject.get("msg"));
                 String msg = JSON.toJSONString(wsMsgBaseDTO);
-//                log.info("推送{}消息：{}", enums.getRemarks(), msg);
+                log.info("推送{}消息：{}", enums.getRemarks(), msg);
                 webSocket.sendOneMessage(robotId, msg);
             }
         } catch (Exception e) {
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 b8e561d..5e3fe49 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
@@ -6,6 +6,8 @@
  * 业务消息处理器
  */
 public interface IBaseMsgHandler {
+    static String index_key = "index";
+
     /**
      * 消息处理handler
      *
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
index cefe2cd..27bed0e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
@@ -55,9 +55,6 @@
         }
         messageDTO.setMsg(request);
         ResponseDataDTO<Integer> list = null;
-        if (request.getAction() != 1) {
-            taskInfoService.reloadTask(request, getRobotInfo());
-        }
         try {
             list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.START_TRACK, messageDTO);
         } catch (Exception e) {
@@ -75,8 +72,7 @@
      */
     @Override
     public ResponseDataDTO afterInvoke(StartTrackRequest request, ResponseDataDTO response) {
-        //增加循迹任务记录
-        taskInfoService.reloadTask(request, getRobotInfo());
+
         return response;
     }
 }
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
index 316fd8f..8b7fd0e 100644
--- 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
@@ -19,7 +19,7 @@
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
     static {
-        index.put("index", 0);
+        index.put(index_key, 0);
     }
 
     public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
@@ -28,7 +28,12 @@
 
     @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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 83d1d39..67ec20e 100644
--- 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
@@ -6,6 +6,9 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.stereotype.Component;
 
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
 /**
  * 停障状态实时接收器
  */
@@ -13,14 +16,23 @@
 @Component("/app_stop_navtrack")
 public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
     private final IRobotStatusInfoService statusInfoService;
-
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+    static {
+        index.put(index_key, 0);
+    }
     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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 1cf0e55..9c26129 100644
--- 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
@@ -1,28 +1,37 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.application.enums.LoginEventTypeEnum;
+import com.casic.missiles.model.application.event.core.EventPublisher;
+import com.casic.missiles.modular.robot.event.PoseMessageEvent;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
-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 extends AbstractSocketHandler {
 
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
 
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    private final EventPublisher publisher;
+
+    public PoseMessageMsgHandler(EventPublisher publisher) {
+
+        this.publisher = publisher;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+//        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
         sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message);
+        PoseMessageEvent event = new PoseMessageEvent(LoginEventTypeEnum.RELOAD_SCOPE, message);
+        event.setRobotId(robotId);
+        publisher.publishEvent(event);
+        log.info("实时定位已发送！！");
     }
 }
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
index 4910f62..b248839 100644
--- 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
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.model.application.event.core.EventPublisher;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -16,17 +17,18 @@
 @Slf4j
 @Component("/process_message")
 public class ProcessMessageMsgHandler extends AbstractSocketHandler {
-    private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+    private final EventPublisher publisher;
+    private final IRobotStatusInfoService statusInfoService;
+    public ProcessMessageMsgHandler(EventPublisher publisher, IRobotStatusInfoService statusInfoService) {
+        this.publisher = publisher;
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
+        statusInfoService.saveProcessMessage(robotId,message);
         sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, 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
index 3a19ebe..9d275bd 100644
--- 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
@@ -34,7 +34,7 @@
         index.put("index" , val);
         if (val > 30) {
             index.put("index" , 0);
-            statusInfoService.saveSensorStatus(robotId, message);
+//            statusInfoService.saveSensorStatus(robotId, message);
         }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
index 3acf1d7..8950815 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
@@ -19,13 +19,22 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
     public StopStateMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        statusInfoService.saveStopState(robotId, message);
-//        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+
+            statusInfoService.saveStopState(robotId, message);
+        }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
index ad0eda8..a9d7914 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.VoltageDTO;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
@@ -20,20 +25,58 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
+
     public VoltageResponseMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-//        log.info("----------------------电压信息反馈:{}", message);
-        statusInfoService.saveVoltageResponseMessage(robotId, message);
-        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
-        try{
 
-        RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
-        sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
-        }catch (Exception e){
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key) > 50) {
+            index.put(index_key, 0);
+            log.info("----------------------电压信息反馈:{}", message);
+            statusInfoService.saveVoltageResponseMessage(robotId, message);
+        }
+        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+        try {
+
+            RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
+            Integer appNav = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_NAV_PAUSE + robotId);
+            Integer appStop = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_STOP_NAVTRACK + robotId);
+            PoseMessageResponseDTO dto = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + robotId);
+            StopStateResponseDTO stopStateResponseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + robotId);
+            VoltageDTO voltageDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.VOLTAGE_RESPONSE + robotId);
+            if (robotStatusInfo != null) {
+                if (appNav != null) {
+                    robotStatusInfo.setAppNavPause(appNav);
+                }
+                if (appStop != null) {
+                    robotStatusInfo.setAppStopNavtrack(appStop);
+                }
+                if (dto != null) {
+                    robotStatusInfo.setPostionX(dto.getX());
+                    robotStatusInfo.setPostionY(dto.getY());
+                    robotStatusInfo.setPostionZ(dto.getZ());
+                }
+                if (stopStateResponseDTO != null) {
+                    robotStatusInfo.setSoft(stopStateResponseDTO.getSoft());
+                    robotStatusInfo.setSonic(stopStateResponseDTO.getSonic());
+                    robotStatusInfo.setCollision(stopStateResponseDTO.getCollision());
+                    robotStatusInfo.setButton(stopStateResponseDTO.getButton());
+                }
+                if (voltageDTO != null) {
+                    robotStatusInfo.setVoltage(voltageDTO.getVoltage());
+                    robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
+                }
+            }
+            //读取缓存信息
+            sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
+        } catch (Exception e) {
             e.printStackTrace();
         }
     }
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 c2c2773..8471e7a 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
@@ -141,6 +141,13 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+    @Transactional
+    @Override
+    public void startTrack(StartTrackRequest request) {
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, robotInfoService.getById(request.getRobotId()));
+        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+    }
 
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
new file mode 100644
index 0000000..c5071bc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.robot.opt.instruct.response;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+
+@Data
+public class VoltageDTO implements Serializable {
+    private Integer electricityQuantity;
+    private BigDecimal voltage;
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
index 9065f34..56b3e1d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -7,6 +7,7 @@
 import com.casic.missiles.modular.robot.model.RobotInfo;
 
 import java.math.BigDecimal;
+import java.util.List;
 
 /**
  * 循迹算法调用
@@ -37,4 +38,5 @@
      * @return
      */
     GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo);
+    void readAlgorithmResponse(String fileName, AlgorithmResponse response, Long taskId, List<String> res);
 }
\ No newline at end of file

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
new file mode 100644
index 0000000..9d012da
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  任务照片存储 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface TaskInfoImgMapper extends BaseMapper<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage( @Param("page") Page<TaskInfoImg> page,@Param("ew" ) QueryWrapper<TaskInfoImg> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
new file mode 100644
index 0000000..e330c68
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.TaskInfoImgMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskInfoImg">
+            <result column="id" property="id"/>
+            <result column="mca_img" property="mcaImg"/>
+            <result column="psd_img" property="psdImg"/>
+            <result column="route_img" property="routeImg"/>
+            <result column="heat_img" property="heatImg"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    mca_img as mcaImg ,
+                    psd_img as psdImg ,
+                    route_img as routeImg ,
+                    heat_img as heatImg 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.mca_img
+            as mcaImg ,
+            a.psd_img
+            as psdImg ,
+            a.route_img
+            as routeImg ,
+            a.heat_img
+            as heatImg 
+</sql>
+<select id="selectTaskInfoImgPage" resultType="com.casic.missiles.modular.robot.model.TaskInfoImg">
+    select
+    <include refid="Base_Column_Alias"/>
+    from task_info_img a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.mcaImg!= null and request.mcaImg!=''">
+            and mca_img = #{request.mcaImg}
+</if>
+<if test="request.psdImg!= null and request.psdImg!=''">
+            and psd_img = #{request.psdImg}
+</if>
+<if test="request.routeImg!= null and request.routeImg!=''">
+            and route_img = #{request.routeImg}
+</if>
+<if test="request.heatImg!= null and request.heatImg!=''">
+            and heat_img = #{request.heatImg}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
new file mode 100644
index 0000000..ed06f3b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
@@ -0,0 +1,32 @@
+package com.casic.missiles.modular.robot.event;
+
+import com.casic.missiles.model.application.event.core.ModelEvent;
+import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+/**
+ * 用户登录数据变化事件
+ *
+ * @author lwh
+ */
+public class PoseMessageEvent extends ModelEvent<MqttMessage> {
+    private String robotId;
+    /**
+     * Create a new {@code ApplicationEvent}.
+     *
+     * @param type   事件类型
+     * @param source the object on which the event initially occurred or with
+     *               which the event is associated (never {@code null})
+     */
+    public PoseMessageEvent(AbstractEventTypeEnum type, MqttMessage source) {
+        super(type, source);
+    }
+
+    public String getRobotId() {
+        return robotId;
+    }
+
+    public void setRobotId(String robotId) {
+        this.robotId = robotId;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
new file mode 100644
index 0000000..2cc6cdc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.event;
+
+import cn.hutool.core.thread.ExecutorBuilder;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.ThreadPoolExecutor;
+
+/**
+ * 定位事件监听器
+ * @see  com.casic.missiles.modular.robot.opt.handler.msg.PoseMessageMsgHandler
+ */
+@Slf4j
+@Component
+public class PoseMessageListener {
+    private static ThreadPoolExecutor threadPoolExecutor = ExecutorBuilder.create().setCorePoolSize(5).setMaxPoolSize(10).build();
+    private final IRobotStatusInfoService statusInfoService;
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageListener(IRobotStatusInfoService statusInfoService, IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.statusInfoService = statusInfoService;
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @EventListener
+    public void onApplicationEvent(PoseMessageEvent event) {
+//        threadPoolExecutor.execute(() -> { });
+        robotTrajectoryInfoService.savePoseMessage(event.getRobotId(), (MqttMessage) event.getSource());
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
new file mode 100644
index 0000000..7e881d9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
@@ -0,0 +1,52 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+
+/**
+ * 任务照片存储对象 task_info_img
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+@TableName("task_info_img")
+public class TaskInfoImg extends Model<TaskInfoImg> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "任务ID", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "MCA图片", dataType = "String")
+    @TableField("mca_img")
+    private String mcaImg;
+
+    @ApiModelProperty(value = "PSD图片", dataType = "String")
+    @TableField("psd_img")
+    private String psdImg;
+
+    @ApiModelProperty(value = "巡检路线img", dataType = "String")
+    @TableField("route_img")
+    private String routeImg;
+
+    @ApiModelProperty(value = "热点分布图", dataType = "String")
+    @TableField("heat_img")
+    private String heatImg;
+
+
+    @Override
+    public String toString() {
+        return "TaskInfoImg{"
+                + "id=" + id
+                + "mcaImg=" + mcaImg
+                + "psdImg=" + psdImg
+                + "routeImg=" + routeImg
+                + "heatImg=" + heatImg
+                + "}";
+    }
+}
\ No newline at end of file
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 d74a38b..c4bc25d 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
@@ -35,7 +35,7 @@
     }),
     TRACK_RECORD("/track_record" , "/track_record_response" , "启动或关闭轨迹录制功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
-    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     DELETE_TRACK("/delete_track" , "/delete_track_response" , "删除路线" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
index 41879dd..83f4cb2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
@@ -13,6 +13,7 @@
 
 /**
  * websocket 推送消息
+ * @see com.casic.missiles.mqtt.config.MqttClientConfigListener#createMqtt
  */
 @Slf4j
 public abstract class AbstractSocketHandler implements IBaseMsgHandler {
@@ -48,7 +49,7 @@
                 wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
                 wsMsgBaseDTO.setData(jsonObject.get("msg"));
                 String msg = JSON.toJSONString(wsMsgBaseDTO);
-//                log.info("推送{}消息：{}", enums.getRemarks(), msg);
+                log.info("推送{}消息：{}", enums.getRemarks(), msg);
                 webSocket.sendOneMessage(robotId, msg);
             }
         } catch (Exception e) {
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 b8e561d..5e3fe49 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
@@ -6,6 +6,8 @@
  * 业务消息处理器
  */
 public interface IBaseMsgHandler {
+    static String index_key = "index";
+
     /**
      * 消息处理handler
      *
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
index cefe2cd..27bed0e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
@@ -55,9 +55,6 @@
         }
         messageDTO.setMsg(request);
         ResponseDataDTO<Integer> list = null;
-        if (request.getAction() != 1) {
-            taskInfoService.reloadTask(request, getRobotInfo());
-        }
         try {
             list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.START_TRACK, messageDTO);
         } catch (Exception e) {
@@ -75,8 +72,7 @@
      */
     @Override
     public ResponseDataDTO afterInvoke(StartTrackRequest request, ResponseDataDTO response) {
-        //增加循迹任务记录
-        taskInfoService.reloadTask(request, getRobotInfo());
+
         return response;
     }
 }
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
index 316fd8f..8b7fd0e 100644
--- 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
@@ -19,7 +19,7 @@
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
     static {
-        index.put("index", 0);
+        index.put(index_key, 0);
     }
 
     public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
@@ -28,7 +28,12 @@
 
     @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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 83d1d39..67ec20e 100644
--- 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
@@ -6,6 +6,9 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.stereotype.Component;
 
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
 /**
  * 停障状态实时接收器
  */
@@ -13,14 +16,23 @@
 @Component("/app_stop_navtrack")
 public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
     private final IRobotStatusInfoService statusInfoService;
-
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+    static {
+        index.put(index_key, 0);
+    }
     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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 1cf0e55..9c26129 100644
--- 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
@@ -1,28 +1,37 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.application.enums.LoginEventTypeEnum;
+import com.casic.missiles.model.application.event.core.EventPublisher;
+import com.casic.missiles.modular.robot.event.PoseMessageEvent;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
-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 extends AbstractSocketHandler {
 
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
 
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    private final EventPublisher publisher;
+
+    public PoseMessageMsgHandler(EventPublisher publisher) {
+
+        this.publisher = publisher;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+//        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
         sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message);
+        PoseMessageEvent event = new PoseMessageEvent(LoginEventTypeEnum.RELOAD_SCOPE, message);
+        event.setRobotId(robotId);
+        publisher.publishEvent(event);
+        log.info("实时定位已发送！！");
     }
 }
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
index 4910f62..b248839 100644
--- 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
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.model.application.event.core.EventPublisher;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -16,17 +17,18 @@
 @Slf4j
 @Component("/process_message")
 public class ProcessMessageMsgHandler extends AbstractSocketHandler {
-    private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+    private final EventPublisher publisher;
+    private final IRobotStatusInfoService statusInfoService;
+    public ProcessMessageMsgHandler(EventPublisher publisher, IRobotStatusInfoService statusInfoService) {
+        this.publisher = publisher;
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
+        statusInfoService.saveProcessMessage(robotId,message);
         sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, 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
index 3a19ebe..9d275bd 100644
--- 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
@@ -34,7 +34,7 @@
         index.put("index" , val);
         if (val > 30) {
             index.put("index" , 0);
-            statusInfoService.saveSensorStatus(robotId, message);
+//            statusInfoService.saveSensorStatus(robotId, message);
         }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
index 3acf1d7..8950815 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
@@ -19,13 +19,22 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
     public StopStateMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        statusInfoService.saveStopState(robotId, message);
-//        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+
+            statusInfoService.saveStopState(robotId, message);
+        }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
index ad0eda8..a9d7914 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.VoltageDTO;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
@@ -20,20 +25,58 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
+
     public VoltageResponseMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-//        log.info("----------------------电压信息反馈:{}", message);
-        statusInfoService.saveVoltageResponseMessage(robotId, message);
-        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
-        try{
 
-        RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
-        sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
-        }catch (Exception e){
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key) > 50) {
+            index.put(index_key, 0);
+            log.info("----------------------电压信息反馈:{}", message);
+            statusInfoService.saveVoltageResponseMessage(robotId, message);
+        }
+        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+        try {
+
+            RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
+            Integer appNav = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_NAV_PAUSE + robotId);
+            Integer appStop = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_STOP_NAVTRACK + robotId);
+            PoseMessageResponseDTO dto = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + robotId);
+            StopStateResponseDTO stopStateResponseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + robotId);
+            VoltageDTO voltageDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.VOLTAGE_RESPONSE + robotId);
+            if (robotStatusInfo != null) {
+                if (appNav != null) {
+                    robotStatusInfo.setAppNavPause(appNav);
+                }
+                if (appStop != null) {
+                    robotStatusInfo.setAppStopNavtrack(appStop);
+                }
+                if (dto != null) {
+                    robotStatusInfo.setPostionX(dto.getX());
+                    robotStatusInfo.setPostionY(dto.getY());
+                    robotStatusInfo.setPostionZ(dto.getZ());
+                }
+                if (stopStateResponseDTO != null) {
+                    robotStatusInfo.setSoft(stopStateResponseDTO.getSoft());
+                    robotStatusInfo.setSonic(stopStateResponseDTO.getSonic());
+                    robotStatusInfo.setCollision(stopStateResponseDTO.getCollision());
+                    robotStatusInfo.setButton(stopStateResponseDTO.getButton());
+                }
+                if (voltageDTO != null) {
+                    robotStatusInfo.setVoltage(voltageDTO.getVoltage());
+                    robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
+                }
+            }
+            //读取缓存信息
+            sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
+        } catch (Exception e) {
             e.printStackTrace();
         }
     }
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 c2c2773..8471e7a 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
@@ -141,6 +141,13 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+    @Transactional
+    @Override
+    public void startTrack(StartTrackRequest request) {
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, robotInfoService.getById(request.getRobotId()));
+        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+    }
 
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
new file mode 100644
index 0000000..c5071bc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.robot.opt.instruct.response;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+
+@Data
+public class VoltageDTO implements Serializable {
+    private Integer electricityQuantity;
+    private BigDecimal voltage;
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
index 9065f34..56b3e1d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -7,6 +7,7 @@
 import com.casic.missiles.modular.robot.model.RobotInfo;
 
 import java.math.BigDecimal;
+import java.util.List;
 
 /**
  * 循迹算法调用
@@ -37,4 +38,5 @@
      * @return
      */
     GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo);
+    void readAlgorithmResponse(String fileName, AlgorithmResponse response, Long taskId, List<String> res);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java
new file mode 100644
index 0000000..f197c10
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java
@@ -0,0 +1,22 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.extension.service.IService;
+import  com.casic.missiles.modular.robot.model.TaskInfoImg;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 任务照片存储 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface ITaskInfoImgService extends IService<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage(Page<TaskInfoImg> page,QueryWrapper<TaskInfoImg> query);}

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
new file mode 100644
index 0000000..9d012da
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  任务照片存储 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface TaskInfoImgMapper extends BaseMapper<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage( @Param("page") Page<TaskInfoImg> page,@Param("ew" ) QueryWrapper<TaskInfoImg> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
new file mode 100644
index 0000000..e330c68
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.TaskInfoImgMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskInfoImg">
+            <result column="id" property="id"/>
+            <result column="mca_img" property="mcaImg"/>
+            <result column="psd_img" property="psdImg"/>
+            <result column="route_img" property="routeImg"/>
+            <result column="heat_img" property="heatImg"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    mca_img as mcaImg ,
+                    psd_img as psdImg ,
+                    route_img as routeImg ,
+                    heat_img as heatImg 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.mca_img
+            as mcaImg ,
+            a.psd_img
+            as psdImg ,
+            a.route_img
+            as routeImg ,
+            a.heat_img
+            as heatImg 
+</sql>
+<select id="selectTaskInfoImgPage" resultType="com.casic.missiles.modular.robot.model.TaskInfoImg">
+    select
+    <include refid="Base_Column_Alias"/>
+    from task_info_img a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.mcaImg!= null and request.mcaImg!=''">
+            and mca_img = #{request.mcaImg}
+</if>
+<if test="request.psdImg!= null and request.psdImg!=''">
+            and psd_img = #{request.psdImg}
+</if>
+<if test="request.routeImg!= null and request.routeImg!=''">
+            and route_img = #{request.routeImg}
+</if>
+<if test="request.heatImg!= null and request.heatImg!=''">
+            and heat_img = #{request.heatImg}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
new file mode 100644
index 0000000..ed06f3b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
@@ -0,0 +1,32 @@
+package com.casic.missiles.modular.robot.event;
+
+import com.casic.missiles.model.application.event.core.ModelEvent;
+import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+/**
+ * 用户登录数据变化事件
+ *
+ * @author lwh
+ */
+public class PoseMessageEvent extends ModelEvent<MqttMessage> {
+    private String robotId;
+    /**
+     * Create a new {@code ApplicationEvent}.
+     *
+     * @param type   事件类型
+     * @param source the object on which the event initially occurred or with
+     *               which the event is associated (never {@code null})
+     */
+    public PoseMessageEvent(AbstractEventTypeEnum type, MqttMessage source) {
+        super(type, source);
+    }
+
+    public String getRobotId() {
+        return robotId;
+    }
+
+    public void setRobotId(String robotId) {
+        this.robotId = robotId;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
new file mode 100644
index 0000000..2cc6cdc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.event;
+
+import cn.hutool.core.thread.ExecutorBuilder;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.ThreadPoolExecutor;
+
+/**
+ * 定位事件监听器
+ * @see  com.casic.missiles.modular.robot.opt.handler.msg.PoseMessageMsgHandler
+ */
+@Slf4j
+@Component
+public class PoseMessageListener {
+    private static ThreadPoolExecutor threadPoolExecutor = ExecutorBuilder.create().setCorePoolSize(5).setMaxPoolSize(10).build();
+    private final IRobotStatusInfoService statusInfoService;
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageListener(IRobotStatusInfoService statusInfoService, IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.statusInfoService = statusInfoService;
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @EventListener
+    public void onApplicationEvent(PoseMessageEvent event) {
+//        threadPoolExecutor.execute(() -> { });
+        robotTrajectoryInfoService.savePoseMessage(event.getRobotId(), (MqttMessage) event.getSource());
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
new file mode 100644
index 0000000..7e881d9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
@@ -0,0 +1,52 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+
+/**
+ * 任务照片存储对象 task_info_img
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+@TableName("task_info_img")
+public class TaskInfoImg extends Model<TaskInfoImg> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "任务ID", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "MCA图片", dataType = "String")
+    @TableField("mca_img")
+    private String mcaImg;
+
+    @ApiModelProperty(value = "PSD图片", dataType = "String")
+    @TableField("psd_img")
+    private String psdImg;
+
+    @ApiModelProperty(value = "巡检路线img", dataType = "String")
+    @TableField("route_img")
+    private String routeImg;
+
+    @ApiModelProperty(value = "热点分布图", dataType = "String")
+    @TableField("heat_img")
+    private String heatImg;
+
+
+    @Override
+    public String toString() {
+        return "TaskInfoImg{"
+                + "id=" + id
+                + "mcaImg=" + mcaImg
+                + "psdImg=" + psdImg
+                + "routeImg=" + routeImg
+                + "heatImg=" + heatImg
+                + "}";
+    }
+}
\ No newline at end of file
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 d74a38b..c4bc25d 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
@@ -35,7 +35,7 @@
     }),
     TRACK_RECORD("/track_record" , "/track_record_response" , "启动或关闭轨迹录制功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
-    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     DELETE_TRACK("/delete_track" , "/delete_track_response" , "删除路线" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
index 41879dd..83f4cb2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
@@ -13,6 +13,7 @@
 
 /**
  * websocket 推送消息
+ * @see com.casic.missiles.mqtt.config.MqttClientConfigListener#createMqtt
  */
 @Slf4j
 public abstract class AbstractSocketHandler implements IBaseMsgHandler {
@@ -48,7 +49,7 @@
                 wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
                 wsMsgBaseDTO.setData(jsonObject.get("msg"));
                 String msg = JSON.toJSONString(wsMsgBaseDTO);
-//                log.info("推送{}消息：{}", enums.getRemarks(), msg);
+                log.info("推送{}消息：{}", enums.getRemarks(), msg);
                 webSocket.sendOneMessage(robotId, msg);
             }
         } catch (Exception e) {
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 b8e561d..5e3fe49 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
@@ -6,6 +6,8 @@
  * 业务消息处理器
  */
 public interface IBaseMsgHandler {
+    static String index_key = "index";
+
     /**
      * 消息处理handler
      *
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
index cefe2cd..27bed0e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
@@ -55,9 +55,6 @@
         }
         messageDTO.setMsg(request);
         ResponseDataDTO<Integer> list = null;
-        if (request.getAction() != 1) {
-            taskInfoService.reloadTask(request, getRobotInfo());
-        }
         try {
             list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.START_TRACK, messageDTO);
         } catch (Exception e) {
@@ -75,8 +72,7 @@
      */
     @Override
     public ResponseDataDTO afterInvoke(StartTrackRequest request, ResponseDataDTO response) {
-        //增加循迹任务记录
-        taskInfoService.reloadTask(request, getRobotInfo());
+
         return response;
     }
 }
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
index 316fd8f..8b7fd0e 100644
--- 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
@@ -19,7 +19,7 @@
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
     static {
-        index.put("index", 0);
+        index.put(index_key, 0);
     }
 
     public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
@@ -28,7 +28,12 @@
 
     @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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 83d1d39..67ec20e 100644
--- 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
@@ -6,6 +6,9 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.stereotype.Component;
 
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
 /**
  * 停障状态实时接收器
  */
@@ -13,14 +16,23 @@
 @Component("/app_stop_navtrack")
 public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
     private final IRobotStatusInfoService statusInfoService;
-
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+    static {
+        index.put(index_key, 0);
+    }
     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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 1cf0e55..9c26129 100644
--- 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
@@ -1,28 +1,37 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.application.enums.LoginEventTypeEnum;
+import com.casic.missiles.model.application.event.core.EventPublisher;
+import com.casic.missiles.modular.robot.event.PoseMessageEvent;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
-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 extends AbstractSocketHandler {
 
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
 
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    private final EventPublisher publisher;
+
+    public PoseMessageMsgHandler(EventPublisher publisher) {
+
+        this.publisher = publisher;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+//        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
         sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message);
+        PoseMessageEvent event = new PoseMessageEvent(LoginEventTypeEnum.RELOAD_SCOPE, message);
+        event.setRobotId(robotId);
+        publisher.publishEvent(event);
+        log.info("实时定位已发送！！");
     }
 }
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
index 4910f62..b248839 100644
--- 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
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.model.application.event.core.EventPublisher;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -16,17 +17,18 @@
 @Slf4j
 @Component("/process_message")
 public class ProcessMessageMsgHandler extends AbstractSocketHandler {
-    private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+    private final EventPublisher publisher;
+    private final IRobotStatusInfoService statusInfoService;
+    public ProcessMessageMsgHandler(EventPublisher publisher, IRobotStatusInfoService statusInfoService) {
+        this.publisher = publisher;
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
+        statusInfoService.saveProcessMessage(robotId,message);
         sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, 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
index 3a19ebe..9d275bd 100644
--- 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
@@ -34,7 +34,7 @@
         index.put("index" , val);
         if (val > 30) {
             index.put("index" , 0);
-            statusInfoService.saveSensorStatus(robotId, message);
+//            statusInfoService.saveSensorStatus(robotId, message);
         }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
index 3acf1d7..8950815 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
@@ -19,13 +19,22 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
     public StopStateMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        statusInfoService.saveStopState(robotId, message);
-//        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+
+            statusInfoService.saveStopState(robotId, message);
+        }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
index ad0eda8..a9d7914 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.VoltageDTO;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
@@ -20,20 +25,58 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
+
     public VoltageResponseMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-//        log.info("----------------------电压信息反馈:{}", message);
-        statusInfoService.saveVoltageResponseMessage(robotId, message);
-        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
-        try{
 
-        RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
-        sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
-        }catch (Exception e){
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key) > 50) {
+            index.put(index_key, 0);
+            log.info("----------------------电压信息反馈:{}", message);
+            statusInfoService.saveVoltageResponseMessage(robotId, message);
+        }
+        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+        try {
+
+            RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
+            Integer appNav = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_NAV_PAUSE + robotId);
+            Integer appStop = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_STOP_NAVTRACK + robotId);
+            PoseMessageResponseDTO dto = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + robotId);
+            StopStateResponseDTO stopStateResponseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + robotId);
+            VoltageDTO voltageDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.VOLTAGE_RESPONSE + robotId);
+            if (robotStatusInfo != null) {
+                if (appNav != null) {
+                    robotStatusInfo.setAppNavPause(appNav);
+                }
+                if (appStop != null) {
+                    robotStatusInfo.setAppStopNavtrack(appStop);
+                }
+                if (dto != null) {
+                    robotStatusInfo.setPostionX(dto.getX());
+                    robotStatusInfo.setPostionY(dto.getY());
+                    robotStatusInfo.setPostionZ(dto.getZ());
+                }
+                if (stopStateResponseDTO != null) {
+                    robotStatusInfo.setSoft(stopStateResponseDTO.getSoft());
+                    robotStatusInfo.setSonic(stopStateResponseDTO.getSonic());
+                    robotStatusInfo.setCollision(stopStateResponseDTO.getCollision());
+                    robotStatusInfo.setButton(stopStateResponseDTO.getButton());
+                }
+                if (voltageDTO != null) {
+                    robotStatusInfo.setVoltage(voltageDTO.getVoltage());
+                    robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
+                }
+            }
+            //读取缓存信息
+            sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
+        } catch (Exception e) {
             e.printStackTrace();
         }
     }
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 c2c2773..8471e7a 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
@@ -141,6 +141,13 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+    @Transactional
+    @Override
+    public void startTrack(StartTrackRequest request) {
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, robotInfoService.getById(request.getRobotId()));
+        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+    }
 
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
new file mode 100644
index 0000000..c5071bc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.robot.opt.instruct.response;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+
+@Data
+public class VoltageDTO implements Serializable {
+    private Integer electricityQuantity;
+    private BigDecimal voltage;
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
index 9065f34..56b3e1d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -7,6 +7,7 @@
 import com.casic.missiles.modular.robot.model.RobotInfo;
 
 import java.math.BigDecimal;
+import java.util.List;
 
 /**
  * 循迹算法调用
@@ -37,4 +38,5 @@
      * @return
      */
     GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo);
+    void readAlgorithmResponse(String fileName, AlgorithmResponse response, Long taskId, List<String> res);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java
new file mode 100644
index 0000000..f197c10
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java
@@ -0,0 +1,22 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.extension.service.IService;
+import  com.casic.missiles.modular.robot.model.TaskInfoImg;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 任务照片存储 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface ITaskInfoImgService extends IService<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage(Page<TaskInfoImg> page,QueryWrapper<TaskInfoImg> query);}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
index df4a330..f808fa0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
@@ -64,7 +64,7 @@
     @Override
     public AlgorithmResponse pathPlanning(PathPlanDTO planDTO) {
         if (StrUtil.isEmpty(planDTO.getCount())) {
-            planDTO.setCount("0.01");
+            planDTO.setCount("0.001");
         }
         //算法路径及入参配置
         List<String> commends = new ArrayList<>();
@@ -162,8 +162,8 @@
         x = x.subtract(robotInfo.getOriginX());
         y = y.subtract(robotInfo.getOriginY());
 
-        pointDTO.setX(new BigDecimal(x.multiply(scale).intValue()));
-        pointDTO.setY(new BigDecimal(y.multiply(scale).intValue()));
+        pointDTO.setX(new BigDecimal(x.divide(scale,3,BigDecimal.ROUND_HALF_UP).intValue()+1));
+        pointDTO.setY(new BigDecimal(y.divide(scale,3,BigDecimal.ROUND_HALF_UP).intValue()+1));
         return pointDTO;
     }
 

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
new file mode 100644
index 0000000..9d012da
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  任务照片存储 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface TaskInfoImgMapper extends BaseMapper<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage( @Param("page") Page<TaskInfoImg> page,@Param("ew" ) QueryWrapper<TaskInfoImg> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
new file mode 100644
index 0000000..e330c68
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.TaskInfoImgMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskInfoImg">
+            <result column="id" property="id"/>
+            <result column="mca_img" property="mcaImg"/>
+            <result column="psd_img" property="psdImg"/>
+            <result column="route_img" property="routeImg"/>
+            <result column="heat_img" property="heatImg"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    mca_img as mcaImg ,
+                    psd_img as psdImg ,
+                    route_img as routeImg ,
+                    heat_img as heatImg 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.mca_img
+            as mcaImg ,
+            a.psd_img
+            as psdImg ,
+            a.route_img
+            as routeImg ,
+            a.heat_img
+            as heatImg 
+</sql>
+<select id="selectTaskInfoImgPage" resultType="com.casic.missiles.modular.robot.model.TaskInfoImg">
+    select
+    <include refid="Base_Column_Alias"/>
+    from task_info_img a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.mcaImg!= null and request.mcaImg!=''">
+            and mca_img = #{request.mcaImg}
+</if>
+<if test="request.psdImg!= null and request.psdImg!=''">
+            and psd_img = #{request.psdImg}
+</if>
+<if test="request.routeImg!= null and request.routeImg!=''">
+            and route_img = #{request.routeImg}
+</if>
+<if test="request.heatImg!= null and request.heatImg!=''">
+            and heat_img = #{request.heatImg}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
new file mode 100644
index 0000000..ed06f3b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
@@ -0,0 +1,32 @@
+package com.casic.missiles.modular.robot.event;
+
+import com.casic.missiles.model.application.event.core.ModelEvent;
+import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+/**
+ * 用户登录数据变化事件
+ *
+ * @author lwh
+ */
+public class PoseMessageEvent extends ModelEvent<MqttMessage> {
+    private String robotId;
+    /**
+     * Create a new {@code ApplicationEvent}.
+     *
+     * @param type   事件类型
+     * @param source the object on which the event initially occurred or with
+     *               which the event is associated (never {@code null})
+     */
+    public PoseMessageEvent(AbstractEventTypeEnum type, MqttMessage source) {
+        super(type, source);
+    }
+
+    public String getRobotId() {
+        return robotId;
+    }
+
+    public void setRobotId(String robotId) {
+        this.robotId = robotId;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
new file mode 100644
index 0000000..2cc6cdc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.event;
+
+import cn.hutool.core.thread.ExecutorBuilder;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.ThreadPoolExecutor;
+
+/**
+ * 定位事件监听器
+ * @see  com.casic.missiles.modular.robot.opt.handler.msg.PoseMessageMsgHandler
+ */
+@Slf4j
+@Component
+public class PoseMessageListener {
+    private static ThreadPoolExecutor threadPoolExecutor = ExecutorBuilder.create().setCorePoolSize(5).setMaxPoolSize(10).build();
+    private final IRobotStatusInfoService statusInfoService;
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageListener(IRobotStatusInfoService statusInfoService, IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.statusInfoService = statusInfoService;
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @EventListener
+    public void onApplicationEvent(PoseMessageEvent event) {
+//        threadPoolExecutor.execute(() -> { });
+        robotTrajectoryInfoService.savePoseMessage(event.getRobotId(), (MqttMessage) event.getSource());
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
new file mode 100644
index 0000000..7e881d9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
@@ -0,0 +1,52 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+
+/**
+ * 任务照片存储对象 task_info_img
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+@TableName("task_info_img")
+public class TaskInfoImg extends Model<TaskInfoImg> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "任务ID", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "MCA图片", dataType = "String")
+    @TableField("mca_img")
+    private String mcaImg;
+
+    @ApiModelProperty(value = "PSD图片", dataType = "String")
+    @TableField("psd_img")
+    private String psdImg;
+
+    @ApiModelProperty(value = "巡检路线img", dataType = "String")
+    @TableField("route_img")
+    private String routeImg;
+
+    @ApiModelProperty(value = "热点分布图", dataType = "String")
+    @TableField("heat_img")
+    private String heatImg;
+
+
+    @Override
+    public String toString() {
+        return "TaskInfoImg{"
+                + "id=" + id
+                + "mcaImg=" + mcaImg
+                + "psdImg=" + psdImg
+                + "routeImg=" + routeImg
+                + "heatImg=" + heatImg
+                + "}";
+    }
+}
\ No newline at end of file
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 d74a38b..c4bc25d 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
@@ -35,7 +35,7 @@
     }),
     TRACK_RECORD("/track_record" , "/track_record_response" , "启动或关闭轨迹录制功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
-    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     DELETE_TRACK("/delete_track" , "/delete_track_response" , "删除路线" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
index 41879dd..83f4cb2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
@@ -13,6 +13,7 @@
 
 /**
  * websocket 推送消息
+ * @see com.casic.missiles.mqtt.config.MqttClientConfigListener#createMqtt
  */
 @Slf4j
 public abstract class AbstractSocketHandler implements IBaseMsgHandler {
@@ -48,7 +49,7 @@
                 wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
                 wsMsgBaseDTO.setData(jsonObject.get("msg"));
                 String msg = JSON.toJSONString(wsMsgBaseDTO);
-//                log.info("推送{}消息：{}", enums.getRemarks(), msg);
+                log.info("推送{}消息：{}", enums.getRemarks(), msg);
                 webSocket.sendOneMessage(robotId, msg);
             }
         } catch (Exception e) {
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 b8e561d..5e3fe49 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
@@ -6,6 +6,8 @@
  * 业务消息处理器
  */
 public interface IBaseMsgHandler {
+    static String index_key = "index";
+
     /**
      * 消息处理handler
      *
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
index cefe2cd..27bed0e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
@@ -55,9 +55,6 @@
         }
         messageDTO.setMsg(request);
         ResponseDataDTO<Integer> list = null;
-        if (request.getAction() != 1) {
-            taskInfoService.reloadTask(request, getRobotInfo());
-        }
         try {
             list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.START_TRACK, messageDTO);
         } catch (Exception e) {
@@ -75,8 +72,7 @@
      */
     @Override
     public ResponseDataDTO afterInvoke(StartTrackRequest request, ResponseDataDTO response) {
-        //增加循迹任务记录
-        taskInfoService.reloadTask(request, getRobotInfo());
+
         return response;
     }
 }
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
index 316fd8f..8b7fd0e 100644
--- 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
@@ -19,7 +19,7 @@
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
     static {
-        index.put("index", 0);
+        index.put(index_key, 0);
     }
 
     public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
@@ -28,7 +28,12 @@
 
     @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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 83d1d39..67ec20e 100644
--- 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
@@ -6,6 +6,9 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.stereotype.Component;
 
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
 /**
  * 停障状态实时接收器
  */
@@ -13,14 +16,23 @@
 @Component("/app_stop_navtrack")
 public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
     private final IRobotStatusInfoService statusInfoService;
-
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+    static {
+        index.put(index_key, 0);
+    }
     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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 1cf0e55..9c26129 100644
--- 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
@@ -1,28 +1,37 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.application.enums.LoginEventTypeEnum;
+import com.casic.missiles.model.application.event.core.EventPublisher;
+import com.casic.missiles.modular.robot.event.PoseMessageEvent;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
-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 extends AbstractSocketHandler {
 
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
 
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    private final EventPublisher publisher;
+
+    public PoseMessageMsgHandler(EventPublisher publisher) {
+
+        this.publisher = publisher;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+//        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
         sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message);
+        PoseMessageEvent event = new PoseMessageEvent(LoginEventTypeEnum.RELOAD_SCOPE, message);
+        event.setRobotId(robotId);
+        publisher.publishEvent(event);
+        log.info("实时定位已发送！！");
     }
 }
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
index 4910f62..b248839 100644
--- 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
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.model.application.event.core.EventPublisher;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -16,17 +17,18 @@
 @Slf4j
 @Component("/process_message")
 public class ProcessMessageMsgHandler extends AbstractSocketHandler {
-    private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+    private final EventPublisher publisher;
+    private final IRobotStatusInfoService statusInfoService;
+    public ProcessMessageMsgHandler(EventPublisher publisher, IRobotStatusInfoService statusInfoService) {
+        this.publisher = publisher;
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
+        statusInfoService.saveProcessMessage(robotId,message);
         sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, 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
index 3a19ebe..9d275bd 100644
--- 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
@@ -34,7 +34,7 @@
         index.put("index" , val);
         if (val > 30) {
             index.put("index" , 0);
-            statusInfoService.saveSensorStatus(robotId, message);
+//            statusInfoService.saveSensorStatus(robotId, message);
         }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
index 3acf1d7..8950815 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
@@ -19,13 +19,22 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
     public StopStateMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        statusInfoService.saveStopState(robotId, message);
-//        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+
+            statusInfoService.saveStopState(robotId, message);
+        }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
index ad0eda8..a9d7914 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.VoltageDTO;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
@@ -20,20 +25,58 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
+
     public VoltageResponseMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-//        log.info("----------------------电压信息反馈:{}", message);
-        statusInfoService.saveVoltageResponseMessage(robotId, message);
-        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
-        try{
 
-        RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
-        sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
-        }catch (Exception e){
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key) > 50) {
+            index.put(index_key, 0);
+            log.info("----------------------电压信息反馈:{}", message);
+            statusInfoService.saveVoltageResponseMessage(robotId, message);
+        }
+        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+        try {
+
+            RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
+            Integer appNav = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_NAV_PAUSE + robotId);
+            Integer appStop = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_STOP_NAVTRACK + robotId);
+            PoseMessageResponseDTO dto = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + robotId);
+            StopStateResponseDTO stopStateResponseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + robotId);
+            VoltageDTO voltageDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.VOLTAGE_RESPONSE + robotId);
+            if (robotStatusInfo != null) {
+                if (appNav != null) {
+                    robotStatusInfo.setAppNavPause(appNav);
+                }
+                if (appStop != null) {
+                    robotStatusInfo.setAppStopNavtrack(appStop);
+                }
+                if (dto != null) {
+                    robotStatusInfo.setPostionX(dto.getX());
+                    robotStatusInfo.setPostionY(dto.getY());
+                    robotStatusInfo.setPostionZ(dto.getZ());
+                }
+                if (stopStateResponseDTO != null) {
+                    robotStatusInfo.setSoft(stopStateResponseDTO.getSoft());
+                    robotStatusInfo.setSonic(stopStateResponseDTO.getSonic());
+                    robotStatusInfo.setCollision(stopStateResponseDTO.getCollision());
+                    robotStatusInfo.setButton(stopStateResponseDTO.getButton());
+                }
+                if (voltageDTO != null) {
+                    robotStatusInfo.setVoltage(voltageDTO.getVoltage());
+                    robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
+                }
+            }
+            //读取缓存信息
+            sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
+        } catch (Exception e) {
             e.printStackTrace();
         }
     }
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 c2c2773..8471e7a 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
@@ -141,6 +141,13 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+    @Transactional
+    @Override
+    public void startTrack(StartTrackRequest request) {
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, robotInfoService.getById(request.getRobotId()));
+        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+    }
 
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
new file mode 100644
index 0000000..c5071bc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.robot.opt.instruct.response;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+
+@Data
+public class VoltageDTO implements Serializable {
+    private Integer electricityQuantity;
+    private BigDecimal voltage;
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
index 9065f34..56b3e1d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -7,6 +7,7 @@
 import com.casic.missiles.modular.robot.model.RobotInfo;
 
 import java.math.BigDecimal;
+import java.util.List;
 
 /**
  * 循迹算法调用
@@ -37,4 +38,5 @@
      * @return
      */
     GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo);
+    void readAlgorithmResponse(String fileName, AlgorithmResponse response, Long taskId, List<String> res);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java
new file mode 100644
index 0000000..f197c10
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java
@@ -0,0 +1,22 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.extension.service.IService;
+import  com.casic.missiles.modular.robot.model.TaskInfoImg;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 任务照片存储 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface ITaskInfoImgService extends IService<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage(Page<TaskInfoImg> page,QueryWrapper<TaskInfoImg> query);}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
index df4a330..f808fa0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
@@ -64,7 +64,7 @@
     @Override
     public AlgorithmResponse pathPlanning(PathPlanDTO planDTO) {
         if (StrUtil.isEmpty(planDTO.getCount())) {
-            planDTO.setCount("0.01");
+            planDTO.setCount("0.001");
         }
         //算法路径及入参配置
         List<String> commends = new ArrayList<>();
@@ -162,8 +162,8 @@
         x = x.subtract(robotInfo.getOriginX());
         y = y.subtract(robotInfo.getOriginY());
 
-        pointDTO.setX(new BigDecimal(x.multiply(scale).intValue()));
-        pointDTO.setY(new BigDecimal(y.multiply(scale).intValue()));
+        pointDTO.setX(new BigDecimal(x.divide(scale,3,BigDecimal.ROUND_HALF_UP).intValue()+1));
+        pointDTO.setY(new BigDecimal(y.divide(scale,3,BigDecimal.ROUND_HALF_UP).intValue()+1));
         return pointDTO;
     }
 
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 0257c90..6d3ae91 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
@@ -1,18 +1,18 @@
 package com.casic.missiles.modular.robot.service.impl;
 
 import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
-import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
 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;
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dao.RobotStatusInfoMapper;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
@@ -21,10 +21,7 @@
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
 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.opt.instruct.response.AppCostmapResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.SpeedResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.VoltageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.*;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -151,7 +148,8 @@
     public void saveProcessMessage(String robotId, MqttMessage message) {
 //        String json = new String(message.getPayload());
 
-        RobotResponseDTO<ProcessMessageResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<ProcessMessageResponseDTO>>(){});
+        RobotResponseDTO<ProcessMessageResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<ProcessMessageResponseDTO>>() {
+        });
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             ProcessMessageResponseDTO msg = responseDTO.getMsg();
@@ -173,11 +171,8 @@
         RobotMsgResponseDTO<Integer> responseDTO = JSON.parseObject(json, new TypeReference<RobotMsgResponseDTO<Integer>>() {
         });
         if (responseDTO.getMsg() != null) {
-            UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_nav_pause", msg.getResult());
-            query.eq("robot_id", robotId);
-            update(query);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_NAV_PAUSE + robotId, msg.getResult());
         }
     }
 
@@ -186,12 +181,10 @@
         String json = new String(message.getPayload());
         RobotMsgResponseDTO<Integer> responseDTO = JSON.parseObject(json, new TypeReference<RobotMsgResponseDTO<Integer>>() {
         });
+
         if (responseDTO.getMsg() != null) {
-            UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_stop_navtrack", msg.getResult());
-            query.eq("robot_id", robotId);
-            update(query);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_STOP_NAVTRACK + robotId, msg.getResult());
         }
     }
 
@@ -228,16 +221,11 @@
 
     @Override
     public void saveStopState(String robotId, MqttMessage message) {
-        RobotResponseDTO<StopStateResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<StopStateResponseDTO>>(){});
+        RobotResponseDTO<StopStateResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<StopStateResponseDTO>>() {
+        });
         if (responseDTO != null && responseDTO.getMsg() != null) {
-//            log.info("急停状态保存：{}", responseDTO.getMsg());
-            LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
-            query.set(RobotStatusInfo::getButton, responseDTO.getMsg().getButton());
-            query.set(RobotStatusInfo::getCollision, responseDTO.getMsg().getCollision());
-            query.set(RobotStatusInfo::getSonic, responseDTO.getMsg().getSonic());
-            query.set(RobotStatusInfo::getSoft, responseDTO.getMsg().getSoft());
-            query.eq(RobotStatusInfo::getRobotId, robotId);
-            update(query);
+            log.info("急停状态保存：{}", responseDTO.getMsg());
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + robotId, responseDTO.getMsg());
         }
     }
 
@@ -250,37 +238,39 @@
         if (responseDTO != null && responseDTO.getMsg() != null) {
             RobotInfo info = robotInfoService.getById(robotId);
             log.info("电压状态保存：{}", responseDTO.getMsg());
-            LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
             if (CollectionUtil.isNotEmpty(responseDTO.getMsg().getVoltage())) {
                 Integer v = responseDTO.getMsg().getVoltage().get(0);
-                query.set(RobotStatusInfo::getVoltage, v);
                 //计算电量
                 Double quantity = new BigDecimal(v - info.getVoltageMin()).divide(new BigDecimal(info.getVoltageMax() - info.getVoltageMin()), 2, BigDecimal.ROUND_HALF_UP).doubleValue();
-                query.set(RobotStatusInfo::getElectricityQuantity, quantity * 100);
-                query.eq(RobotStatusInfo::getRobotId, robotId);
-                update(query);
+                VoltageDTO voltageDTO = new VoltageDTO();
+                voltageDTO.setVoltage(new BigDecimal(v));
+                voltageDTO.setElectricityQuantity(Convert.toInt(quantity * 100));
+                CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.VOLTAGE_RESPONSE + robotId, voltageDTO);
             }
         }
     }
 
     /**
      * 机器人栅格数据
+     *
      * @param robotId 机器人障碍物栅格数据保存
      * @param message 消息体
      */
     @Override
     public void saveCostMap(String robotId, MqttMessage message) {
         //数据接收
-        RobotResponseDTO<AppCostmapResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<AppCostmapResponseDTO>>() {});
+        RobotResponseDTO<AppCostmapResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<AppCostmapResponseDTO>>() {
+        });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
-            robotInfoService.updateRobotGrid(robotId,responseDTO.getMsg());
+            robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
 //            log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
         }
     }
 
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
+        //todo cache
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
         query.set("postion_x", dto.getX());
         query.set("postion_y", dto.getY());

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
new file mode 100644
index 0000000..9d012da
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  任务照片存储 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface TaskInfoImgMapper extends BaseMapper<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage( @Param("page") Page<TaskInfoImg> page,@Param("ew" ) QueryWrapper<TaskInfoImg> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
new file mode 100644
index 0000000..e330c68
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.TaskInfoImgMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskInfoImg">
+            <result column="id" property="id"/>
+            <result column="mca_img" property="mcaImg"/>
+            <result column="psd_img" property="psdImg"/>
+            <result column="route_img" property="routeImg"/>
+            <result column="heat_img" property="heatImg"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    mca_img as mcaImg ,
+                    psd_img as psdImg ,
+                    route_img as routeImg ,
+                    heat_img as heatImg 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.mca_img
+            as mcaImg ,
+            a.psd_img
+            as psdImg ,
+            a.route_img
+            as routeImg ,
+            a.heat_img
+            as heatImg 
+</sql>
+<select id="selectTaskInfoImgPage" resultType="com.casic.missiles.modular.robot.model.TaskInfoImg">
+    select
+    <include refid="Base_Column_Alias"/>
+    from task_info_img a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.mcaImg!= null and request.mcaImg!=''">
+            and mca_img = #{request.mcaImg}
+</if>
+<if test="request.psdImg!= null and request.psdImg!=''">
+            and psd_img = #{request.psdImg}
+</if>
+<if test="request.routeImg!= null and request.routeImg!=''">
+            and route_img = #{request.routeImg}
+</if>
+<if test="request.heatImg!= null and request.heatImg!=''">
+            and heat_img = #{request.heatImg}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
new file mode 100644
index 0000000..ed06f3b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
@@ -0,0 +1,32 @@
+package com.casic.missiles.modular.robot.event;
+
+import com.casic.missiles.model.application.event.core.ModelEvent;
+import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+/**
+ * 用户登录数据变化事件
+ *
+ * @author lwh
+ */
+public class PoseMessageEvent extends ModelEvent<MqttMessage> {
+    private String robotId;
+    /**
+     * Create a new {@code ApplicationEvent}.
+     *
+     * @param type   事件类型
+     * @param source the object on which the event initially occurred or with
+     *               which the event is associated (never {@code null})
+     */
+    public PoseMessageEvent(AbstractEventTypeEnum type, MqttMessage source) {
+        super(type, source);
+    }
+
+    public String getRobotId() {
+        return robotId;
+    }
+
+    public void setRobotId(String robotId) {
+        this.robotId = robotId;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
new file mode 100644
index 0000000..2cc6cdc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.event;
+
+import cn.hutool.core.thread.ExecutorBuilder;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.ThreadPoolExecutor;
+
+/**
+ * 定位事件监听器
+ * @see  com.casic.missiles.modular.robot.opt.handler.msg.PoseMessageMsgHandler
+ */
+@Slf4j
+@Component
+public class PoseMessageListener {
+    private static ThreadPoolExecutor threadPoolExecutor = ExecutorBuilder.create().setCorePoolSize(5).setMaxPoolSize(10).build();
+    private final IRobotStatusInfoService statusInfoService;
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageListener(IRobotStatusInfoService statusInfoService, IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.statusInfoService = statusInfoService;
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @EventListener
+    public void onApplicationEvent(PoseMessageEvent event) {
+//        threadPoolExecutor.execute(() -> { });
+        robotTrajectoryInfoService.savePoseMessage(event.getRobotId(), (MqttMessage) event.getSource());
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
new file mode 100644
index 0000000..7e881d9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
@@ -0,0 +1,52 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+
+/**
+ * 任务照片存储对象 task_info_img
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+@TableName("task_info_img")
+public class TaskInfoImg extends Model<TaskInfoImg> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "任务ID", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "MCA图片", dataType = "String")
+    @TableField("mca_img")
+    private String mcaImg;
+
+    @ApiModelProperty(value = "PSD图片", dataType = "String")
+    @TableField("psd_img")
+    private String psdImg;
+
+    @ApiModelProperty(value = "巡检路线img", dataType = "String")
+    @TableField("route_img")
+    private String routeImg;
+
+    @ApiModelProperty(value = "热点分布图", dataType = "String")
+    @TableField("heat_img")
+    private String heatImg;
+
+
+    @Override
+    public String toString() {
+        return "TaskInfoImg{"
+                + "id=" + id
+                + "mcaImg=" + mcaImg
+                + "psdImg=" + psdImg
+                + "routeImg=" + routeImg
+                + "heatImg=" + heatImg
+                + "}";
+    }
+}
\ No newline at end of file
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 d74a38b..c4bc25d 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
@@ -35,7 +35,7 @@
     }),
     TRACK_RECORD("/track_record" , "/track_record_response" , "启动或关闭轨迹录制功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
-    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     DELETE_TRACK("/delete_track" , "/delete_track_response" , "删除路线" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
index 41879dd..83f4cb2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
@@ -13,6 +13,7 @@
 
 /**
  * websocket 推送消息
+ * @see com.casic.missiles.mqtt.config.MqttClientConfigListener#createMqtt
  */
 @Slf4j
 public abstract class AbstractSocketHandler implements IBaseMsgHandler {
@@ -48,7 +49,7 @@
                 wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
                 wsMsgBaseDTO.setData(jsonObject.get("msg"));
                 String msg = JSON.toJSONString(wsMsgBaseDTO);
-//                log.info("推送{}消息：{}", enums.getRemarks(), msg);
+                log.info("推送{}消息：{}", enums.getRemarks(), msg);
                 webSocket.sendOneMessage(robotId, msg);
             }
         } catch (Exception e) {
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 b8e561d..5e3fe49 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
@@ -6,6 +6,8 @@
  * 业务消息处理器
  */
 public interface IBaseMsgHandler {
+    static String index_key = "index";
+
     /**
      * 消息处理handler
      *
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
index cefe2cd..27bed0e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
@@ -55,9 +55,6 @@
         }
         messageDTO.setMsg(request);
         ResponseDataDTO<Integer> list = null;
-        if (request.getAction() != 1) {
-            taskInfoService.reloadTask(request, getRobotInfo());
-        }
         try {
             list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.START_TRACK, messageDTO);
         } catch (Exception e) {
@@ -75,8 +72,7 @@
      */
     @Override
     public ResponseDataDTO afterInvoke(StartTrackRequest request, ResponseDataDTO response) {
-        //增加循迹任务记录
-        taskInfoService.reloadTask(request, getRobotInfo());
+
         return response;
     }
 }
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
index 316fd8f..8b7fd0e 100644
--- 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
@@ -19,7 +19,7 @@
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
     static {
-        index.put("index", 0);
+        index.put(index_key, 0);
     }
 
     public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
@@ -28,7 +28,12 @@
 
     @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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 83d1d39..67ec20e 100644
--- 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
@@ -6,6 +6,9 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.stereotype.Component;
 
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
 /**
  * 停障状态实时接收器
  */
@@ -13,14 +16,23 @@
 @Component("/app_stop_navtrack")
 public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
     private final IRobotStatusInfoService statusInfoService;
-
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+    static {
+        index.put(index_key, 0);
+    }
     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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 1cf0e55..9c26129 100644
--- 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
@@ -1,28 +1,37 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.application.enums.LoginEventTypeEnum;
+import com.casic.missiles.model.application.event.core.EventPublisher;
+import com.casic.missiles.modular.robot.event.PoseMessageEvent;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
-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 extends AbstractSocketHandler {
 
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
 
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    private final EventPublisher publisher;
+
+    public PoseMessageMsgHandler(EventPublisher publisher) {
+
+        this.publisher = publisher;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+//        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
         sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message);
+        PoseMessageEvent event = new PoseMessageEvent(LoginEventTypeEnum.RELOAD_SCOPE, message);
+        event.setRobotId(robotId);
+        publisher.publishEvent(event);
+        log.info("实时定位已发送！！");
     }
 }
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
index 4910f62..b248839 100644
--- 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
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.model.application.event.core.EventPublisher;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -16,17 +17,18 @@
 @Slf4j
 @Component("/process_message")
 public class ProcessMessageMsgHandler extends AbstractSocketHandler {
-    private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+    private final EventPublisher publisher;
+    private final IRobotStatusInfoService statusInfoService;
+    public ProcessMessageMsgHandler(EventPublisher publisher, IRobotStatusInfoService statusInfoService) {
+        this.publisher = publisher;
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
+        statusInfoService.saveProcessMessage(robotId,message);
         sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, 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
index 3a19ebe..9d275bd 100644
--- 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
@@ -34,7 +34,7 @@
         index.put("index" , val);
         if (val > 30) {
             index.put("index" , 0);
-            statusInfoService.saveSensorStatus(robotId, message);
+//            statusInfoService.saveSensorStatus(robotId, message);
         }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
index 3acf1d7..8950815 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
@@ -19,13 +19,22 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
     public StopStateMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        statusInfoService.saveStopState(robotId, message);
-//        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+
+            statusInfoService.saveStopState(robotId, message);
+        }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
index ad0eda8..a9d7914 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.VoltageDTO;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
@@ -20,20 +25,58 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
+
     public VoltageResponseMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-//        log.info("----------------------电压信息反馈:{}", message);
-        statusInfoService.saveVoltageResponseMessage(robotId, message);
-        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
-        try{
 
-        RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
-        sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
-        }catch (Exception e){
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key) > 50) {
+            index.put(index_key, 0);
+            log.info("----------------------电压信息反馈:{}", message);
+            statusInfoService.saveVoltageResponseMessage(robotId, message);
+        }
+        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+        try {
+
+            RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
+            Integer appNav = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_NAV_PAUSE + robotId);
+            Integer appStop = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_STOP_NAVTRACK + robotId);
+            PoseMessageResponseDTO dto = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + robotId);
+            StopStateResponseDTO stopStateResponseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + robotId);
+            VoltageDTO voltageDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.VOLTAGE_RESPONSE + robotId);
+            if (robotStatusInfo != null) {
+                if (appNav != null) {
+                    robotStatusInfo.setAppNavPause(appNav);
+                }
+                if (appStop != null) {
+                    robotStatusInfo.setAppStopNavtrack(appStop);
+                }
+                if (dto != null) {
+                    robotStatusInfo.setPostionX(dto.getX());
+                    robotStatusInfo.setPostionY(dto.getY());
+                    robotStatusInfo.setPostionZ(dto.getZ());
+                }
+                if (stopStateResponseDTO != null) {
+                    robotStatusInfo.setSoft(stopStateResponseDTO.getSoft());
+                    robotStatusInfo.setSonic(stopStateResponseDTO.getSonic());
+                    robotStatusInfo.setCollision(stopStateResponseDTO.getCollision());
+                    robotStatusInfo.setButton(stopStateResponseDTO.getButton());
+                }
+                if (voltageDTO != null) {
+                    robotStatusInfo.setVoltage(voltageDTO.getVoltage());
+                    robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
+                }
+            }
+            //读取缓存信息
+            sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
+        } catch (Exception e) {
             e.printStackTrace();
         }
     }
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 c2c2773..8471e7a 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
@@ -141,6 +141,13 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+    @Transactional
+    @Override
+    public void startTrack(StartTrackRequest request) {
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, robotInfoService.getById(request.getRobotId()));
+        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+    }
 
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
new file mode 100644
index 0000000..c5071bc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.robot.opt.instruct.response;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+
+@Data
+public class VoltageDTO implements Serializable {
+    private Integer electricityQuantity;
+    private BigDecimal voltage;
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
index 9065f34..56b3e1d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -7,6 +7,7 @@
 import com.casic.missiles.modular.robot.model.RobotInfo;
 
 import java.math.BigDecimal;
+import java.util.List;
 
 /**
  * 循迹算法调用
@@ -37,4 +38,5 @@
      * @return
      */
     GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo);
+    void readAlgorithmResponse(String fileName, AlgorithmResponse response, Long taskId, List<String> res);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java
new file mode 100644
index 0000000..f197c10
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java
@@ -0,0 +1,22 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.extension.service.IService;
+import  com.casic.missiles.modular.robot.model.TaskInfoImg;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 任务照片存储 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface ITaskInfoImgService extends IService<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage(Page<TaskInfoImg> page,QueryWrapper<TaskInfoImg> query);}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
index df4a330..f808fa0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
@@ -64,7 +64,7 @@
     @Override
     public AlgorithmResponse pathPlanning(PathPlanDTO planDTO) {
         if (StrUtil.isEmpty(planDTO.getCount())) {
-            planDTO.setCount("0.01");
+            planDTO.setCount("0.001");
         }
         //算法路径及入参配置
         List<String> commends = new ArrayList<>();
@@ -162,8 +162,8 @@
         x = x.subtract(robotInfo.getOriginX());
         y = y.subtract(robotInfo.getOriginY());
 
-        pointDTO.setX(new BigDecimal(x.multiply(scale).intValue()));
-        pointDTO.setY(new BigDecimal(y.multiply(scale).intValue()));
+        pointDTO.setX(new BigDecimal(x.divide(scale,3,BigDecimal.ROUND_HALF_UP).intValue()+1));
+        pointDTO.setY(new BigDecimal(y.divide(scale,3,BigDecimal.ROUND_HALF_UP).intValue()+1));
         return pointDTO;
     }
 
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 0257c90..6d3ae91 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
@@ -1,18 +1,18 @@
 package com.casic.missiles.modular.robot.service.impl;
 
 import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
-import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
 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;
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dao.RobotStatusInfoMapper;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
@@ -21,10 +21,7 @@
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
 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.opt.instruct.response.AppCostmapResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.SpeedResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.VoltageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.*;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -151,7 +148,8 @@
     public void saveProcessMessage(String robotId, MqttMessage message) {
 //        String json = new String(message.getPayload());
 
-        RobotResponseDTO<ProcessMessageResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<ProcessMessageResponseDTO>>(){});
+        RobotResponseDTO<ProcessMessageResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<ProcessMessageResponseDTO>>() {
+        });
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             ProcessMessageResponseDTO msg = responseDTO.getMsg();
@@ -173,11 +171,8 @@
         RobotMsgResponseDTO<Integer> responseDTO = JSON.parseObject(json, new TypeReference<RobotMsgResponseDTO<Integer>>() {
         });
         if (responseDTO.getMsg() != null) {
-            UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_nav_pause", msg.getResult());
-            query.eq("robot_id", robotId);
-            update(query);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_NAV_PAUSE + robotId, msg.getResult());
         }
     }
 
@@ -186,12 +181,10 @@
         String json = new String(message.getPayload());
         RobotMsgResponseDTO<Integer> responseDTO = JSON.parseObject(json, new TypeReference<RobotMsgResponseDTO<Integer>>() {
         });
+
         if (responseDTO.getMsg() != null) {
-            UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_stop_navtrack", msg.getResult());
-            query.eq("robot_id", robotId);
-            update(query);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_STOP_NAVTRACK + robotId, msg.getResult());
         }
     }
 
@@ -228,16 +221,11 @@
 
     @Override
     public void saveStopState(String robotId, MqttMessage message) {
-        RobotResponseDTO<StopStateResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<StopStateResponseDTO>>(){});
+        RobotResponseDTO<StopStateResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<StopStateResponseDTO>>() {
+        });
         if (responseDTO != null && responseDTO.getMsg() != null) {
-//            log.info("急停状态保存：{}", responseDTO.getMsg());
-            LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
-            query.set(RobotStatusInfo::getButton, responseDTO.getMsg().getButton());
-            query.set(RobotStatusInfo::getCollision, responseDTO.getMsg().getCollision());
-            query.set(RobotStatusInfo::getSonic, responseDTO.getMsg().getSonic());
-            query.set(RobotStatusInfo::getSoft, responseDTO.getMsg().getSoft());
-            query.eq(RobotStatusInfo::getRobotId, robotId);
-            update(query);
+            log.info("急停状态保存：{}", responseDTO.getMsg());
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + robotId, responseDTO.getMsg());
         }
     }
 
@@ -250,37 +238,39 @@
         if (responseDTO != null && responseDTO.getMsg() != null) {
             RobotInfo info = robotInfoService.getById(robotId);
             log.info("电压状态保存：{}", responseDTO.getMsg());
-            LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
             if (CollectionUtil.isNotEmpty(responseDTO.getMsg().getVoltage())) {
                 Integer v = responseDTO.getMsg().getVoltage().get(0);
-                query.set(RobotStatusInfo::getVoltage, v);
                 //计算电量
                 Double quantity = new BigDecimal(v - info.getVoltageMin()).divide(new BigDecimal(info.getVoltageMax() - info.getVoltageMin()), 2, BigDecimal.ROUND_HALF_UP).doubleValue();
-                query.set(RobotStatusInfo::getElectricityQuantity, quantity * 100);
-                query.eq(RobotStatusInfo::getRobotId, robotId);
-                update(query);
+                VoltageDTO voltageDTO = new VoltageDTO();
+                voltageDTO.setVoltage(new BigDecimal(v));
+                voltageDTO.setElectricityQuantity(Convert.toInt(quantity * 100));
+                CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.VOLTAGE_RESPONSE + robotId, voltageDTO);
             }
         }
     }
 
     /**
      * 机器人栅格数据
+     *
      * @param robotId 机器人障碍物栅格数据保存
      * @param message 消息体
      */
     @Override
     public void saveCostMap(String robotId, MqttMessage message) {
         //数据接收
-        RobotResponseDTO<AppCostmapResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<AppCostmapResponseDTO>>() {});
+        RobotResponseDTO<AppCostmapResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<AppCostmapResponseDTO>>() {
+        });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
-            robotInfoService.updateRobotGrid(robotId,responseDTO.getMsg());
+            robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
 //            log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
         }
     }
 
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
+        //todo cache
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
         query.set("postion_x", dto.getX());
         query.set("postion_y", dto.getY());
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 bb066f4..6c9625f 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
@@ -5,6 +5,8 @@
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dao.RobotTrajectoryInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.model.RobotTrajectoryInfo;
@@ -34,11 +36,12 @@
 public class RobotTrajectoryInfoServiceImpl extends ServiceImpl<RobotTrajectoryInfoMapper, RobotTrajectoryInfo> implements IRobotTrajectoryInfoService {
     private final IRobotStatusInfoService robotStatusInfoService;
     private final ITaskInfoService infoService;
+    private final IRobotCacheService cacheService;
 
-
-    public RobotTrajectoryInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, ITaskInfoService infoService) {
+    public RobotTrajectoryInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, ITaskInfoService infoService, IRobotCacheService cacheService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.infoService = infoService;
+        this.cacheService = cacheService;
     }
 
     @Override
@@ -54,14 +57,15 @@
         });
 
         //读取导航状态,如果导航未开启则不存储
-        RobotStatusInfo statusInfo = robotStatusInfoService.getStatusByRobotId(robotId);
-        if (statusInfo != null && responseDTO.getMsg() != null) {
+//        RobotStatusInfo statusInfo = robotStatusInfoService.getStatusByRobotId(robotId);
+        Long routeId= cacheService.readRouteId(Long.valueOf(robotId));
+        if (routeId != null && responseDTO.getMsg() != null) {
             PoseMessageResponseDTO dto = responseDTO.getMsg();
             //执行循迹 保存当前轨迹信息
             //更新实时定位信息
-            robotStatusInfoService.updateRobotPoint(dto,robotId);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + robotId, dto);
             infoService.pointTestCallBack(dto, robotId);
-            if (statusInfo.getCurrRouteId() != null) {
+            if (routeId != null) {
                 RobotTrajectoryInfo info = new RobotTrajectoryInfo();
                 info.setRobotId(Long.valueOf(robotId));
                 info.setCreateTime(new Date());

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
new file mode 100644
index 0000000..9d012da
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  任务照片存储 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface TaskInfoImgMapper extends BaseMapper<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage( @Param("page") Page<TaskInfoImg> page,@Param("ew" ) QueryWrapper<TaskInfoImg> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
new file mode 100644
index 0000000..e330c68
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.TaskInfoImgMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskInfoImg">
+            <result column="id" property="id"/>
+            <result column="mca_img" property="mcaImg"/>
+            <result column="psd_img" property="psdImg"/>
+            <result column="route_img" property="routeImg"/>
+            <result column="heat_img" property="heatImg"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    mca_img as mcaImg ,
+                    psd_img as psdImg ,
+                    route_img as routeImg ,
+                    heat_img as heatImg 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.mca_img
+            as mcaImg ,
+            a.psd_img
+            as psdImg ,
+            a.route_img
+            as routeImg ,
+            a.heat_img
+            as heatImg 
+</sql>
+<select id="selectTaskInfoImgPage" resultType="com.casic.missiles.modular.robot.model.TaskInfoImg">
+    select
+    <include refid="Base_Column_Alias"/>
+    from task_info_img a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.mcaImg!= null and request.mcaImg!=''">
+            and mca_img = #{request.mcaImg}
+</if>
+<if test="request.psdImg!= null and request.psdImg!=''">
+            and psd_img = #{request.psdImg}
+</if>
+<if test="request.routeImg!= null and request.routeImg!=''">
+            and route_img = #{request.routeImg}
+</if>
+<if test="request.heatImg!= null and request.heatImg!=''">
+            and heat_img = #{request.heatImg}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
new file mode 100644
index 0000000..ed06f3b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
@@ -0,0 +1,32 @@
+package com.casic.missiles.modular.robot.event;
+
+import com.casic.missiles.model.application.event.core.ModelEvent;
+import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+/**
+ * 用户登录数据变化事件
+ *
+ * @author lwh
+ */
+public class PoseMessageEvent extends ModelEvent<MqttMessage> {
+    private String robotId;
+    /**
+     * Create a new {@code ApplicationEvent}.
+     *
+     * @param type   事件类型
+     * @param source the object on which the event initially occurred or with
+     *               which the event is associated (never {@code null})
+     */
+    public PoseMessageEvent(AbstractEventTypeEnum type, MqttMessage source) {
+        super(type, source);
+    }
+
+    public String getRobotId() {
+        return robotId;
+    }
+
+    public void setRobotId(String robotId) {
+        this.robotId = robotId;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
new file mode 100644
index 0000000..2cc6cdc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.event;
+
+import cn.hutool.core.thread.ExecutorBuilder;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.ThreadPoolExecutor;
+
+/**
+ * 定位事件监听器
+ * @see  com.casic.missiles.modular.robot.opt.handler.msg.PoseMessageMsgHandler
+ */
+@Slf4j
+@Component
+public class PoseMessageListener {
+    private static ThreadPoolExecutor threadPoolExecutor = ExecutorBuilder.create().setCorePoolSize(5).setMaxPoolSize(10).build();
+    private final IRobotStatusInfoService statusInfoService;
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageListener(IRobotStatusInfoService statusInfoService, IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.statusInfoService = statusInfoService;
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @EventListener
+    public void onApplicationEvent(PoseMessageEvent event) {
+//        threadPoolExecutor.execute(() -> { });
+        robotTrajectoryInfoService.savePoseMessage(event.getRobotId(), (MqttMessage) event.getSource());
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
new file mode 100644
index 0000000..7e881d9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
@@ -0,0 +1,52 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+
+/**
+ * 任务照片存储对象 task_info_img
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+@TableName("task_info_img")
+public class TaskInfoImg extends Model<TaskInfoImg> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "任务ID", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "MCA图片", dataType = "String")
+    @TableField("mca_img")
+    private String mcaImg;
+
+    @ApiModelProperty(value = "PSD图片", dataType = "String")
+    @TableField("psd_img")
+    private String psdImg;
+
+    @ApiModelProperty(value = "巡检路线img", dataType = "String")
+    @TableField("route_img")
+    private String routeImg;
+
+    @ApiModelProperty(value = "热点分布图", dataType = "String")
+    @TableField("heat_img")
+    private String heatImg;
+
+
+    @Override
+    public String toString() {
+        return "TaskInfoImg{"
+                + "id=" + id
+                + "mcaImg=" + mcaImg
+                + "psdImg=" + psdImg
+                + "routeImg=" + routeImg
+                + "heatImg=" + heatImg
+                + "}";
+    }
+}
\ No newline at end of file
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 d74a38b..c4bc25d 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
@@ -35,7 +35,7 @@
     }),
     TRACK_RECORD("/track_record" , "/track_record_response" , "启动或关闭轨迹录制功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
-    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     DELETE_TRACK("/delete_track" , "/delete_track_response" , "删除路线" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
index 41879dd..83f4cb2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
@@ -13,6 +13,7 @@
 
 /**
  * websocket 推送消息
+ * @see com.casic.missiles.mqtt.config.MqttClientConfigListener#createMqtt
  */
 @Slf4j
 public abstract class AbstractSocketHandler implements IBaseMsgHandler {
@@ -48,7 +49,7 @@
                 wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
                 wsMsgBaseDTO.setData(jsonObject.get("msg"));
                 String msg = JSON.toJSONString(wsMsgBaseDTO);
-//                log.info("推送{}消息：{}", enums.getRemarks(), msg);
+                log.info("推送{}消息：{}", enums.getRemarks(), msg);
                 webSocket.sendOneMessage(robotId, msg);
             }
         } catch (Exception e) {
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 b8e561d..5e3fe49 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
@@ -6,6 +6,8 @@
  * 业务消息处理器
  */
 public interface IBaseMsgHandler {
+    static String index_key = "index";
+
     /**
      * 消息处理handler
      *
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
index cefe2cd..27bed0e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
@@ -55,9 +55,6 @@
         }
         messageDTO.setMsg(request);
         ResponseDataDTO<Integer> list = null;
-        if (request.getAction() != 1) {
-            taskInfoService.reloadTask(request, getRobotInfo());
-        }
         try {
             list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.START_TRACK, messageDTO);
         } catch (Exception e) {
@@ -75,8 +72,7 @@
      */
     @Override
     public ResponseDataDTO afterInvoke(StartTrackRequest request, ResponseDataDTO response) {
-        //增加循迹任务记录
-        taskInfoService.reloadTask(request, getRobotInfo());
+
         return response;
     }
 }
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
index 316fd8f..8b7fd0e 100644
--- 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
@@ -19,7 +19,7 @@
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
     static {
-        index.put("index", 0);
+        index.put(index_key, 0);
     }
 
     public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
@@ -28,7 +28,12 @@
 
     @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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 83d1d39..67ec20e 100644
--- 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
@@ -6,6 +6,9 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.stereotype.Component;
 
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
 /**
  * 停障状态实时接收器
  */
@@ -13,14 +16,23 @@
 @Component("/app_stop_navtrack")
 public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
     private final IRobotStatusInfoService statusInfoService;
-
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+    static {
+        index.put(index_key, 0);
+    }
     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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 1cf0e55..9c26129 100644
--- 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
@@ -1,28 +1,37 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.application.enums.LoginEventTypeEnum;
+import com.casic.missiles.model.application.event.core.EventPublisher;
+import com.casic.missiles.modular.robot.event.PoseMessageEvent;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
-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 extends AbstractSocketHandler {
 
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
 
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    private final EventPublisher publisher;
+
+    public PoseMessageMsgHandler(EventPublisher publisher) {
+
+        this.publisher = publisher;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+//        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
         sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message);
+        PoseMessageEvent event = new PoseMessageEvent(LoginEventTypeEnum.RELOAD_SCOPE, message);
+        event.setRobotId(robotId);
+        publisher.publishEvent(event);
+        log.info("实时定位已发送！！");
     }
 }
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
index 4910f62..b248839 100644
--- 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
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.model.application.event.core.EventPublisher;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -16,17 +17,18 @@
 @Slf4j
 @Component("/process_message")
 public class ProcessMessageMsgHandler extends AbstractSocketHandler {
-    private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+    private final EventPublisher publisher;
+    private final IRobotStatusInfoService statusInfoService;
+    public ProcessMessageMsgHandler(EventPublisher publisher, IRobotStatusInfoService statusInfoService) {
+        this.publisher = publisher;
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
+        statusInfoService.saveProcessMessage(robotId,message);
         sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, 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
index 3a19ebe..9d275bd 100644
--- 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
@@ -34,7 +34,7 @@
         index.put("index" , val);
         if (val > 30) {
             index.put("index" , 0);
-            statusInfoService.saveSensorStatus(robotId, message);
+//            statusInfoService.saveSensorStatus(robotId, message);
         }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
index 3acf1d7..8950815 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
@@ -19,13 +19,22 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
     public StopStateMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        statusInfoService.saveStopState(robotId, message);
-//        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+
+            statusInfoService.saveStopState(robotId, message);
+        }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
index ad0eda8..a9d7914 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.VoltageDTO;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
@@ -20,20 +25,58 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
+
     public VoltageResponseMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-//        log.info("----------------------电压信息反馈:{}", message);
-        statusInfoService.saveVoltageResponseMessage(robotId, message);
-        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
-        try{
 
-        RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
-        sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
-        }catch (Exception e){
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key) > 50) {
+            index.put(index_key, 0);
+            log.info("----------------------电压信息反馈:{}", message);
+            statusInfoService.saveVoltageResponseMessage(robotId, message);
+        }
+        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+        try {
+
+            RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
+            Integer appNav = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_NAV_PAUSE + robotId);
+            Integer appStop = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_STOP_NAVTRACK + robotId);
+            PoseMessageResponseDTO dto = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + robotId);
+            StopStateResponseDTO stopStateResponseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + robotId);
+            VoltageDTO voltageDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.VOLTAGE_RESPONSE + robotId);
+            if (robotStatusInfo != null) {
+                if (appNav != null) {
+                    robotStatusInfo.setAppNavPause(appNav);
+                }
+                if (appStop != null) {
+                    robotStatusInfo.setAppStopNavtrack(appStop);
+                }
+                if (dto != null) {
+                    robotStatusInfo.setPostionX(dto.getX());
+                    robotStatusInfo.setPostionY(dto.getY());
+                    robotStatusInfo.setPostionZ(dto.getZ());
+                }
+                if (stopStateResponseDTO != null) {
+                    robotStatusInfo.setSoft(stopStateResponseDTO.getSoft());
+                    robotStatusInfo.setSonic(stopStateResponseDTO.getSonic());
+                    robotStatusInfo.setCollision(stopStateResponseDTO.getCollision());
+                    robotStatusInfo.setButton(stopStateResponseDTO.getButton());
+                }
+                if (voltageDTO != null) {
+                    robotStatusInfo.setVoltage(voltageDTO.getVoltage());
+                    robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
+                }
+            }
+            //读取缓存信息
+            sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
+        } catch (Exception e) {
             e.printStackTrace();
         }
     }
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 c2c2773..8471e7a 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
@@ -141,6 +141,13 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+    @Transactional
+    @Override
+    public void startTrack(StartTrackRequest request) {
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, robotInfoService.getById(request.getRobotId()));
+        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+    }
 
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
new file mode 100644
index 0000000..c5071bc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.robot.opt.instruct.response;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+
+@Data
+public class VoltageDTO implements Serializable {
+    private Integer electricityQuantity;
+    private BigDecimal voltage;
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
index 9065f34..56b3e1d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -7,6 +7,7 @@
 import com.casic.missiles.modular.robot.model.RobotInfo;
 
 import java.math.BigDecimal;
+import java.util.List;
 
 /**
  * 循迹算法调用
@@ -37,4 +38,5 @@
      * @return
      */
     GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo);
+    void readAlgorithmResponse(String fileName, AlgorithmResponse response, Long taskId, List<String> res);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java
new file mode 100644
index 0000000..f197c10
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java
@@ -0,0 +1,22 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.extension.service.IService;
+import  com.casic.missiles.modular.robot.model.TaskInfoImg;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 任务照片存储 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface ITaskInfoImgService extends IService<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage(Page<TaskInfoImg> page,QueryWrapper<TaskInfoImg> query);}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
index df4a330..f808fa0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
@@ -64,7 +64,7 @@
     @Override
     public AlgorithmResponse pathPlanning(PathPlanDTO planDTO) {
         if (StrUtil.isEmpty(planDTO.getCount())) {
-            planDTO.setCount("0.01");
+            planDTO.setCount("0.001");
         }
         //算法路径及入参配置
         List<String> commends = new ArrayList<>();
@@ -162,8 +162,8 @@
         x = x.subtract(robotInfo.getOriginX());
         y = y.subtract(robotInfo.getOriginY());
 
-        pointDTO.setX(new BigDecimal(x.multiply(scale).intValue()));
-        pointDTO.setY(new BigDecimal(y.multiply(scale).intValue()));
+        pointDTO.setX(new BigDecimal(x.divide(scale,3,BigDecimal.ROUND_HALF_UP).intValue()+1));
+        pointDTO.setY(new BigDecimal(y.divide(scale,3,BigDecimal.ROUND_HALF_UP).intValue()+1));
         return pointDTO;
     }
 
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 0257c90..6d3ae91 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
@@ -1,18 +1,18 @@
 package com.casic.missiles.modular.robot.service.impl;
 
 import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
-import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
 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;
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dao.RobotStatusInfoMapper;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
@@ -21,10 +21,7 @@
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
 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.opt.instruct.response.AppCostmapResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.SpeedResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.VoltageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.*;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -151,7 +148,8 @@
     public void saveProcessMessage(String robotId, MqttMessage message) {
 //        String json = new String(message.getPayload());
 
-        RobotResponseDTO<ProcessMessageResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<ProcessMessageResponseDTO>>(){});
+        RobotResponseDTO<ProcessMessageResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<ProcessMessageResponseDTO>>() {
+        });
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             ProcessMessageResponseDTO msg = responseDTO.getMsg();
@@ -173,11 +171,8 @@
         RobotMsgResponseDTO<Integer> responseDTO = JSON.parseObject(json, new TypeReference<RobotMsgResponseDTO<Integer>>() {
         });
         if (responseDTO.getMsg() != null) {
-            UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_nav_pause", msg.getResult());
-            query.eq("robot_id", robotId);
-            update(query);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_NAV_PAUSE + robotId, msg.getResult());
         }
     }
 
@@ -186,12 +181,10 @@
         String json = new String(message.getPayload());
         RobotMsgResponseDTO<Integer> responseDTO = JSON.parseObject(json, new TypeReference<RobotMsgResponseDTO<Integer>>() {
         });
+
         if (responseDTO.getMsg() != null) {
-            UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_stop_navtrack", msg.getResult());
-            query.eq("robot_id", robotId);
-            update(query);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_STOP_NAVTRACK + robotId, msg.getResult());
         }
     }
 
@@ -228,16 +221,11 @@
 
     @Override
     public void saveStopState(String robotId, MqttMessage message) {
-        RobotResponseDTO<StopStateResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<StopStateResponseDTO>>(){});
+        RobotResponseDTO<StopStateResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<StopStateResponseDTO>>() {
+        });
         if (responseDTO != null && responseDTO.getMsg() != null) {
-//            log.info("急停状态保存：{}", responseDTO.getMsg());
-            LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
-            query.set(RobotStatusInfo::getButton, responseDTO.getMsg().getButton());
-            query.set(RobotStatusInfo::getCollision, responseDTO.getMsg().getCollision());
-            query.set(RobotStatusInfo::getSonic, responseDTO.getMsg().getSonic());
-            query.set(RobotStatusInfo::getSoft, responseDTO.getMsg().getSoft());
-            query.eq(RobotStatusInfo::getRobotId, robotId);
-            update(query);
+            log.info("急停状态保存：{}", responseDTO.getMsg());
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + robotId, responseDTO.getMsg());
         }
     }
 
@@ -250,37 +238,39 @@
         if (responseDTO != null && responseDTO.getMsg() != null) {
             RobotInfo info = robotInfoService.getById(robotId);
             log.info("电压状态保存：{}", responseDTO.getMsg());
-            LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
             if (CollectionUtil.isNotEmpty(responseDTO.getMsg().getVoltage())) {
                 Integer v = responseDTO.getMsg().getVoltage().get(0);
-                query.set(RobotStatusInfo::getVoltage, v);
                 //计算电量
                 Double quantity = new BigDecimal(v - info.getVoltageMin()).divide(new BigDecimal(info.getVoltageMax() - info.getVoltageMin()), 2, BigDecimal.ROUND_HALF_UP).doubleValue();
-                query.set(RobotStatusInfo::getElectricityQuantity, quantity * 100);
-                query.eq(RobotStatusInfo::getRobotId, robotId);
-                update(query);
+                VoltageDTO voltageDTO = new VoltageDTO();
+                voltageDTO.setVoltage(new BigDecimal(v));
+                voltageDTO.setElectricityQuantity(Convert.toInt(quantity * 100));
+                CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.VOLTAGE_RESPONSE + robotId, voltageDTO);
             }
         }
     }
 
     /**
      * 机器人栅格数据
+     *
      * @param robotId 机器人障碍物栅格数据保存
      * @param message 消息体
      */
     @Override
     public void saveCostMap(String robotId, MqttMessage message) {
         //数据接收
-        RobotResponseDTO<AppCostmapResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<AppCostmapResponseDTO>>() {});
+        RobotResponseDTO<AppCostmapResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<AppCostmapResponseDTO>>() {
+        });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
-            robotInfoService.updateRobotGrid(robotId,responseDTO.getMsg());
+            robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
 //            log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
         }
     }
 
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
+        //todo cache
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
         query.set("postion_x", dto.getX());
         query.set("postion_y", dto.getY());
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 bb066f4..6c9625f 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
@@ -5,6 +5,8 @@
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dao.RobotTrajectoryInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.model.RobotTrajectoryInfo;
@@ -34,11 +36,12 @@
 public class RobotTrajectoryInfoServiceImpl extends ServiceImpl<RobotTrajectoryInfoMapper, RobotTrajectoryInfo> implements IRobotTrajectoryInfoService {
     private final IRobotStatusInfoService robotStatusInfoService;
     private final ITaskInfoService infoService;
+    private final IRobotCacheService cacheService;
 
-
-    public RobotTrajectoryInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, ITaskInfoService infoService) {
+    public RobotTrajectoryInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, ITaskInfoService infoService, IRobotCacheService cacheService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.infoService = infoService;
+        this.cacheService = cacheService;
     }
 
     @Override
@@ -54,14 +57,15 @@
         });
 
         //读取导航状态,如果导航未开启则不存储
-        RobotStatusInfo statusInfo = robotStatusInfoService.getStatusByRobotId(robotId);
-        if (statusInfo != null && responseDTO.getMsg() != null) {
+//        RobotStatusInfo statusInfo = robotStatusInfoService.getStatusByRobotId(robotId);
+        Long routeId= cacheService.readRouteId(Long.valueOf(robotId));
+        if (routeId != null && responseDTO.getMsg() != null) {
             PoseMessageResponseDTO dto = responseDTO.getMsg();
             //执行循迹 保存当前轨迹信息
             //更新实时定位信息
-            robotStatusInfoService.updateRobotPoint(dto,robotId);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + robotId, dto);
             infoService.pointTestCallBack(dto, robotId);
-            if (statusInfo.getCurrRouteId() != null) {
+            if (routeId != null) {
                 RobotTrajectoryInfo info = new RobotTrajectoryInfo();
                 info.setRobotId(Long.valueOf(robotId));
                 info.setCreateTime(new Date());
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java
new file mode 100644
index 0000000..a0f578e
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java
@@ -0,0 +1,28 @@
+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.ITaskInfoImgService;
+import java.util.List;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+
+import com.casic.missiles.modular.robot.dao.TaskInfoImgMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+
+
+/**
+ * <p>
+ * 任务照片存储 服务实现类
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Service
+public class TaskInfoImgServiceImpl extends ServiceImpl<TaskInfoImgMapper, TaskInfoImg> implements ITaskInfoImgService {
+@Override
+public List<TaskInfoImg> selectTaskInfoImgPage(Page<TaskInfoImg> page,QueryWrapper<TaskInfoImg> query) {
+return this.baseMapper.selectTaskInfoImgPage(page,query);
+}}

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
new file mode 100644
index 0000000..9d012da
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  任务照片存储 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface TaskInfoImgMapper extends BaseMapper<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage( @Param("page") Page<TaskInfoImg> page,@Param("ew" ) QueryWrapper<TaskInfoImg> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
new file mode 100644
index 0000000..e330c68
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.TaskInfoImgMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskInfoImg">
+            <result column="id" property="id"/>
+            <result column="mca_img" property="mcaImg"/>
+            <result column="psd_img" property="psdImg"/>
+            <result column="route_img" property="routeImg"/>
+            <result column="heat_img" property="heatImg"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    mca_img as mcaImg ,
+                    psd_img as psdImg ,
+                    route_img as routeImg ,
+                    heat_img as heatImg 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.mca_img
+            as mcaImg ,
+            a.psd_img
+            as psdImg ,
+            a.route_img
+            as routeImg ,
+            a.heat_img
+            as heatImg 
+</sql>
+<select id="selectTaskInfoImgPage" resultType="com.casic.missiles.modular.robot.model.TaskInfoImg">
+    select
+    <include refid="Base_Column_Alias"/>
+    from task_info_img a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.mcaImg!= null and request.mcaImg!=''">
+            and mca_img = #{request.mcaImg}
+</if>
+<if test="request.psdImg!= null and request.psdImg!=''">
+            and psd_img = #{request.psdImg}
+</if>
+<if test="request.routeImg!= null and request.routeImg!=''">
+            and route_img = #{request.routeImg}
+</if>
+<if test="request.heatImg!= null and request.heatImg!=''">
+            and heat_img = #{request.heatImg}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
new file mode 100644
index 0000000..ed06f3b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
@@ -0,0 +1,32 @@
+package com.casic.missiles.modular.robot.event;
+
+import com.casic.missiles.model.application.event.core.ModelEvent;
+import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+/**
+ * 用户登录数据变化事件
+ *
+ * @author lwh
+ */
+public class PoseMessageEvent extends ModelEvent<MqttMessage> {
+    private String robotId;
+    /**
+     * Create a new {@code ApplicationEvent}.
+     *
+     * @param type   事件类型
+     * @param source the object on which the event initially occurred or with
+     *               which the event is associated (never {@code null})
+     */
+    public PoseMessageEvent(AbstractEventTypeEnum type, MqttMessage source) {
+        super(type, source);
+    }
+
+    public String getRobotId() {
+        return robotId;
+    }
+
+    public void setRobotId(String robotId) {
+        this.robotId = robotId;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
new file mode 100644
index 0000000..2cc6cdc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.event;
+
+import cn.hutool.core.thread.ExecutorBuilder;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.ThreadPoolExecutor;
+
+/**
+ * 定位事件监听器
+ * @see  com.casic.missiles.modular.robot.opt.handler.msg.PoseMessageMsgHandler
+ */
+@Slf4j
+@Component
+public class PoseMessageListener {
+    private static ThreadPoolExecutor threadPoolExecutor = ExecutorBuilder.create().setCorePoolSize(5).setMaxPoolSize(10).build();
+    private final IRobotStatusInfoService statusInfoService;
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageListener(IRobotStatusInfoService statusInfoService, IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.statusInfoService = statusInfoService;
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @EventListener
+    public void onApplicationEvent(PoseMessageEvent event) {
+//        threadPoolExecutor.execute(() -> { });
+        robotTrajectoryInfoService.savePoseMessage(event.getRobotId(), (MqttMessage) event.getSource());
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
new file mode 100644
index 0000000..7e881d9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
@@ -0,0 +1,52 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+
+/**
+ * 任务照片存储对象 task_info_img
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+@TableName("task_info_img")
+public class TaskInfoImg extends Model<TaskInfoImg> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "任务ID", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "MCA图片", dataType = "String")
+    @TableField("mca_img")
+    private String mcaImg;
+
+    @ApiModelProperty(value = "PSD图片", dataType = "String")
+    @TableField("psd_img")
+    private String psdImg;
+
+    @ApiModelProperty(value = "巡检路线img", dataType = "String")
+    @TableField("route_img")
+    private String routeImg;
+
+    @ApiModelProperty(value = "热点分布图", dataType = "String")
+    @TableField("heat_img")
+    private String heatImg;
+
+
+    @Override
+    public String toString() {
+        return "TaskInfoImg{"
+                + "id=" + id
+                + "mcaImg=" + mcaImg
+                + "psdImg=" + psdImg
+                + "routeImg=" + routeImg
+                + "heatImg=" + heatImg
+                + "}";
+    }
+}
\ No newline at end of file
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 d74a38b..c4bc25d 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
@@ -35,7 +35,7 @@
     }),
     TRACK_RECORD("/track_record" , "/track_record_response" , "启动或关闭轨迹录制功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
-    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     DELETE_TRACK("/delete_track" , "/delete_track_response" , "删除路线" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
index 41879dd..83f4cb2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
@@ -13,6 +13,7 @@
 
 /**
  * websocket 推送消息
+ * @see com.casic.missiles.mqtt.config.MqttClientConfigListener#createMqtt
  */
 @Slf4j
 public abstract class AbstractSocketHandler implements IBaseMsgHandler {
@@ -48,7 +49,7 @@
                 wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
                 wsMsgBaseDTO.setData(jsonObject.get("msg"));
                 String msg = JSON.toJSONString(wsMsgBaseDTO);
-//                log.info("推送{}消息：{}", enums.getRemarks(), msg);
+                log.info("推送{}消息：{}", enums.getRemarks(), msg);
                 webSocket.sendOneMessage(robotId, msg);
             }
         } catch (Exception e) {
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 b8e561d..5e3fe49 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
@@ -6,6 +6,8 @@
  * 业务消息处理器
  */
 public interface IBaseMsgHandler {
+    static String index_key = "index";
+
     /**
      * 消息处理handler
      *
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
index cefe2cd..27bed0e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
@@ -55,9 +55,6 @@
         }
         messageDTO.setMsg(request);
         ResponseDataDTO<Integer> list = null;
-        if (request.getAction() != 1) {
-            taskInfoService.reloadTask(request, getRobotInfo());
-        }
         try {
             list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.START_TRACK, messageDTO);
         } catch (Exception e) {
@@ -75,8 +72,7 @@
      */
     @Override
     public ResponseDataDTO afterInvoke(StartTrackRequest request, ResponseDataDTO response) {
-        //增加循迹任务记录
-        taskInfoService.reloadTask(request, getRobotInfo());
+
         return response;
     }
 }
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
index 316fd8f..8b7fd0e 100644
--- 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
@@ -19,7 +19,7 @@
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
     static {
-        index.put("index", 0);
+        index.put(index_key, 0);
     }
 
     public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
@@ -28,7 +28,12 @@
 
     @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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 83d1d39..67ec20e 100644
--- 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
@@ -6,6 +6,9 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.stereotype.Component;
 
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
 /**
  * 停障状态实时接收器
  */
@@ -13,14 +16,23 @@
 @Component("/app_stop_navtrack")
 public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
     private final IRobotStatusInfoService statusInfoService;
-
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+    static {
+        index.put(index_key, 0);
+    }
     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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 1cf0e55..9c26129 100644
--- 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
@@ -1,28 +1,37 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.application.enums.LoginEventTypeEnum;
+import com.casic.missiles.model.application.event.core.EventPublisher;
+import com.casic.missiles.modular.robot.event.PoseMessageEvent;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
-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 extends AbstractSocketHandler {
 
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
 
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    private final EventPublisher publisher;
+
+    public PoseMessageMsgHandler(EventPublisher publisher) {
+
+        this.publisher = publisher;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+//        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
         sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message);
+        PoseMessageEvent event = new PoseMessageEvent(LoginEventTypeEnum.RELOAD_SCOPE, message);
+        event.setRobotId(robotId);
+        publisher.publishEvent(event);
+        log.info("实时定位已发送！！");
     }
 }
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
index 4910f62..b248839 100644
--- 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
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.model.application.event.core.EventPublisher;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -16,17 +17,18 @@
 @Slf4j
 @Component("/process_message")
 public class ProcessMessageMsgHandler extends AbstractSocketHandler {
-    private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+    private final EventPublisher publisher;
+    private final IRobotStatusInfoService statusInfoService;
+    public ProcessMessageMsgHandler(EventPublisher publisher, IRobotStatusInfoService statusInfoService) {
+        this.publisher = publisher;
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
+        statusInfoService.saveProcessMessage(robotId,message);
         sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, 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
index 3a19ebe..9d275bd 100644
--- 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
@@ -34,7 +34,7 @@
         index.put("index" , val);
         if (val > 30) {
             index.put("index" , 0);
-            statusInfoService.saveSensorStatus(robotId, message);
+//            statusInfoService.saveSensorStatus(robotId, message);
         }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
index 3acf1d7..8950815 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
@@ -19,13 +19,22 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
     public StopStateMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        statusInfoService.saveStopState(robotId, message);
-//        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+
+            statusInfoService.saveStopState(robotId, message);
+        }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
index ad0eda8..a9d7914 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.VoltageDTO;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
@@ -20,20 +25,58 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
+
     public VoltageResponseMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-//        log.info("----------------------电压信息反馈:{}", message);
-        statusInfoService.saveVoltageResponseMessage(robotId, message);
-        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
-        try{
 
-        RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
-        sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
-        }catch (Exception e){
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key) > 50) {
+            index.put(index_key, 0);
+            log.info("----------------------电压信息反馈:{}", message);
+            statusInfoService.saveVoltageResponseMessage(robotId, message);
+        }
+        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+        try {
+
+            RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
+            Integer appNav = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_NAV_PAUSE + robotId);
+            Integer appStop = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_STOP_NAVTRACK + robotId);
+            PoseMessageResponseDTO dto = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + robotId);
+            StopStateResponseDTO stopStateResponseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + robotId);
+            VoltageDTO voltageDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.VOLTAGE_RESPONSE + robotId);
+            if (robotStatusInfo != null) {
+                if (appNav != null) {
+                    robotStatusInfo.setAppNavPause(appNav);
+                }
+                if (appStop != null) {
+                    robotStatusInfo.setAppStopNavtrack(appStop);
+                }
+                if (dto != null) {
+                    robotStatusInfo.setPostionX(dto.getX());
+                    robotStatusInfo.setPostionY(dto.getY());
+                    robotStatusInfo.setPostionZ(dto.getZ());
+                }
+                if (stopStateResponseDTO != null) {
+                    robotStatusInfo.setSoft(stopStateResponseDTO.getSoft());
+                    robotStatusInfo.setSonic(stopStateResponseDTO.getSonic());
+                    robotStatusInfo.setCollision(stopStateResponseDTO.getCollision());
+                    robotStatusInfo.setButton(stopStateResponseDTO.getButton());
+                }
+                if (voltageDTO != null) {
+                    robotStatusInfo.setVoltage(voltageDTO.getVoltage());
+                    robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
+                }
+            }
+            //读取缓存信息
+            sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
+        } catch (Exception e) {
             e.printStackTrace();
         }
     }
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 c2c2773..8471e7a 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
@@ -141,6 +141,13 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+    @Transactional
+    @Override
+    public void startTrack(StartTrackRequest request) {
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, robotInfoService.getById(request.getRobotId()));
+        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+    }
 
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
new file mode 100644
index 0000000..c5071bc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.robot.opt.instruct.response;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+
+@Data
+public class VoltageDTO implements Serializable {
+    private Integer electricityQuantity;
+    private BigDecimal voltage;
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
index 9065f34..56b3e1d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -7,6 +7,7 @@
 import com.casic.missiles.modular.robot.model.RobotInfo;
 
 import java.math.BigDecimal;
+import java.util.List;
 
 /**
  * 循迹算法调用
@@ -37,4 +38,5 @@
      * @return
      */
     GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo);
+    void readAlgorithmResponse(String fileName, AlgorithmResponse response, Long taskId, List<String> res);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java
new file mode 100644
index 0000000..f197c10
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java
@@ -0,0 +1,22 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.extension.service.IService;
+import  com.casic.missiles.modular.robot.model.TaskInfoImg;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 任务照片存储 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface ITaskInfoImgService extends IService<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage(Page<TaskInfoImg> page,QueryWrapper<TaskInfoImg> query);}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
index df4a330..f808fa0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
@@ -64,7 +64,7 @@
     @Override
     public AlgorithmResponse pathPlanning(PathPlanDTO planDTO) {
         if (StrUtil.isEmpty(planDTO.getCount())) {
-            planDTO.setCount("0.01");
+            planDTO.setCount("0.001");
         }
         //算法路径及入参配置
         List<String> commends = new ArrayList<>();
@@ -162,8 +162,8 @@
         x = x.subtract(robotInfo.getOriginX());
         y = y.subtract(robotInfo.getOriginY());
 
-        pointDTO.setX(new BigDecimal(x.multiply(scale).intValue()));
-        pointDTO.setY(new BigDecimal(y.multiply(scale).intValue()));
+        pointDTO.setX(new BigDecimal(x.divide(scale,3,BigDecimal.ROUND_HALF_UP).intValue()+1));
+        pointDTO.setY(new BigDecimal(y.divide(scale,3,BigDecimal.ROUND_HALF_UP).intValue()+1));
         return pointDTO;
     }
 
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 0257c90..6d3ae91 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
@@ -1,18 +1,18 @@
 package com.casic.missiles.modular.robot.service.impl;
 
 import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
-import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
 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;
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dao.RobotStatusInfoMapper;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
@@ -21,10 +21,7 @@
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
 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.opt.instruct.response.AppCostmapResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.SpeedResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.VoltageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.*;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -151,7 +148,8 @@
     public void saveProcessMessage(String robotId, MqttMessage message) {
 //        String json = new String(message.getPayload());
 
-        RobotResponseDTO<ProcessMessageResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<ProcessMessageResponseDTO>>(){});
+        RobotResponseDTO<ProcessMessageResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<ProcessMessageResponseDTO>>() {
+        });
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             ProcessMessageResponseDTO msg = responseDTO.getMsg();
@@ -173,11 +171,8 @@
         RobotMsgResponseDTO<Integer> responseDTO = JSON.parseObject(json, new TypeReference<RobotMsgResponseDTO<Integer>>() {
         });
         if (responseDTO.getMsg() != null) {
-            UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_nav_pause", msg.getResult());
-            query.eq("robot_id", robotId);
-            update(query);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_NAV_PAUSE + robotId, msg.getResult());
         }
     }
 
@@ -186,12 +181,10 @@
         String json = new String(message.getPayload());
         RobotMsgResponseDTO<Integer> responseDTO = JSON.parseObject(json, new TypeReference<RobotMsgResponseDTO<Integer>>() {
         });
+
         if (responseDTO.getMsg() != null) {
-            UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_stop_navtrack", msg.getResult());
-            query.eq("robot_id", robotId);
-            update(query);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_STOP_NAVTRACK + robotId, msg.getResult());
         }
     }
 
@@ -228,16 +221,11 @@
 
     @Override
     public void saveStopState(String robotId, MqttMessage message) {
-        RobotResponseDTO<StopStateResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<StopStateResponseDTO>>(){});
+        RobotResponseDTO<StopStateResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<StopStateResponseDTO>>() {
+        });
         if (responseDTO != null && responseDTO.getMsg() != null) {
-//            log.info("急停状态保存：{}", responseDTO.getMsg());
-            LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
-            query.set(RobotStatusInfo::getButton, responseDTO.getMsg().getButton());
-            query.set(RobotStatusInfo::getCollision, responseDTO.getMsg().getCollision());
-            query.set(RobotStatusInfo::getSonic, responseDTO.getMsg().getSonic());
-            query.set(RobotStatusInfo::getSoft, responseDTO.getMsg().getSoft());
-            query.eq(RobotStatusInfo::getRobotId, robotId);
-            update(query);
+            log.info("急停状态保存：{}", responseDTO.getMsg());
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + robotId, responseDTO.getMsg());
         }
     }
 
@@ -250,37 +238,39 @@
         if (responseDTO != null && responseDTO.getMsg() != null) {
             RobotInfo info = robotInfoService.getById(robotId);
             log.info("电压状态保存：{}", responseDTO.getMsg());
-            LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
             if (CollectionUtil.isNotEmpty(responseDTO.getMsg().getVoltage())) {
                 Integer v = responseDTO.getMsg().getVoltage().get(0);
-                query.set(RobotStatusInfo::getVoltage, v);
                 //计算电量
                 Double quantity = new BigDecimal(v - info.getVoltageMin()).divide(new BigDecimal(info.getVoltageMax() - info.getVoltageMin()), 2, BigDecimal.ROUND_HALF_UP).doubleValue();
-                query.set(RobotStatusInfo::getElectricityQuantity, quantity * 100);
-                query.eq(RobotStatusInfo::getRobotId, robotId);
-                update(query);
+                VoltageDTO voltageDTO = new VoltageDTO();
+                voltageDTO.setVoltage(new BigDecimal(v));
+                voltageDTO.setElectricityQuantity(Convert.toInt(quantity * 100));
+                CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.VOLTAGE_RESPONSE + robotId, voltageDTO);
             }
         }
     }
 
     /**
      * 机器人栅格数据
+     *
      * @param robotId 机器人障碍物栅格数据保存
      * @param message 消息体
      */
     @Override
     public void saveCostMap(String robotId, MqttMessage message) {
         //数据接收
-        RobotResponseDTO<AppCostmapResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<AppCostmapResponseDTO>>() {});
+        RobotResponseDTO<AppCostmapResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<AppCostmapResponseDTO>>() {
+        });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
-            robotInfoService.updateRobotGrid(robotId,responseDTO.getMsg());
+            robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
 //            log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
         }
     }
 
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
+        //todo cache
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
         query.set("postion_x", dto.getX());
         query.set("postion_y", dto.getY());
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 bb066f4..6c9625f 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
@@ -5,6 +5,8 @@
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dao.RobotTrajectoryInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.model.RobotTrajectoryInfo;
@@ -34,11 +36,12 @@
 public class RobotTrajectoryInfoServiceImpl extends ServiceImpl<RobotTrajectoryInfoMapper, RobotTrajectoryInfo> implements IRobotTrajectoryInfoService {
     private final IRobotStatusInfoService robotStatusInfoService;
     private final ITaskInfoService infoService;
+    private final IRobotCacheService cacheService;
 
-
-    public RobotTrajectoryInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, ITaskInfoService infoService) {
+    public RobotTrajectoryInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, ITaskInfoService infoService, IRobotCacheService cacheService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.infoService = infoService;
+        this.cacheService = cacheService;
     }
 
     @Override
@@ -54,14 +57,15 @@
         });
 
         //读取导航状态,如果导航未开启则不存储
-        RobotStatusInfo statusInfo = robotStatusInfoService.getStatusByRobotId(robotId);
-        if (statusInfo != null && responseDTO.getMsg() != null) {
+//        RobotStatusInfo statusInfo = robotStatusInfoService.getStatusByRobotId(robotId);
+        Long routeId= cacheService.readRouteId(Long.valueOf(robotId));
+        if (routeId != null && responseDTO.getMsg() != null) {
             PoseMessageResponseDTO dto = responseDTO.getMsg();
             //执行循迹 保存当前轨迹信息
             //更新实时定位信息
-            robotStatusInfoService.updateRobotPoint(dto,robotId);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + robotId, dto);
             infoService.pointTestCallBack(dto, robotId);
-            if (statusInfo.getCurrRouteId() != null) {
+            if (routeId != null) {
                 RobotTrajectoryInfo info = new RobotTrajectoryInfo();
                 info.setRobotId(Long.valueOf(robotId));
                 info.setCreateTime(new Date());
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java
new file mode 100644
index 0000000..a0f578e
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java
@@ -0,0 +1,28 @@
+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.ITaskInfoImgService;
+import java.util.List;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+
+import com.casic.missiles.modular.robot.dao.TaskInfoImgMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+
+
+/**
+ * <p>
+ * 任务照片存储 服务实现类
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Service
+public class TaskInfoImgServiceImpl extends ServiceImpl<TaskInfoImgMapper, TaskInfoImg> implements ITaskInfoImgService {
+@Override
+public List<TaskInfoImg> selectTaskInfoImgPage(Page<TaskInfoImg> page,QueryWrapper<TaskInfoImg> query) {
+return this.baseMapper.selectTaskInfoImgPage(page,query);
+}}
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 93745b6..d1417b0 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
@@ -6,11 +6,11 @@
 import cn.hutool.core.convert.Convert;
 import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.io.FileUtil;
+import cn.hutool.core.thread.ExecutorBuilder;
 import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
 import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
 import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
@@ -47,6 +47,7 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.*;
+import java.util.concurrent.ThreadPoolExecutor;
 
 
 /**
@@ -68,7 +69,10 @@
     private final IAlgorithmService algorithmService;
     private final IRobotCacheService cacheService;
     private final IBaseRobotService baseRobotService;
-
+    private final ITaskInfoImgService imgService;
+    /**
+     * 初始化线程池
+     */
 
     @Value("${casic.file.uploadPath}")
     private String uploadPath;
@@ -80,7 +84,7 @@
     @Value("${casic.obstacle:10}")
     private Integer obstacle;
 
-    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService) {
+    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService, ITaskInfoImgService imgService) {
         this.routeInfoService = routeInfoService;
         this.statusInfoService = statusInfoService;
         this.dictService = dictService;
@@ -89,6 +93,7 @@
         this.algorithmService = algorithmService;
         this.cacheService = cacheService;
         this.baseRobotService = baseRobotService;
+        this.imgService = imgService;
     }
 
     /**
@@ -145,6 +150,13 @@
         taskInfo.setDiscernTypeName(dictService.getDictNameByCode(RobotDictConstants.DISCERN_TYPE, taskInfo.getDiscernType() + ""));
         taskInfo.setTaskTypeName(dictService.getDictNameByCode(RobotDictConstants.TASK_TYPE, taskInfo.getTaskType() + ""));
         taskInfo.setTaskStatusName(dictService.getDictNameByCode(RobotDictConstants.TASK_STATUS, taskInfo.getTaskType() + ""));
+        TaskInfoImg taskInfoImg = imgService.getById(taskInfo.getId());
+        if (taskInfoImg != null) {
+            taskInfo.setRouteImg(taskInfoImg.getRouteImg());
+            taskInfo.setPsdImg(taskInfoImg.getPsdImg());
+            taskInfo.setMcaImg(taskInfoImg.getMcaImg());
+            taskInfo.setHeatImg(taskInfoImg.getHeatImg());
+        }
         //检索当前任务告警数量
         taskInfo.setAlarmNum(recordService.selectCountByTaskId(taskInfo.getId(), taskInfo.getRobotId()));
         taskInfo.setHeatMap(taskHeatMapService.getByTaskId(taskInfo.getId()));
@@ -209,6 +221,7 @@
 
         //清空任务缓存
         robotCacheClean(robotId);
+
         //清空机器当前任务
         statusInfoService.updateCurrTask(robotId, null, null);
 
@@ -240,6 +253,9 @@
         //缓存当前点位信息
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_XY_POINT + robotId, dto);
         RobotInfo robotInfo = cacheService.getRobotInfo(longId);
+        //slam经纬度转栅格
+        GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getResolution(), robotInfo);
+        log.info("currGrid:{}", pointDTO);
         if (robotInfo.getAlarmThreshold() == null || robotInfo.getMaxThreshold() == null) {
             log.error("no config 中子源阈值未配置");
             return;
@@ -254,13 +270,25 @@
         //算法初始化状态读取
         Integer initValue = cacheService.readTaskInit(longId);
 
-        //slam经纬度转栅格
-        GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getResolution(), robotInfo);
 
         //No.1 任务初始化
         if (initValue != 1) {
             //执行初始化操作
             if (cacheService.updateTaskInit(longId, 1)) {
+
+                try {
+                    File file = new File(".");
+                    File[] files = file.listFiles((dir, name) -> (name.endsWith(".png") && name.startsWith("step"))
+                            || (name.endsWith(".txt") && name.startsWith("step")) || name.equals("repetition.txt") || name.equals("xy_train.txt") || name.equals("z_train.txt"));
+                    if (files != null) {
+                        for (int i = 0; i < files.length; i++) {
+                            FileUtil.del(files[i]);
+                        }
+                    }
+                } catch (Exception e) {
+                    e.printStackTrace();
+                }
+
                 PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId);
                 //中子源计数率读取
                 pathInitDTO.setCount(cacheService.getNeutronCount(longId));
@@ -288,7 +316,7 @@
                 AlgorithmResponse response = algorithmService.pathPlanning(pathPlanDTO);
                 //存储算法输出栅格信息
                 CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId, response.getPointNextDTO());
-                sendWebSocket(InstructStatusMsgEnums.HEAT_MAP,robotId, response.getTaskHeatMap());
+                sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
                 //是否触发寻源操作
                 BigDecimal bigCount = new BigDecimal(pathPlanDTO.getCount());
                 if (bigCount.compareTo(robotInfo.getAlarmThreshold()) >= 0) {
@@ -329,6 +357,7 @@
         RobotInfo robotInfo = cacheService.getRobotInfo(longId);
         //slam经纬度转栅格
         GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getResolution(), robotInfo);
+        log.info("currGrid:{}", pointDTO);
     }
 
 
@@ -426,22 +455,23 @@
      *
      * @param imgDTO
      */
+    @Transactional
     @Override
     public void saveImg(ImgDTO imgDTO) {
         String path = saveHeatImg(imgDTO.getTaskId());
-        LambdaUpdateWrapper<TaskInfo> updateWrapper = new LambdaUpdateWrapper<>();
+        TaskInfoImg infoImg = new TaskInfoImg();
         if (StrUtil.isNotEmpty(imgDTO.getMcaImg())) {
-            updateWrapper.set(TaskInfo::getMcaImg, imgDTO.getMcaImg());
+            infoImg.setMcaImg(imgDTO.getMcaImg());
+            infoImg.setHeatImg(path);
         }
         if (StrUtil.isNotEmpty(imgDTO.getPsdImg())) {
-            updateWrapper.set(TaskInfo::getPsdImg, imgDTO.getPsdImg());
+            infoImg.setPsdImg(imgDTO.getPsdImg());
         }
         if (StrUtil.isNotEmpty(imgDTO.getRouteImg())) {
-            updateWrapper.set(TaskInfo::getRouteImg, imgDTO.getRouteImg());
+            infoImg.setRouteImg(imgDTO.getRouteImg());
         }
-        updateWrapper.set(TaskInfo::getHeatImg, path);
-        updateWrapper.eq(TaskInfo::getId, imgDTO.getTaskId());
-        update(updateWrapper);
+        infoImg.setId(Convert.toLong(imgDTO.getTaskId()));
+        imgService.saveOrUpdate(infoImg);
     }
 
     @SneakyThrows
@@ -449,6 +479,7 @@
     @Override
     public void exportDoc(HttpServletResponse response, String taskId) {
         TaskInfo info = getById(taskId);
+        wrapTaskInfo(info);
         RobotInfo robotInfo = cacheService.getRobotInfo(info.getRobotId());
         response.setContentType("application/octet-stream");
         response.setCharacterEncoding("utf-8");

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
new file mode 100644
index 0000000..9d012da
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  任务照片存储 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface TaskInfoImgMapper extends BaseMapper<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage( @Param("page") Page<TaskInfoImg> page,@Param("ew" ) QueryWrapper<TaskInfoImg> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
new file mode 100644
index 0000000..e330c68
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.TaskInfoImgMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskInfoImg">
+            <result column="id" property="id"/>
+            <result column="mca_img" property="mcaImg"/>
+            <result column="psd_img" property="psdImg"/>
+            <result column="route_img" property="routeImg"/>
+            <result column="heat_img" property="heatImg"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    mca_img as mcaImg ,
+                    psd_img as psdImg ,
+                    route_img as routeImg ,
+                    heat_img as heatImg 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.mca_img
+            as mcaImg ,
+            a.psd_img
+            as psdImg ,
+            a.route_img
+            as routeImg ,
+            a.heat_img
+            as heatImg 
+</sql>
+<select id="selectTaskInfoImgPage" resultType="com.casic.missiles.modular.robot.model.TaskInfoImg">
+    select
+    <include refid="Base_Column_Alias"/>
+    from task_info_img a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.mcaImg!= null and request.mcaImg!=''">
+            and mca_img = #{request.mcaImg}
+</if>
+<if test="request.psdImg!= null and request.psdImg!=''">
+            and psd_img = #{request.psdImg}
+</if>
+<if test="request.routeImg!= null and request.routeImg!=''">
+            and route_img = #{request.routeImg}
+</if>
+<if test="request.heatImg!= null and request.heatImg!=''">
+            and heat_img = #{request.heatImg}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
new file mode 100644
index 0000000..ed06f3b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
@@ -0,0 +1,32 @@
+package com.casic.missiles.modular.robot.event;
+
+import com.casic.missiles.model.application.event.core.ModelEvent;
+import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+/**
+ * 用户登录数据变化事件
+ *
+ * @author lwh
+ */
+public class PoseMessageEvent extends ModelEvent<MqttMessage> {
+    private String robotId;
+    /**
+     * Create a new {@code ApplicationEvent}.
+     *
+     * @param type   事件类型
+     * @param source the object on which the event initially occurred or with
+     *               which the event is associated (never {@code null})
+     */
+    public PoseMessageEvent(AbstractEventTypeEnum type, MqttMessage source) {
+        super(type, source);
+    }
+
+    public String getRobotId() {
+        return robotId;
+    }
+
+    public void setRobotId(String robotId) {
+        this.robotId = robotId;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
new file mode 100644
index 0000000..2cc6cdc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.event;
+
+import cn.hutool.core.thread.ExecutorBuilder;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.ThreadPoolExecutor;
+
+/**
+ * 定位事件监听器
+ * @see  com.casic.missiles.modular.robot.opt.handler.msg.PoseMessageMsgHandler
+ */
+@Slf4j
+@Component
+public class PoseMessageListener {
+    private static ThreadPoolExecutor threadPoolExecutor = ExecutorBuilder.create().setCorePoolSize(5).setMaxPoolSize(10).build();
+    private final IRobotStatusInfoService statusInfoService;
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageListener(IRobotStatusInfoService statusInfoService, IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.statusInfoService = statusInfoService;
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @EventListener
+    public void onApplicationEvent(PoseMessageEvent event) {
+//        threadPoolExecutor.execute(() -> { });
+        robotTrajectoryInfoService.savePoseMessage(event.getRobotId(), (MqttMessage) event.getSource());
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
new file mode 100644
index 0000000..7e881d9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
@@ -0,0 +1,52 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+
+/**
+ * 任务照片存储对象 task_info_img
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+@TableName("task_info_img")
+public class TaskInfoImg extends Model<TaskInfoImg> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "任务ID", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "MCA图片", dataType = "String")
+    @TableField("mca_img")
+    private String mcaImg;
+
+    @ApiModelProperty(value = "PSD图片", dataType = "String")
+    @TableField("psd_img")
+    private String psdImg;
+
+    @ApiModelProperty(value = "巡检路线img", dataType = "String")
+    @TableField("route_img")
+    private String routeImg;
+
+    @ApiModelProperty(value = "热点分布图", dataType = "String")
+    @TableField("heat_img")
+    private String heatImg;
+
+
+    @Override
+    public String toString() {
+        return "TaskInfoImg{"
+                + "id=" + id
+                + "mcaImg=" + mcaImg
+                + "psdImg=" + psdImg
+                + "routeImg=" + routeImg
+                + "heatImg=" + heatImg
+                + "}";
+    }
+}
\ No newline at end of file
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 d74a38b..c4bc25d 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
@@ -35,7 +35,7 @@
     }),
     TRACK_RECORD("/track_record" , "/track_record_response" , "启动或关闭轨迹录制功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
-    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     DELETE_TRACK("/delete_track" , "/delete_track_response" , "删除路线" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
index 41879dd..83f4cb2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
@@ -13,6 +13,7 @@
 
 /**
  * websocket 推送消息
+ * @see com.casic.missiles.mqtt.config.MqttClientConfigListener#createMqtt
  */
 @Slf4j
 public abstract class AbstractSocketHandler implements IBaseMsgHandler {
@@ -48,7 +49,7 @@
                 wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
                 wsMsgBaseDTO.setData(jsonObject.get("msg"));
                 String msg = JSON.toJSONString(wsMsgBaseDTO);
-//                log.info("推送{}消息：{}", enums.getRemarks(), msg);
+                log.info("推送{}消息：{}", enums.getRemarks(), msg);
                 webSocket.sendOneMessage(robotId, msg);
             }
         } catch (Exception e) {
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 b8e561d..5e3fe49 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
@@ -6,6 +6,8 @@
  * 业务消息处理器
  */
 public interface IBaseMsgHandler {
+    static String index_key = "index";
+
     /**
      * 消息处理handler
      *
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
index cefe2cd..27bed0e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
@@ -55,9 +55,6 @@
         }
         messageDTO.setMsg(request);
         ResponseDataDTO<Integer> list = null;
-        if (request.getAction() != 1) {
-            taskInfoService.reloadTask(request, getRobotInfo());
-        }
         try {
             list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.START_TRACK, messageDTO);
         } catch (Exception e) {
@@ -75,8 +72,7 @@
      */
     @Override
     public ResponseDataDTO afterInvoke(StartTrackRequest request, ResponseDataDTO response) {
-        //增加循迹任务记录
-        taskInfoService.reloadTask(request, getRobotInfo());
+
         return response;
     }
 }
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
index 316fd8f..8b7fd0e 100644
--- 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
@@ -19,7 +19,7 @@
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
     static {
-        index.put("index", 0);
+        index.put(index_key, 0);
     }
 
     public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
@@ -28,7 +28,12 @@
 
     @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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 83d1d39..67ec20e 100644
--- 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
@@ -6,6 +6,9 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.stereotype.Component;
 
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
 /**
  * 停障状态实时接收器
  */
@@ -13,14 +16,23 @@
 @Component("/app_stop_navtrack")
 public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
     private final IRobotStatusInfoService statusInfoService;
-
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+    static {
+        index.put(index_key, 0);
+    }
     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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 1cf0e55..9c26129 100644
--- 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
@@ -1,28 +1,37 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.application.enums.LoginEventTypeEnum;
+import com.casic.missiles.model.application.event.core.EventPublisher;
+import com.casic.missiles.modular.robot.event.PoseMessageEvent;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
-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 extends AbstractSocketHandler {
 
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
 
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    private final EventPublisher publisher;
+
+    public PoseMessageMsgHandler(EventPublisher publisher) {
+
+        this.publisher = publisher;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+//        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
         sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message);
+        PoseMessageEvent event = new PoseMessageEvent(LoginEventTypeEnum.RELOAD_SCOPE, message);
+        event.setRobotId(robotId);
+        publisher.publishEvent(event);
+        log.info("实时定位已发送！！");
     }
 }
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
index 4910f62..b248839 100644
--- 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
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.model.application.event.core.EventPublisher;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -16,17 +17,18 @@
 @Slf4j
 @Component("/process_message")
 public class ProcessMessageMsgHandler extends AbstractSocketHandler {
-    private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+    private final EventPublisher publisher;
+    private final IRobotStatusInfoService statusInfoService;
+    public ProcessMessageMsgHandler(EventPublisher publisher, IRobotStatusInfoService statusInfoService) {
+        this.publisher = publisher;
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
+        statusInfoService.saveProcessMessage(robotId,message);
         sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, 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
index 3a19ebe..9d275bd 100644
--- 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
@@ -34,7 +34,7 @@
         index.put("index" , val);
         if (val > 30) {
             index.put("index" , 0);
-            statusInfoService.saveSensorStatus(robotId, message);
+//            statusInfoService.saveSensorStatus(robotId, message);
         }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
index 3acf1d7..8950815 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
@@ -19,13 +19,22 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
     public StopStateMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        statusInfoService.saveStopState(robotId, message);
-//        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+
+            statusInfoService.saveStopState(robotId, message);
+        }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
index ad0eda8..a9d7914 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.VoltageDTO;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
@@ -20,20 +25,58 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
+
     public VoltageResponseMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-//        log.info("----------------------电压信息反馈:{}", message);
-        statusInfoService.saveVoltageResponseMessage(robotId, message);
-        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
-        try{
 
-        RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
-        sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
-        }catch (Exception e){
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key) > 50) {
+            index.put(index_key, 0);
+            log.info("----------------------电压信息反馈:{}", message);
+            statusInfoService.saveVoltageResponseMessage(robotId, message);
+        }
+        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+        try {
+
+            RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
+            Integer appNav = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_NAV_PAUSE + robotId);
+            Integer appStop = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_STOP_NAVTRACK + robotId);
+            PoseMessageResponseDTO dto = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + robotId);
+            StopStateResponseDTO stopStateResponseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + robotId);
+            VoltageDTO voltageDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.VOLTAGE_RESPONSE + robotId);
+            if (robotStatusInfo != null) {
+                if (appNav != null) {
+                    robotStatusInfo.setAppNavPause(appNav);
+                }
+                if (appStop != null) {
+                    robotStatusInfo.setAppStopNavtrack(appStop);
+                }
+                if (dto != null) {
+                    robotStatusInfo.setPostionX(dto.getX());
+                    robotStatusInfo.setPostionY(dto.getY());
+                    robotStatusInfo.setPostionZ(dto.getZ());
+                }
+                if (stopStateResponseDTO != null) {
+                    robotStatusInfo.setSoft(stopStateResponseDTO.getSoft());
+                    robotStatusInfo.setSonic(stopStateResponseDTO.getSonic());
+                    robotStatusInfo.setCollision(stopStateResponseDTO.getCollision());
+                    robotStatusInfo.setButton(stopStateResponseDTO.getButton());
+                }
+                if (voltageDTO != null) {
+                    robotStatusInfo.setVoltage(voltageDTO.getVoltage());
+                    robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
+                }
+            }
+            //读取缓存信息
+            sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
+        } catch (Exception e) {
             e.printStackTrace();
         }
     }
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 c2c2773..8471e7a 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
@@ -141,6 +141,13 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+    @Transactional
+    @Override
+    public void startTrack(StartTrackRequest request) {
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, robotInfoService.getById(request.getRobotId()));
+        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+    }
 
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
new file mode 100644
index 0000000..c5071bc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.robot.opt.instruct.response;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+
+@Data
+public class VoltageDTO implements Serializable {
+    private Integer electricityQuantity;
+    private BigDecimal voltage;
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
index 9065f34..56b3e1d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -7,6 +7,7 @@
 import com.casic.missiles.modular.robot.model.RobotInfo;
 
 import java.math.BigDecimal;
+import java.util.List;
 
 /**
  * 循迹算法调用
@@ -37,4 +38,5 @@
      * @return
      */
     GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo);
+    void readAlgorithmResponse(String fileName, AlgorithmResponse response, Long taskId, List<String> res);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java
new file mode 100644
index 0000000..f197c10
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java
@@ -0,0 +1,22 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.extension.service.IService;
+import  com.casic.missiles.modular.robot.model.TaskInfoImg;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 任务照片存储 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface ITaskInfoImgService extends IService<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage(Page<TaskInfoImg> page,QueryWrapper<TaskInfoImg> query);}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
index df4a330..f808fa0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
@@ -64,7 +64,7 @@
     @Override
     public AlgorithmResponse pathPlanning(PathPlanDTO planDTO) {
         if (StrUtil.isEmpty(planDTO.getCount())) {
-            planDTO.setCount("0.01");
+            planDTO.setCount("0.001");
         }
         //算法路径及入参配置
         List<String> commends = new ArrayList<>();
@@ -162,8 +162,8 @@
         x = x.subtract(robotInfo.getOriginX());
         y = y.subtract(robotInfo.getOriginY());
 
-        pointDTO.setX(new BigDecimal(x.multiply(scale).intValue()));
-        pointDTO.setY(new BigDecimal(y.multiply(scale).intValue()));
+        pointDTO.setX(new BigDecimal(x.divide(scale,3,BigDecimal.ROUND_HALF_UP).intValue()+1));
+        pointDTO.setY(new BigDecimal(y.divide(scale,3,BigDecimal.ROUND_HALF_UP).intValue()+1));
         return pointDTO;
     }
 
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 0257c90..6d3ae91 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
@@ -1,18 +1,18 @@
 package com.casic.missiles.modular.robot.service.impl;
 
 import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
-import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
 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;
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dao.RobotStatusInfoMapper;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
@@ -21,10 +21,7 @@
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
 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.opt.instruct.response.AppCostmapResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.SpeedResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.VoltageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.*;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -151,7 +148,8 @@
     public void saveProcessMessage(String robotId, MqttMessage message) {
 //        String json = new String(message.getPayload());
 
-        RobotResponseDTO<ProcessMessageResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<ProcessMessageResponseDTO>>(){});
+        RobotResponseDTO<ProcessMessageResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<ProcessMessageResponseDTO>>() {
+        });
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             ProcessMessageResponseDTO msg = responseDTO.getMsg();
@@ -173,11 +171,8 @@
         RobotMsgResponseDTO<Integer> responseDTO = JSON.parseObject(json, new TypeReference<RobotMsgResponseDTO<Integer>>() {
         });
         if (responseDTO.getMsg() != null) {
-            UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_nav_pause", msg.getResult());
-            query.eq("robot_id", robotId);
-            update(query);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_NAV_PAUSE + robotId, msg.getResult());
         }
     }
 
@@ -186,12 +181,10 @@
         String json = new String(message.getPayload());
         RobotMsgResponseDTO<Integer> responseDTO = JSON.parseObject(json, new TypeReference<RobotMsgResponseDTO<Integer>>() {
         });
+
         if (responseDTO.getMsg() != null) {
-            UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_stop_navtrack", msg.getResult());
-            query.eq("robot_id", robotId);
-            update(query);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_STOP_NAVTRACK + robotId, msg.getResult());
         }
     }
 
@@ -228,16 +221,11 @@
 
     @Override
     public void saveStopState(String robotId, MqttMessage message) {
-        RobotResponseDTO<StopStateResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<StopStateResponseDTO>>(){});
+        RobotResponseDTO<StopStateResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<StopStateResponseDTO>>() {
+        });
         if (responseDTO != null && responseDTO.getMsg() != null) {
-//            log.info("急停状态保存：{}", responseDTO.getMsg());
-            LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
-            query.set(RobotStatusInfo::getButton, responseDTO.getMsg().getButton());
-            query.set(RobotStatusInfo::getCollision, responseDTO.getMsg().getCollision());
-            query.set(RobotStatusInfo::getSonic, responseDTO.getMsg().getSonic());
-            query.set(RobotStatusInfo::getSoft, responseDTO.getMsg().getSoft());
-            query.eq(RobotStatusInfo::getRobotId, robotId);
-            update(query);
+            log.info("急停状态保存：{}", responseDTO.getMsg());
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + robotId, responseDTO.getMsg());
         }
     }
 
@@ -250,37 +238,39 @@
         if (responseDTO != null && responseDTO.getMsg() != null) {
             RobotInfo info = robotInfoService.getById(robotId);
             log.info("电压状态保存：{}", responseDTO.getMsg());
-            LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
             if (CollectionUtil.isNotEmpty(responseDTO.getMsg().getVoltage())) {
                 Integer v = responseDTO.getMsg().getVoltage().get(0);
-                query.set(RobotStatusInfo::getVoltage, v);
                 //计算电量
                 Double quantity = new BigDecimal(v - info.getVoltageMin()).divide(new BigDecimal(info.getVoltageMax() - info.getVoltageMin()), 2, BigDecimal.ROUND_HALF_UP).doubleValue();
-                query.set(RobotStatusInfo::getElectricityQuantity, quantity * 100);
-                query.eq(RobotStatusInfo::getRobotId, robotId);
-                update(query);
+                VoltageDTO voltageDTO = new VoltageDTO();
+                voltageDTO.setVoltage(new BigDecimal(v));
+                voltageDTO.setElectricityQuantity(Convert.toInt(quantity * 100));
+                CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.VOLTAGE_RESPONSE + robotId, voltageDTO);
             }
         }
     }
 
     /**
      * 机器人栅格数据
+     *
      * @param robotId 机器人障碍物栅格数据保存
      * @param message 消息体
      */
     @Override
     public void saveCostMap(String robotId, MqttMessage message) {
         //数据接收
-        RobotResponseDTO<AppCostmapResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<AppCostmapResponseDTO>>() {});
+        RobotResponseDTO<AppCostmapResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<AppCostmapResponseDTO>>() {
+        });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
-            robotInfoService.updateRobotGrid(robotId,responseDTO.getMsg());
+            robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
 //            log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
         }
     }
 
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
+        //todo cache
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
         query.set("postion_x", dto.getX());
         query.set("postion_y", dto.getY());
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 bb066f4..6c9625f 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
@@ -5,6 +5,8 @@
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dao.RobotTrajectoryInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.model.RobotTrajectoryInfo;
@@ -34,11 +36,12 @@
 public class RobotTrajectoryInfoServiceImpl extends ServiceImpl<RobotTrajectoryInfoMapper, RobotTrajectoryInfo> implements IRobotTrajectoryInfoService {
     private final IRobotStatusInfoService robotStatusInfoService;
     private final ITaskInfoService infoService;
+    private final IRobotCacheService cacheService;
 
-
-    public RobotTrajectoryInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, ITaskInfoService infoService) {
+    public RobotTrajectoryInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, ITaskInfoService infoService, IRobotCacheService cacheService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.infoService = infoService;
+        this.cacheService = cacheService;
     }
 
     @Override
@@ -54,14 +57,15 @@
         });
 
         //读取导航状态,如果导航未开启则不存储
-        RobotStatusInfo statusInfo = robotStatusInfoService.getStatusByRobotId(robotId);
-        if (statusInfo != null && responseDTO.getMsg() != null) {
+//        RobotStatusInfo statusInfo = robotStatusInfoService.getStatusByRobotId(robotId);
+        Long routeId= cacheService.readRouteId(Long.valueOf(robotId));
+        if (routeId != null && responseDTO.getMsg() != null) {
             PoseMessageResponseDTO dto = responseDTO.getMsg();
             //执行循迹 保存当前轨迹信息
             //更新实时定位信息
-            robotStatusInfoService.updateRobotPoint(dto,robotId);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + robotId, dto);
             infoService.pointTestCallBack(dto, robotId);
-            if (statusInfo.getCurrRouteId() != null) {
+            if (routeId != null) {
                 RobotTrajectoryInfo info = new RobotTrajectoryInfo();
                 info.setRobotId(Long.valueOf(robotId));
                 info.setCreateTime(new Date());
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java
new file mode 100644
index 0000000..a0f578e
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java
@@ -0,0 +1,28 @@
+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.ITaskInfoImgService;
+import java.util.List;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+
+import com.casic.missiles.modular.robot.dao.TaskInfoImgMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+
+
+/**
+ * <p>
+ * 任务照片存储 服务实现类
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Service
+public class TaskInfoImgServiceImpl extends ServiceImpl<TaskInfoImgMapper, TaskInfoImg> implements ITaskInfoImgService {
+@Override
+public List<TaskInfoImg> selectTaskInfoImgPage(Page<TaskInfoImg> page,QueryWrapper<TaskInfoImg> query) {
+return this.baseMapper.selectTaskInfoImgPage(page,query);
+}}
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 93745b6..d1417b0 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
@@ -6,11 +6,11 @@
 import cn.hutool.core.convert.Convert;
 import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.io.FileUtil;
+import cn.hutool.core.thread.ExecutorBuilder;
 import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
 import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
 import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
@@ -47,6 +47,7 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.*;
+import java.util.concurrent.ThreadPoolExecutor;
 
 
 /**
@@ -68,7 +69,10 @@
     private final IAlgorithmService algorithmService;
     private final IRobotCacheService cacheService;
     private final IBaseRobotService baseRobotService;
-
+    private final ITaskInfoImgService imgService;
+    /**
+     * 初始化线程池
+     */
 
     @Value("${casic.file.uploadPath}")
     private String uploadPath;
@@ -80,7 +84,7 @@
     @Value("${casic.obstacle:10}")
     private Integer obstacle;
 
-    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService) {
+    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService, ITaskInfoImgService imgService) {
         this.routeInfoService = routeInfoService;
         this.statusInfoService = statusInfoService;
         this.dictService = dictService;
@@ -89,6 +93,7 @@
         this.algorithmService = algorithmService;
         this.cacheService = cacheService;
         this.baseRobotService = baseRobotService;
+        this.imgService = imgService;
     }
 
     /**
@@ -145,6 +150,13 @@
         taskInfo.setDiscernTypeName(dictService.getDictNameByCode(RobotDictConstants.DISCERN_TYPE, taskInfo.getDiscernType() + ""));
         taskInfo.setTaskTypeName(dictService.getDictNameByCode(RobotDictConstants.TASK_TYPE, taskInfo.getTaskType() + ""));
         taskInfo.setTaskStatusName(dictService.getDictNameByCode(RobotDictConstants.TASK_STATUS, taskInfo.getTaskType() + ""));
+        TaskInfoImg taskInfoImg = imgService.getById(taskInfo.getId());
+        if (taskInfoImg != null) {
+            taskInfo.setRouteImg(taskInfoImg.getRouteImg());
+            taskInfo.setPsdImg(taskInfoImg.getPsdImg());
+            taskInfo.setMcaImg(taskInfoImg.getMcaImg());
+            taskInfo.setHeatImg(taskInfoImg.getHeatImg());
+        }
         //检索当前任务告警数量
         taskInfo.setAlarmNum(recordService.selectCountByTaskId(taskInfo.getId(), taskInfo.getRobotId()));
         taskInfo.setHeatMap(taskHeatMapService.getByTaskId(taskInfo.getId()));
@@ -209,6 +221,7 @@
 
         //清空任务缓存
         robotCacheClean(robotId);
+
         //清空机器当前任务
         statusInfoService.updateCurrTask(robotId, null, null);
 
@@ -240,6 +253,9 @@
         //缓存当前点位信息
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_XY_POINT + robotId, dto);
         RobotInfo robotInfo = cacheService.getRobotInfo(longId);
+        //slam经纬度转栅格
+        GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getResolution(), robotInfo);
+        log.info("currGrid:{}", pointDTO);
         if (robotInfo.getAlarmThreshold() == null || robotInfo.getMaxThreshold() == null) {
             log.error("no config 中子源阈值未配置");
             return;
@@ -254,13 +270,25 @@
         //算法初始化状态读取
         Integer initValue = cacheService.readTaskInit(longId);
 
-        //slam经纬度转栅格
-        GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getResolution(), robotInfo);
 
         //No.1 任务初始化
         if (initValue != 1) {
             //执行初始化操作
             if (cacheService.updateTaskInit(longId, 1)) {
+
+                try {
+                    File file = new File(".");
+                    File[] files = file.listFiles((dir, name) -> (name.endsWith(".png") && name.startsWith("step"))
+                            || (name.endsWith(".txt") && name.startsWith("step")) || name.equals("repetition.txt") || name.equals("xy_train.txt") || name.equals("z_train.txt"));
+                    if (files != null) {
+                        for (int i = 0; i < files.length; i++) {
+                            FileUtil.del(files[i]);
+                        }
+                    }
+                } catch (Exception e) {
+                    e.printStackTrace();
+                }
+
                 PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId);
                 //中子源计数率读取
                 pathInitDTO.setCount(cacheService.getNeutronCount(longId));
@@ -288,7 +316,7 @@
                 AlgorithmResponse response = algorithmService.pathPlanning(pathPlanDTO);
                 //存储算法输出栅格信息
                 CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId, response.getPointNextDTO());
-                sendWebSocket(InstructStatusMsgEnums.HEAT_MAP,robotId, response.getTaskHeatMap());
+                sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
                 //是否触发寻源操作
                 BigDecimal bigCount = new BigDecimal(pathPlanDTO.getCount());
                 if (bigCount.compareTo(robotInfo.getAlarmThreshold()) >= 0) {
@@ -329,6 +357,7 @@
         RobotInfo robotInfo = cacheService.getRobotInfo(longId);
         //slam经纬度转栅格
         GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getResolution(), robotInfo);
+        log.info("currGrid:{}", pointDTO);
     }
 
 
@@ -426,22 +455,23 @@
      *
      * @param imgDTO
      */
+    @Transactional
     @Override
     public void saveImg(ImgDTO imgDTO) {
         String path = saveHeatImg(imgDTO.getTaskId());
-        LambdaUpdateWrapper<TaskInfo> updateWrapper = new LambdaUpdateWrapper<>();
+        TaskInfoImg infoImg = new TaskInfoImg();
         if (StrUtil.isNotEmpty(imgDTO.getMcaImg())) {
-            updateWrapper.set(TaskInfo::getMcaImg, imgDTO.getMcaImg());
+            infoImg.setMcaImg(imgDTO.getMcaImg());
+            infoImg.setHeatImg(path);
         }
         if (StrUtil.isNotEmpty(imgDTO.getPsdImg())) {
-            updateWrapper.set(TaskInfo::getPsdImg, imgDTO.getPsdImg());
+            infoImg.setPsdImg(imgDTO.getPsdImg());
         }
         if (StrUtil.isNotEmpty(imgDTO.getRouteImg())) {
-            updateWrapper.set(TaskInfo::getRouteImg, imgDTO.getRouteImg());
+            infoImg.setRouteImg(imgDTO.getRouteImg());
         }
-        updateWrapper.set(TaskInfo::getHeatImg, path);
-        updateWrapper.eq(TaskInfo::getId, imgDTO.getTaskId());
-        update(updateWrapper);
+        infoImg.setId(Convert.toLong(imgDTO.getTaskId()));
+        imgService.saveOrUpdate(infoImg);
     }
 
     @SneakyThrows
@@ -449,6 +479,7 @@
     @Override
     public void exportDoc(HttpServletResponse response, String taskId) {
         TaskInfo info = getById(taskId);
+        wrapTaskInfo(info);
         RobotInfo robotInfo = cacheService.getRobotInfo(info.getRobotId());
         response.setContentType("application/octet-stream");
         response.setCharacterEncoding("utf-8");
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 75fec0e..35f1d41 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
@@ -62,7 +62,6 @@
                 query.eq("(a.monitor_val<b.alarm_threshold)", true);
             }
         }
-        query.orderByAsc("a.alarm_time");
         return query;
     }
 }

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
new file mode 100644
index 0000000..9d012da
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  任务照片存储 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface TaskInfoImgMapper extends BaseMapper<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage( @Param("page") Page<TaskInfoImg> page,@Param("ew" ) QueryWrapper<TaskInfoImg> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
new file mode 100644
index 0000000..e330c68
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.TaskInfoImgMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskInfoImg">
+            <result column="id" property="id"/>
+            <result column="mca_img" property="mcaImg"/>
+            <result column="psd_img" property="psdImg"/>
+            <result column="route_img" property="routeImg"/>
+            <result column="heat_img" property="heatImg"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    mca_img as mcaImg ,
+                    psd_img as psdImg ,
+                    route_img as routeImg ,
+                    heat_img as heatImg 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.mca_img
+            as mcaImg ,
+            a.psd_img
+            as psdImg ,
+            a.route_img
+            as routeImg ,
+            a.heat_img
+            as heatImg 
+</sql>
+<select id="selectTaskInfoImgPage" resultType="com.casic.missiles.modular.robot.model.TaskInfoImg">
+    select
+    <include refid="Base_Column_Alias"/>
+    from task_info_img a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.mcaImg!= null and request.mcaImg!=''">
+            and mca_img = #{request.mcaImg}
+</if>
+<if test="request.psdImg!= null and request.psdImg!=''">
+            and psd_img = #{request.psdImg}
+</if>
+<if test="request.routeImg!= null and request.routeImg!=''">
+            and route_img = #{request.routeImg}
+</if>
+<if test="request.heatImg!= null and request.heatImg!=''">
+            and heat_img = #{request.heatImg}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
new file mode 100644
index 0000000..ed06f3b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
@@ -0,0 +1,32 @@
+package com.casic.missiles.modular.robot.event;
+
+import com.casic.missiles.model.application.event.core.ModelEvent;
+import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+/**
+ * 用户登录数据变化事件
+ *
+ * @author lwh
+ */
+public class PoseMessageEvent extends ModelEvent<MqttMessage> {
+    private String robotId;
+    /**
+     * Create a new {@code ApplicationEvent}.
+     *
+     * @param type   事件类型
+     * @param source the object on which the event initially occurred or with
+     *               which the event is associated (never {@code null})
+     */
+    public PoseMessageEvent(AbstractEventTypeEnum type, MqttMessage source) {
+        super(type, source);
+    }
+
+    public String getRobotId() {
+        return robotId;
+    }
+
+    public void setRobotId(String robotId) {
+        this.robotId = robotId;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
new file mode 100644
index 0000000..2cc6cdc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.event;
+
+import cn.hutool.core.thread.ExecutorBuilder;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.ThreadPoolExecutor;
+
+/**
+ * 定位事件监听器
+ * @see  com.casic.missiles.modular.robot.opt.handler.msg.PoseMessageMsgHandler
+ */
+@Slf4j
+@Component
+public class PoseMessageListener {
+    private static ThreadPoolExecutor threadPoolExecutor = ExecutorBuilder.create().setCorePoolSize(5).setMaxPoolSize(10).build();
+    private final IRobotStatusInfoService statusInfoService;
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageListener(IRobotStatusInfoService statusInfoService, IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.statusInfoService = statusInfoService;
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @EventListener
+    public void onApplicationEvent(PoseMessageEvent event) {
+//        threadPoolExecutor.execute(() -> { });
+        robotTrajectoryInfoService.savePoseMessage(event.getRobotId(), (MqttMessage) event.getSource());
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
new file mode 100644
index 0000000..7e881d9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
@@ -0,0 +1,52 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+
+/**
+ * 任务照片存储对象 task_info_img
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+@TableName("task_info_img")
+public class TaskInfoImg extends Model<TaskInfoImg> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "任务ID", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "MCA图片", dataType = "String")
+    @TableField("mca_img")
+    private String mcaImg;
+
+    @ApiModelProperty(value = "PSD图片", dataType = "String")
+    @TableField("psd_img")
+    private String psdImg;
+
+    @ApiModelProperty(value = "巡检路线img", dataType = "String")
+    @TableField("route_img")
+    private String routeImg;
+
+    @ApiModelProperty(value = "热点分布图", dataType = "String")
+    @TableField("heat_img")
+    private String heatImg;
+
+
+    @Override
+    public String toString() {
+        return "TaskInfoImg{"
+                + "id=" + id
+                + "mcaImg=" + mcaImg
+                + "psdImg=" + psdImg
+                + "routeImg=" + routeImg
+                + "heatImg=" + heatImg
+                + "}";
+    }
+}
\ No newline at end of file
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 d74a38b..c4bc25d 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
@@ -35,7 +35,7 @@
     }),
     TRACK_RECORD("/track_record" , "/track_record_response" , "启动或关闭轨迹录制功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
-    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     DELETE_TRACK("/delete_track" , "/delete_track_response" , "删除路线" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
index 41879dd..83f4cb2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
@@ -13,6 +13,7 @@
 
 /**
  * websocket 推送消息
+ * @see com.casic.missiles.mqtt.config.MqttClientConfigListener#createMqtt
  */
 @Slf4j
 public abstract class AbstractSocketHandler implements IBaseMsgHandler {
@@ -48,7 +49,7 @@
                 wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
                 wsMsgBaseDTO.setData(jsonObject.get("msg"));
                 String msg = JSON.toJSONString(wsMsgBaseDTO);
-//                log.info("推送{}消息：{}", enums.getRemarks(), msg);
+                log.info("推送{}消息：{}", enums.getRemarks(), msg);
                 webSocket.sendOneMessage(robotId, msg);
             }
         } catch (Exception e) {
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 b8e561d..5e3fe49 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
@@ -6,6 +6,8 @@
  * 业务消息处理器
  */
 public interface IBaseMsgHandler {
+    static String index_key = "index";
+
     /**
      * 消息处理handler
      *
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
index cefe2cd..27bed0e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
@@ -55,9 +55,6 @@
         }
         messageDTO.setMsg(request);
         ResponseDataDTO<Integer> list = null;
-        if (request.getAction() != 1) {
-            taskInfoService.reloadTask(request, getRobotInfo());
-        }
         try {
             list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.START_TRACK, messageDTO);
         } catch (Exception e) {
@@ -75,8 +72,7 @@
      */
     @Override
     public ResponseDataDTO afterInvoke(StartTrackRequest request, ResponseDataDTO response) {
-        //增加循迹任务记录
-        taskInfoService.reloadTask(request, getRobotInfo());
+
         return response;
     }
 }
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
index 316fd8f..8b7fd0e 100644
--- 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
@@ -19,7 +19,7 @@
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
     static {
-        index.put("index", 0);
+        index.put(index_key, 0);
     }
 
     public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
@@ -28,7 +28,12 @@
 
     @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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 83d1d39..67ec20e 100644
--- 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
@@ -6,6 +6,9 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.stereotype.Component;
 
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
 /**
  * 停障状态实时接收器
  */
@@ -13,14 +16,23 @@
 @Component("/app_stop_navtrack")
 public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
     private final IRobotStatusInfoService statusInfoService;
-
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+    static {
+        index.put(index_key, 0);
+    }
     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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 1cf0e55..9c26129 100644
--- 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
@@ -1,28 +1,37 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.application.enums.LoginEventTypeEnum;
+import com.casic.missiles.model.application.event.core.EventPublisher;
+import com.casic.missiles.modular.robot.event.PoseMessageEvent;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
-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 extends AbstractSocketHandler {
 
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
 
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    private final EventPublisher publisher;
+
+    public PoseMessageMsgHandler(EventPublisher publisher) {
+
+        this.publisher = publisher;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+//        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
         sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message);
+        PoseMessageEvent event = new PoseMessageEvent(LoginEventTypeEnum.RELOAD_SCOPE, message);
+        event.setRobotId(robotId);
+        publisher.publishEvent(event);
+        log.info("实时定位已发送！！");
     }
 }
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
index 4910f62..b248839 100644
--- 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
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.model.application.event.core.EventPublisher;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -16,17 +17,18 @@
 @Slf4j
 @Component("/process_message")
 public class ProcessMessageMsgHandler extends AbstractSocketHandler {
-    private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+    private final EventPublisher publisher;
+    private final IRobotStatusInfoService statusInfoService;
+    public ProcessMessageMsgHandler(EventPublisher publisher, IRobotStatusInfoService statusInfoService) {
+        this.publisher = publisher;
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
+        statusInfoService.saveProcessMessage(robotId,message);
         sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, 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
index 3a19ebe..9d275bd 100644
--- 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
@@ -34,7 +34,7 @@
         index.put("index" , val);
         if (val > 30) {
             index.put("index" , 0);
-            statusInfoService.saveSensorStatus(robotId, message);
+//            statusInfoService.saveSensorStatus(robotId, message);
         }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
index 3acf1d7..8950815 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
@@ -19,13 +19,22 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
     public StopStateMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        statusInfoService.saveStopState(robotId, message);
-//        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+
+            statusInfoService.saveStopState(robotId, message);
+        }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
index ad0eda8..a9d7914 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.VoltageDTO;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
@@ -20,20 +25,58 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
+
     public VoltageResponseMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-//        log.info("----------------------电压信息反馈:{}", message);
-        statusInfoService.saveVoltageResponseMessage(robotId, message);
-        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
-        try{
 
-        RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
-        sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
-        }catch (Exception e){
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key) > 50) {
+            index.put(index_key, 0);
+            log.info("----------------------电压信息反馈:{}", message);
+            statusInfoService.saveVoltageResponseMessage(robotId, message);
+        }
+        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+        try {
+
+            RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
+            Integer appNav = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_NAV_PAUSE + robotId);
+            Integer appStop = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_STOP_NAVTRACK + robotId);
+            PoseMessageResponseDTO dto = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + robotId);
+            StopStateResponseDTO stopStateResponseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + robotId);
+            VoltageDTO voltageDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.VOLTAGE_RESPONSE + robotId);
+            if (robotStatusInfo != null) {
+                if (appNav != null) {
+                    robotStatusInfo.setAppNavPause(appNav);
+                }
+                if (appStop != null) {
+                    robotStatusInfo.setAppStopNavtrack(appStop);
+                }
+                if (dto != null) {
+                    robotStatusInfo.setPostionX(dto.getX());
+                    robotStatusInfo.setPostionY(dto.getY());
+                    robotStatusInfo.setPostionZ(dto.getZ());
+                }
+                if (stopStateResponseDTO != null) {
+                    robotStatusInfo.setSoft(stopStateResponseDTO.getSoft());
+                    robotStatusInfo.setSonic(stopStateResponseDTO.getSonic());
+                    robotStatusInfo.setCollision(stopStateResponseDTO.getCollision());
+                    robotStatusInfo.setButton(stopStateResponseDTO.getButton());
+                }
+                if (voltageDTO != null) {
+                    robotStatusInfo.setVoltage(voltageDTO.getVoltage());
+                    robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
+                }
+            }
+            //读取缓存信息
+            sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
+        } catch (Exception e) {
             e.printStackTrace();
         }
     }
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 c2c2773..8471e7a 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
@@ -141,6 +141,13 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+    @Transactional
+    @Override
+    public void startTrack(StartTrackRequest request) {
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, robotInfoService.getById(request.getRobotId()));
+        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+    }
 
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
new file mode 100644
index 0000000..c5071bc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.robot.opt.instruct.response;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+
+@Data
+public class VoltageDTO implements Serializable {
+    private Integer electricityQuantity;
+    private BigDecimal voltage;
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
index 9065f34..56b3e1d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -7,6 +7,7 @@
 import com.casic.missiles.modular.robot.model.RobotInfo;
 
 import java.math.BigDecimal;
+import java.util.List;
 
 /**
  * 循迹算法调用
@@ -37,4 +38,5 @@
      * @return
      */
     GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo);
+    void readAlgorithmResponse(String fileName, AlgorithmResponse response, Long taskId, List<String> res);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java
new file mode 100644
index 0000000..f197c10
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java
@@ -0,0 +1,22 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.extension.service.IService;
+import  com.casic.missiles.modular.robot.model.TaskInfoImg;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 任务照片存储 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface ITaskInfoImgService extends IService<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage(Page<TaskInfoImg> page,QueryWrapper<TaskInfoImg> query);}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
index df4a330..f808fa0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
@@ -64,7 +64,7 @@
     @Override
     public AlgorithmResponse pathPlanning(PathPlanDTO planDTO) {
         if (StrUtil.isEmpty(planDTO.getCount())) {
-            planDTO.setCount("0.01");
+            planDTO.setCount("0.001");
         }
         //算法路径及入参配置
         List<String> commends = new ArrayList<>();
@@ -162,8 +162,8 @@
         x = x.subtract(robotInfo.getOriginX());
         y = y.subtract(robotInfo.getOriginY());
 
-        pointDTO.setX(new BigDecimal(x.multiply(scale).intValue()));
-        pointDTO.setY(new BigDecimal(y.multiply(scale).intValue()));
+        pointDTO.setX(new BigDecimal(x.divide(scale,3,BigDecimal.ROUND_HALF_UP).intValue()+1));
+        pointDTO.setY(new BigDecimal(y.divide(scale,3,BigDecimal.ROUND_HALF_UP).intValue()+1));
         return pointDTO;
     }
 
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 0257c90..6d3ae91 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
@@ -1,18 +1,18 @@
 package com.casic.missiles.modular.robot.service.impl;
 
 import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
-import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
 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;
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dao.RobotStatusInfoMapper;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
@@ -21,10 +21,7 @@
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
 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.opt.instruct.response.AppCostmapResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.SpeedResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.VoltageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.*;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -151,7 +148,8 @@
     public void saveProcessMessage(String robotId, MqttMessage message) {
 //        String json = new String(message.getPayload());
 
-        RobotResponseDTO<ProcessMessageResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<ProcessMessageResponseDTO>>(){});
+        RobotResponseDTO<ProcessMessageResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<ProcessMessageResponseDTO>>() {
+        });
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             ProcessMessageResponseDTO msg = responseDTO.getMsg();
@@ -173,11 +171,8 @@
         RobotMsgResponseDTO<Integer> responseDTO = JSON.parseObject(json, new TypeReference<RobotMsgResponseDTO<Integer>>() {
         });
         if (responseDTO.getMsg() != null) {
-            UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_nav_pause", msg.getResult());
-            query.eq("robot_id", robotId);
-            update(query);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_NAV_PAUSE + robotId, msg.getResult());
         }
     }
 
@@ -186,12 +181,10 @@
         String json = new String(message.getPayload());
         RobotMsgResponseDTO<Integer> responseDTO = JSON.parseObject(json, new TypeReference<RobotMsgResponseDTO<Integer>>() {
         });
+
         if (responseDTO.getMsg() != null) {
-            UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_stop_navtrack", msg.getResult());
-            query.eq("robot_id", robotId);
-            update(query);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_STOP_NAVTRACK + robotId, msg.getResult());
         }
     }
 
@@ -228,16 +221,11 @@
 
     @Override
     public void saveStopState(String robotId, MqttMessage message) {
-        RobotResponseDTO<StopStateResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<StopStateResponseDTO>>(){});
+        RobotResponseDTO<StopStateResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<StopStateResponseDTO>>() {
+        });
         if (responseDTO != null && responseDTO.getMsg() != null) {
-//            log.info("急停状态保存：{}", responseDTO.getMsg());
-            LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
-            query.set(RobotStatusInfo::getButton, responseDTO.getMsg().getButton());
-            query.set(RobotStatusInfo::getCollision, responseDTO.getMsg().getCollision());
-            query.set(RobotStatusInfo::getSonic, responseDTO.getMsg().getSonic());
-            query.set(RobotStatusInfo::getSoft, responseDTO.getMsg().getSoft());
-            query.eq(RobotStatusInfo::getRobotId, robotId);
-            update(query);
+            log.info("急停状态保存：{}", responseDTO.getMsg());
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + robotId, responseDTO.getMsg());
         }
     }
 
@@ -250,37 +238,39 @@
         if (responseDTO != null && responseDTO.getMsg() != null) {
             RobotInfo info = robotInfoService.getById(robotId);
             log.info("电压状态保存：{}", responseDTO.getMsg());
-            LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
             if (CollectionUtil.isNotEmpty(responseDTO.getMsg().getVoltage())) {
                 Integer v = responseDTO.getMsg().getVoltage().get(0);
-                query.set(RobotStatusInfo::getVoltage, v);
                 //计算电量
                 Double quantity = new BigDecimal(v - info.getVoltageMin()).divide(new BigDecimal(info.getVoltageMax() - info.getVoltageMin()), 2, BigDecimal.ROUND_HALF_UP).doubleValue();
-                query.set(RobotStatusInfo::getElectricityQuantity, quantity * 100);
-                query.eq(RobotStatusInfo::getRobotId, robotId);
-                update(query);
+                VoltageDTO voltageDTO = new VoltageDTO();
+                voltageDTO.setVoltage(new BigDecimal(v));
+                voltageDTO.setElectricityQuantity(Convert.toInt(quantity * 100));
+                CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.VOLTAGE_RESPONSE + robotId, voltageDTO);
             }
         }
     }
 
     /**
      * 机器人栅格数据
+     *
      * @param robotId 机器人障碍物栅格数据保存
      * @param message 消息体
      */
     @Override
     public void saveCostMap(String robotId, MqttMessage message) {
         //数据接收
-        RobotResponseDTO<AppCostmapResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<AppCostmapResponseDTO>>() {});
+        RobotResponseDTO<AppCostmapResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<AppCostmapResponseDTO>>() {
+        });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
-            robotInfoService.updateRobotGrid(robotId,responseDTO.getMsg());
+            robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
 //            log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
         }
     }
 
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
+        //todo cache
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
         query.set("postion_x", dto.getX());
         query.set("postion_y", dto.getY());
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 bb066f4..6c9625f 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
@@ -5,6 +5,8 @@
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dao.RobotTrajectoryInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.model.RobotTrajectoryInfo;
@@ -34,11 +36,12 @@
 public class RobotTrajectoryInfoServiceImpl extends ServiceImpl<RobotTrajectoryInfoMapper, RobotTrajectoryInfo> implements IRobotTrajectoryInfoService {
     private final IRobotStatusInfoService robotStatusInfoService;
     private final ITaskInfoService infoService;
+    private final IRobotCacheService cacheService;
 
-
-    public RobotTrajectoryInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, ITaskInfoService infoService) {
+    public RobotTrajectoryInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, ITaskInfoService infoService, IRobotCacheService cacheService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.infoService = infoService;
+        this.cacheService = cacheService;
     }
 
     @Override
@@ -54,14 +57,15 @@
         });
 
         //读取导航状态,如果导航未开启则不存储
-        RobotStatusInfo statusInfo = robotStatusInfoService.getStatusByRobotId(robotId);
-        if (statusInfo != null && responseDTO.getMsg() != null) {
+//        RobotStatusInfo statusInfo = robotStatusInfoService.getStatusByRobotId(robotId);
+        Long routeId= cacheService.readRouteId(Long.valueOf(robotId));
+        if (routeId != null && responseDTO.getMsg() != null) {
             PoseMessageResponseDTO dto = responseDTO.getMsg();
             //执行循迹 保存当前轨迹信息
             //更新实时定位信息
-            robotStatusInfoService.updateRobotPoint(dto,robotId);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + robotId, dto);
             infoService.pointTestCallBack(dto, robotId);
-            if (statusInfo.getCurrRouteId() != null) {
+            if (routeId != null) {
                 RobotTrajectoryInfo info = new RobotTrajectoryInfo();
                 info.setRobotId(Long.valueOf(robotId));
                 info.setCreateTime(new Date());
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java
new file mode 100644
index 0000000..a0f578e
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java
@@ -0,0 +1,28 @@
+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.ITaskInfoImgService;
+import java.util.List;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+
+import com.casic.missiles.modular.robot.dao.TaskInfoImgMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+
+
+/**
+ * <p>
+ * 任务照片存储 服务实现类
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Service
+public class TaskInfoImgServiceImpl extends ServiceImpl<TaskInfoImgMapper, TaskInfoImg> implements ITaskInfoImgService {
+@Override
+public List<TaskInfoImg> selectTaskInfoImgPage(Page<TaskInfoImg> page,QueryWrapper<TaskInfoImg> query) {
+return this.baseMapper.selectTaskInfoImgPage(page,query);
+}}
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 93745b6..d1417b0 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
@@ -6,11 +6,11 @@
 import cn.hutool.core.convert.Convert;
 import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.io.FileUtil;
+import cn.hutool.core.thread.ExecutorBuilder;
 import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
 import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
 import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
@@ -47,6 +47,7 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.*;
+import java.util.concurrent.ThreadPoolExecutor;
 
 
 /**
@@ -68,7 +69,10 @@
     private final IAlgorithmService algorithmService;
     private final IRobotCacheService cacheService;
     private final IBaseRobotService baseRobotService;
-
+    private final ITaskInfoImgService imgService;
+    /**
+     * 初始化线程池
+     */
 
     @Value("${casic.file.uploadPath}")
     private String uploadPath;
@@ -80,7 +84,7 @@
     @Value("${casic.obstacle:10}")
     private Integer obstacle;
 
-    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService) {
+    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService, ITaskInfoImgService imgService) {
         this.routeInfoService = routeInfoService;
         this.statusInfoService = statusInfoService;
         this.dictService = dictService;
@@ -89,6 +93,7 @@
         this.algorithmService = algorithmService;
         this.cacheService = cacheService;
         this.baseRobotService = baseRobotService;
+        this.imgService = imgService;
     }
 
     /**
@@ -145,6 +150,13 @@
         taskInfo.setDiscernTypeName(dictService.getDictNameByCode(RobotDictConstants.DISCERN_TYPE, taskInfo.getDiscernType() + ""));
         taskInfo.setTaskTypeName(dictService.getDictNameByCode(RobotDictConstants.TASK_TYPE, taskInfo.getTaskType() + ""));
         taskInfo.setTaskStatusName(dictService.getDictNameByCode(RobotDictConstants.TASK_STATUS, taskInfo.getTaskType() + ""));
+        TaskInfoImg taskInfoImg = imgService.getById(taskInfo.getId());
+        if (taskInfoImg != null) {
+            taskInfo.setRouteImg(taskInfoImg.getRouteImg());
+            taskInfo.setPsdImg(taskInfoImg.getPsdImg());
+            taskInfo.setMcaImg(taskInfoImg.getMcaImg());
+            taskInfo.setHeatImg(taskInfoImg.getHeatImg());
+        }
         //检索当前任务告警数量
         taskInfo.setAlarmNum(recordService.selectCountByTaskId(taskInfo.getId(), taskInfo.getRobotId()));
         taskInfo.setHeatMap(taskHeatMapService.getByTaskId(taskInfo.getId()));
@@ -209,6 +221,7 @@
 
         //清空任务缓存
         robotCacheClean(robotId);
+
         //清空机器当前任务
         statusInfoService.updateCurrTask(robotId, null, null);
 
@@ -240,6 +253,9 @@
         //缓存当前点位信息
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_XY_POINT + robotId, dto);
         RobotInfo robotInfo = cacheService.getRobotInfo(longId);
+        //slam经纬度转栅格
+        GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getResolution(), robotInfo);
+        log.info("currGrid:{}", pointDTO);
         if (robotInfo.getAlarmThreshold() == null || robotInfo.getMaxThreshold() == null) {
             log.error("no config 中子源阈值未配置");
             return;
@@ -254,13 +270,25 @@
         //算法初始化状态读取
         Integer initValue = cacheService.readTaskInit(longId);
 
-        //slam经纬度转栅格
-        GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getResolution(), robotInfo);
 
         //No.1 任务初始化
         if (initValue != 1) {
             //执行初始化操作
             if (cacheService.updateTaskInit(longId, 1)) {
+
+                try {
+                    File file = new File(".");
+                    File[] files = file.listFiles((dir, name) -> (name.endsWith(".png") && name.startsWith("step"))
+                            || (name.endsWith(".txt") && name.startsWith("step")) || name.equals("repetition.txt") || name.equals("xy_train.txt") || name.equals("z_train.txt"));
+                    if (files != null) {
+                        for (int i = 0; i < files.length; i++) {
+                            FileUtil.del(files[i]);
+                        }
+                    }
+                } catch (Exception e) {
+                    e.printStackTrace();
+                }
+
                 PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId);
                 //中子源计数率读取
                 pathInitDTO.setCount(cacheService.getNeutronCount(longId));
@@ -288,7 +316,7 @@
                 AlgorithmResponse response = algorithmService.pathPlanning(pathPlanDTO);
                 //存储算法输出栅格信息
                 CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId, response.getPointNextDTO());
-                sendWebSocket(InstructStatusMsgEnums.HEAT_MAP,robotId, response.getTaskHeatMap());
+                sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
                 //是否触发寻源操作
                 BigDecimal bigCount = new BigDecimal(pathPlanDTO.getCount());
                 if (bigCount.compareTo(robotInfo.getAlarmThreshold()) >= 0) {
@@ -329,6 +357,7 @@
         RobotInfo robotInfo = cacheService.getRobotInfo(longId);
         //slam经纬度转栅格
         GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getResolution(), robotInfo);
+        log.info("currGrid:{}", pointDTO);
     }
 
 
@@ -426,22 +455,23 @@
      *
      * @param imgDTO
      */
+    @Transactional
     @Override
     public void saveImg(ImgDTO imgDTO) {
         String path = saveHeatImg(imgDTO.getTaskId());
-        LambdaUpdateWrapper<TaskInfo> updateWrapper = new LambdaUpdateWrapper<>();
+        TaskInfoImg infoImg = new TaskInfoImg();
         if (StrUtil.isNotEmpty(imgDTO.getMcaImg())) {
-            updateWrapper.set(TaskInfo::getMcaImg, imgDTO.getMcaImg());
+            infoImg.setMcaImg(imgDTO.getMcaImg());
+            infoImg.setHeatImg(path);
         }
         if (StrUtil.isNotEmpty(imgDTO.getPsdImg())) {
-            updateWrapper.set(TaskInfo::getPsdImg, imgDTO.getPsdImg());
+            infoImg.setPsdImg(imgDTO.getPsdImg());
         }
         if (StrUtil.isNotEmpty(imgDTO.getRouteImg())) {
-            updateWrapper.set(TaskInfo::getRouteImg, imgDTO.getRouteImg());
+            infoImg.setRouteImg(imgDTO.getRouteImg());
         }
-        updateWrapper.set(TaskInfo::getHeatImg, path);
-        updateWrapper.eq(TaskInfo::getId, imgDTO.getTaskId());
-        update(updateWrapper);
+        infoImg.setId(Convert.toLong(imgDTO.getTaskId()));
+        imgService.saveOrUpdate(infoImg);
     }
 
     @SneakyThrows
@@ -449,6 +479,7 @@
     @Override
     public void exportDoc(HttpServletResponse response, String taskId) {
         TaskInfo info = getById(taskId);
+        wrapTaskInfo(info);
         RobotInfo robotInfo = cacheService.getRobotInfo(info.getRobotId());
         response.setContentType("application/octet-stream");
         response.setCharacterEncoding("utf-8");
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 75fec0e..35f1d41 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
@@ -62,7 +62,6 @@
                 query.eq("(a.monitor_val<b.alarm_threshold)", true);
             }
         }
-        query.orderByAsc("a.alarm_time");
         return query;
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskInfoImgVO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskInfoImgVO.java
new file mode 100644
index 0000000..cd79a07
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskInfoImgVO.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.vo;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import cn.hutool.core.util.StrUtil;
+
+
+/**
+ * 任务照片存储对象VO
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+public class TaskInfoImgVO {
+    private static final long serialVersionUID = 1L;
+
+
+            @ApiModelProperty(value = "MCA图片" , dataType = "String")
+            private String mcaImg;
+
+            @ApiModelProperty(value = "PSD图片" , dataType = "String")
+            private String psdImg;
+
+            @ApiModelProperty(value = "巡检路线img" , dataType = "String")
+            private String routeImg;
+
+            @ApiModelProperty(value = "热点分布图" , dataType = "String")
+            private String heatImg;
+
+public QueryWrapper<TaskInfoImg> genQuery() {
+QueryWrapper<TaskInfoImg> query = new QueryWrapper<>();
+if (StrUtil.isNotEmpty(mcaImg)) {
+        query.eq("mca_img",mcaImg);
+}
+if (StrUtil.isNotEmpty(psdImg)) {
+        query.eq("psd_img",psdImg);
+}
+if (StrUtil.isNotEmpty(routeImg)) {
+        query.eq("route_img",routeImg);
+}
+if (StrUtil.isNotEmpty(heatImg)) {
+        query.eq("heat_img",heatImg);
+}
+return query;
+}}

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
new file mode 100644
index 0000000..9d012da
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  任务照片存储 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface TaskInfoImgMapper extends BaseMapper<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage( @Param("page") Page<TaskInfoImg> page,@Param("ew" ) QueryWrapper<TaskInfoImg> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
new file mode 100644
index 0000000..e330c68
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.TaskInfoImgMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskInfoImg">
+            <result column="id" property="id"/>
+            <result column="mca_img" property="mcaImg"/>
+            <result column="psd_img" property="psdImg"/>
+            <result column="route_img" property="routeImg"/>
+            <result column="heat_img" property="heatImg"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    mca_img as mcaImg ,
+                    psd_img as psdImg ,
+                    route_img as routeImg ,
+                    heat_img as heatImg 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.mca_img
+            as mcaImg ,
+            a.psd_img
+            as psdImg ,
+            a.route_img
+            as routeImg ,
+            a.heat_img
+            as heatImg 
+</sql>
+<select id="selectTaskInfoImgPage" resultType="com.casic.missiles.modular.robot.model.TaskInfoImg">
+    select
+    <include refid="Base_Column_Alias"/>
+    from task_info_img a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.mcaImg!= null and request.mcaImg!=''">
+            and mca_img = #{request.mcaImg}
+</if>
+<if test="request.psdImg!= null and request.psdImg!=''">
+            and psd_img = #{request.psdImg}
+</if>
+<if test="request.routeImg!= null and request.routeImg!=''">
+            and route_img = #{request.routeImg}
+</if>
+<if test="request.heatImg!= null and request.heatImg!=''">
+            and heat_img = #{request.heatImg}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
new file mode 100644
index 0000000..ed06f3b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
@@ -0,0 +1,32 @@
+package com.casic.missiles.modular.robot.event;
+
+import com.casic.missiles.model.application.event.core.ModelEvent;
+import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+/**
+ * 用户登录数据变化事件
+ *
+ * @author lwh
+ */
+public class PoseMessageEvent extends ModelEvent<MqttMessage> {
+    private String robotId;
+    /**
+     * Create a new {@code ApplicationEvent}.
+     *
+     * @param type   事件类型
+     * @param source the object on which the event initially occurred or with
+     *               which the event is associated (never {@code null})
+     */
+    public PoseMessageEvent(AbstractEventTypeEnum type, MqttMessage source) {
+        super(type, source);
+    }
+
+    public String getRobotId() {
+        return robotId;
+    }
+
+    public void setRobotId(String robotId) {
+        this.robotId = robotId;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
new file mode 100644
index 0000000..2cc6cdc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.event;
+
+import cn.hutool.core.thread.ExecutorBuilder;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.ThreadPoolExecutor;
+
+/**
+ * 定位事件监听器
+ * @see  com.casic.missiles.modular.robot.opt.handler.msg.PoseMessageMsgHandler
+ */
+@Slf4j
+@Component
+public class PoseMessageListener {
+    private static ThreadPoolExecutor threadPoolExecutor = ExecutorBuilder.create().setCorePoolSize(5).setMaxPoolSize(10).build();
+    private final IRobotStatusInfoService statusInfoService;
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageListener(IRobotStatusInfoService statusInfoService, IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.statusInfoService = statusInfoService;
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @EventListener
+    public void onApplicationEvent(PoseMessageEvent event) {
+//        threadPoolExecutor.execute(() -> { });
+        robotTrajectoryInfoService.savePoseMessage(event.getRobotId(), (MqttMessage) event.getSource());
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
new file mode 100644
index 0000000..7e881d9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
@@ -0,0 +1,52 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+
+/**
+ * 任务照片存储对象 task_info_img
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+@TableName("task_info_img")
+public class TaskInfoImg extends Model<TaskInfoImg> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "任务ID", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "MCA图片", dataType = "String")
+    @TableField("mca_img")
+    private String mcaImg;
+
+    @ApiModelProperty(value = "PSD图片", dataType = "String")
+    @TableField("psd_img")
+    private String psdImg;
+
+    @ApiModelProperty(value = "巡检路线img", dataType = "String")
+    @TableField("route_img")
+    private String routeImg;
+
+    @ApiModelProperty(value = "热点分布图", dataType = "String")
+    @TableField("heat_img")
+    private String heatImg;
+
+
+    @Override
+    public String toString() {
+        return "TaskInfoImg{"
+                + "id=" + id
+                + "mcaImg=" + mcaImg
+                + "psdImg=" + psdImg
+                + "routeImg=" + routeImg
+                + "heatImg=" + heatImg
+                + "}";
+    }
+}
\ No newline at end of file
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 d74a38b..c4bc25d 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
@@ -35,7 +35,7 @@
     }),
     TRACK_RECORD("/track_record" , "/track_record_response" , "启动或关闭轨迹录制功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
-    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     DELETE_TRACK("/delete_track" , "/delete_track_response" , "删除路线" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
index 41879dd..83f4cb2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
@@ -13,6 +13,7 @@
 
 /**
  * websocket 推送消息
+ * @see com.casic.missiles.mqtt.config.MqttClientConfigListener#createMqtt
  */
 @Slf4j
 public abstract class AbstractSocketHandler implements IBaseMsgHandler {
@@ -48,7 +49,7 @@
                 wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
                 wsMsgBaseDTO.setData(jsonObject.get("msg"));
                 String msg = JSON.toJSONString(wsMsgBaseDTO);
-//                log.info("推送{}消息：{}", enums.getRemarks(), msg);
+                log.info("推送{}消息：{}", enums.getRemarks(), msg);
                 webSocket.sendOneMessage(robotId, msg);
             }
         } catch (Exception e) {
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 b8e561d..5e3fe49 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
@@ -6,6 +6,8 @@
  * 业务消息处理器
  */
 public interface IBaseMsgHandler {
+    static String index_key = "index";
+
     /**
      * 消息处理handler
      *
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
index cefe2cd..27bed0e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
@@ -55,9 +55,6 @@
         }
         messageDTO.setMsg(request);
         ResponseDataDTO<Integer> list = null;
-        if (request.getAction() != 1) {
-            taskInfoService.reloadTask(request, getRobotInfo());
-        }
         try {
             list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.START_TRACK, messageDTO);
         } catch (Exception e) {
@@ -75,8 +72,7 @@
      */
     @Override
     public ResponseDataDTO afterInvoke(StartTrackRequest request, ResponseDataDTO response) {
-        //增加循迹任务记录
-        taskInfoService.reloadTask(request, getRobotInfo());
+
         return response;
     }
 }
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
index 316fd8f..8b7fd0e 100644
--- 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
@@ -19,7 +19,7 @@
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
     static {
-        index.put("index", 0);
+        index.put(index_key, 0);
     }
 
     public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
@@ -28,7 +28,12 @@
 
     @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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 83d1d39..67ec20e 100644
--- 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
@@ -6,6 +6,9 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.stereotype.Component;
 
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
 /**
  * 停障状态实时接收器
  */
@@ -13,14 +16,23 @@
 @Component("/app_stop_navtrack")
 public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
     private final IRobotStatusInfoService statusInfoService;
-
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+    static {
+        index.put(index_key, 0);
+    }
     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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 1cf0e55..9c26129 100644
--- 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
@@ -1,28 +1,37 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.application.enums.LoginEventTypeEnum;
+import com.casic.missiles.model.application.event.core.EventPublisher;
+import com.casic.missiles.modular.robot.event.PoseMessageEvent;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
-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 extends AbstractSocketHandler {
 
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
 
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    private final EventPublisher publisher;
+
+    public PoseMessageMsgHandler(EventPublisher publisher) {
+
+        this.publisher = publisher;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+//        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
         sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message);
+        PoseMessageEvent event = new PoseMessageEvent(LoginEventTypeEnum.RELOAD_SCOPE, message);
+        event.setRobotId(robotId);
+        publisher.publishEvent(event);
+        log.info("实时定位已发送！！");
     }
 }
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
index 4910f62..b248839 100644
--- 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
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.model.application.event.core.EventPublisher;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -16,17 +17,18 @@
 @Slf4j
 @Component("/process_message")
 public class ProcessMessageMsgHandler extends AbstractSocketHandler {
-    private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+    private final EventPublisher publisher;
+    private final IRobotStatusInfoService statusInfoService;
+    public ProcessMessageMsgHandler(EventPublisher publisher, IRobotStatusInfoService statusInfoService) {
+        this.publisher = publisher;
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
+        statusInfoService.saveProcessMessage(robotId,message);
         sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, 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
index 3a19ebe..9d275bd 100644
--- 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
@@ -34,7 +34,7 @@
         index.put("index" , val);
         if (val > 30) {
             index.put("index" , 0);
-            statusInfoService.saveSensorStatus(robotId, message);
+//            statusInfoService.saveSensorStatus(robotId, message);
         }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
index 3acf1d7..8950815 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
@@ -19,13 +19,22 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
     public StopStateMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        statusInfoService.saveStopState(robotId, message);
-//        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+
+            statusInfoService.saveStopState(robotId, message);
+        }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
index ad0eda8..a9d7914 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.VoltageDTO;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
@@ -20,20 +25,58 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
+
     public VoltageResponseMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-//        log.info("----------------------电压信息反馈:{}", message);
-        statusInfoService.saveVoltageResponseMessage(robotId, message);
-        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
-        try{
 
-        RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
-        sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
-        }catch (Exception e){
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key) > 50) {
+            index.put(index_key, 0);
+            log.info("----------------------电压信息反馈:{}", message);
+            statusInfoService.saveVoltageResponseMessage(robotId, message);
+        }
+        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+        try {
+
+            RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
+            Integer appNav = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_NAV_PAUSE + robotId);
+            Integer appStop = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_STOP_NAVTRACK + robotId);
+            PoseMessageResponseDTO dto = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + robotId);
+            StopStateResponseDTO stopStateResponseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + robotId);
+            VoltageDTO voltageDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.VOLTAGE_RESPONSE + robotId);
+            if (robotStatusInfo != null) {
+                if (appNav != null) {
+                    robotStatusInfo.setAppNavPause(appNav);
+                }
+                if (appStop != null) {
+                    robotStatusInfo.setAppStopNavtrack(appStop);
+                }
+                if (dto != null) {
+                    robotStatusInfo.setPostionX(dto.getX());
+                    robotStatusInfo.setPostionY(dto.getY());
+                    robotStatusInfo.setPostionZ(dto.getZ());
+                }
+                if (stopStateResponseDTO != null) {
+                    robotStatusInfo.setSoft(stopStateResponseDTO.getSoft());
+                    robotStatusInfo.setSonic(stopStateResponseDTO.getSonic());
+                    robotStatusInfo.setCollision(stopStateResponseDTO.getCollision());
+                    robotStatusInfo.setButton(stopStateResponseDTO.getButton());
+                }
+                if (voltageDTO != null) {
+                    robotStatusInfo.setVoltage(voltageDTO.getVoltage());
+                    robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
+                }
+            }
+            //读取缓存信息
+            sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
+        } catch (Exception e) {
             e.printStackTrace();
         }
     }
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 c2c2773..8471e7a 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
@@ -141,6 +141,13 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+    @Transactional
+    @Override
+    public void startTrack(StartTrackRequest request) {
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, robotInfoService.getById(request.getRobotId()));
+        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+    }
 
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
new file mode 100644
index 0000000..c5071bc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.robot.opt.instruct.response;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+
+@Data
+public class VoltageDTO implements Serializable {
+    private Integer electricityQuantity;
+    private BigDecimal voltage;
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
index 9065f34..56b3e1d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -7,6 +7,7 @@
 import com.casic.missiles.modular.robot.model.RobotInfo;
 
 import java.math.BigDecimal;
+import java.util.List;
 
 /**
  * 循迹算法调用
@@ -37,4 +38,5 @@
      * @return
      */
     GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo);
+    void readAlgorithmResponse(String fileName, AlgorithmResponse response, Long taskId, List<String> res);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java
new file mode 100644
index 0000000..f197c10
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java
@@ -0,0 +1,22 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.extension.service.IService;
+import  com.casic.missiles.modular.robot.model.TaskInfoImg;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 任务照片存储 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface ITaskInfoImgService extends IService<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage(Page<TaskInfoImg> page,QueryWrapper<TaskInfoImg> query);}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
index df4a330..f808fa0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
@@ -64,7 +64,7 @@
     @Override
     public AlgorithmResponse pathPlanning(PathPlanDTO planDTO) {
         if (StrUtil.isEmpty(planDTO.getCount())) {
-            planDTO.setCount("0.01");
+            planDTO.setCount("0.001");
         }
         //算法路径及入参配置
         List<String> commends = new ArrayList<>();
@@ -162,8 +162,8 @@
         x = x.subtract(robotInfo.getOriginX());
         y = y.subtract(robotInfo.getOriginY());
 
-        pointDTO.setX(new BigDecimal(x.multiply(scale).intValue()));
-        pointDTO.setY(new BigDecimal(y.multiply(scale).intValue()));
+        pointDTO.setX(new BigDecimal(x.divide(scale,3,BigDecimal.ROUND_HALF_UP).intValue()+1));
+        pointDTO.setY(new BigDecimal(y.divide(scale,3,BigDecimal.ROUND_HALF_UP).intValue()+1));
         return pointDTO;
     }
 
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 0257c90..6d3ae91 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
@@ -1,18 +1,18 @@
 package com.casic.missiles.modular.robot.service.impl;
 
 import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
-import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
 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;
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dao.RobotStatusInfoMapper;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
@@ -21,10 +21,7 @@
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
 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.opt.instruct.response.AppCostmapResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.SpeedResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.VoltageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.*;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -151,7 +148,8 @@
     public void saveProcessMessage(String robotId, MqttMessage message) {
 //        String json = new String(message.getPayload());
 
-        RobotResponseDTO<ProcessMessageResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<ProcessMessageResponseDTO>>(){});
+        RobotResponseDTO<ProcessMessageResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<ProcessMessageResponseDTO>>() {
+        });
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             ProcessMessageResponseDTO msg = responseDTO.getMsg();
@@ -173,11 +171,8 @@
         RobotMsgResponseDTO<Integer> responseDTO = JSON.parseObject(json, new TypeReference<RobotMsgResponseDTO<Integer>>() {
         });
         if (responseDTO.getMsg() != null) {
-            UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_nav_pause", msg.getResult());
-            query.eq("robot_id", robotId);
-            update(query);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_NAV_PAUSE + robotId, msg.getResult());
         }
     }
 
@@ -186,12 +181,10 @@
         String json = new String(message.getPayload());
         RobotMsgResponseDTO<Integer> responseDTO = JSON.parseObject(json, new TypeReference<RobotMsgResponseDTO<Integer>>() {
         });
+
         if (responseDTO.getMsg() != null) {
-            UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_stop_navtrack", msg.getResult());
-            query.eq("robot_id", robotId);
-            update(query);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_STOP_NAVTRACK + robotId, msg.getResult());
         }
     }
 
@@ -228,16 +221,11 @@
 
     @Override
     public void saveStopState(String robotId, MqttMessage message) {
-        RobotResponseDTO<StopStateResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<StopStateResponseDTO>>(){});
+        RobotResponseDTO<StopStateResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<StopStateResponseDTO>>() {
+        });
         if (responseDTO != null && responseDTO.getMsg() != null) {
-//            log.info("急停状态保存：{}", responseDTO.getMsg());
-            LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
-            query.set(RobotStatusInfo::getButton, responseDTO.getMsg().getButton());
-            query.set(RobotStatusInfo::getCollision, responseDTO.getMsg().getCollision());
-            query.set(RobotStatusInfo::getSonic, responseDTO.getMsg().getSonic());
-            query.set(RobotStatusInfo::getSoft, responseDTO.getMsg().getSoft());
-            query.eq(RobotStatusInfo::getRobotId, robotId);
-            update(query);
+            log.info("急停状态保存：{}", responseDTO.getMsg());
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + robotId, responseDTO.getMsg());
         }
     }
 
@@ -250,37 +238,39 @@
         if (responseDTO != null && responseDTO.getMsg() != null) {
             RobotInfo info = robotInfoService.getById(robotId);
             log.info("电压状态保存：{}", responseDTO.getMsg());
-            LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
             if (CollectionUtil.isNotEmpty(responseDTO.getMsg().getVoltage())) {
                 Integer v = responseDTO.getMsg().getVoltage().get(0);
-                query.set(RobotStatusInfo::getVoltage, v);
                 //计算电量
                 Double quantity = new BigDecimal(v - info.getVoltageMin()).divide(new BigDecimal(info.getVoltageMax() - info.getVoltageMin()), 2, BigDecimal.ROUND_HALF_UP).doubleValue();
-                query.set(RobotStatusInfo::getElectricityQuantity, quantity * 100);
-                query.eq(RobotStatusInfo::getRobotId, robotId);
-                update(query);
+                VoltageDTO voltageDTO = new VoltageDTO();
+                voltageDTO.setVoltage(new BigDecimal(v));
+                voltageDTO.setElectricityQuantity(Convert.toInt(quantity * 100));
+                CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.VOLTAGE_RESPONSE + robotId, voltageDTO);
             }
         }
     }
 
     /**
      * 机器人栅格数据
+     *
      * @param robotId 机器人障碍物栅格数据保存
      * @param message 消息体
      */
     @Override
     public void saveCostMap(String robotId, MqttMessage message) {
         //数据接收
-        RobotResponseDTO<AppCostmapResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<AppCostmapResponseDTO>>() {});
+        RobotResponseDTO<AppCostmapResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<AppCostmapResponseDTO>>() {
+        });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
-            robotInfoService.updateRobotGrid(robotId,responseDTO.getMsg());
+            robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
 //            log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
         }
     }
 
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
+        //todo cache
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
         query.set("postion_x", dto.getX());
         query.set("postion_y", dto.getY());
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 bb066f4..6c9625f 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
@@ -5,6 +5,8 @@
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dao.RobotTrajectoryInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.model.RobotTrajectoryInfo;
@@ -34,11 +36,12 @@
 public class RobotTrajectoryInfoServiceImpl extends ServiceImpl<RobotTrajectoryInfoMapper, RobotTrajectoryInfo> implements IRobotTrajectoryInfoService {
     private final IRobotStatusInfoService robotStatusInfoService;
     private final ITaskInfoService infoService;
+    private final IRobotCacheService cacheService;
 
-
-    public RobotTrajectoryInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, ITaskInfoService infoService) {
+    public RobotTrajectoryInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, ITaskInfoService infoService, IRobotCacheService cacheService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.infoService = infoService;
+        this.cacheService = cacheService;
     }
 
     @Override
@@ -54,14 +57,15 @@
         });
 
         //读取导航状态,如果导航未开启则不存储
-        RobotStatusInfo statusInfo = robotStatusInfoService.getStatusByRobotId(robotId);
-        if (statusInfo != null && responseDTO.getMsg() != null) {
+//        RobotStatusInfo statusInfo = robotStatusInfoService.getStatusByRobotId(robotId);
+        Long routeId= cacheService.readRouteId(Long.valueOf(robotId));
+        if (routeId != null && responseDTO.getMsg() != null) {
             PoseMessageResponseDTO dto = responseDTO.getMsg();
             //执行循迹 保存当前轨迹信息
             //更新实时定位信息
-            robotStatusInfoService.updateRobotPoint(dto,robotId);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + robotId, dto);
             infoService.pointTestCallBack(dto, robotId);
-            if (statusInfo.getCurrRouteId() != null) {
+            if (routeId != null) {
                 RobotTrajectoryInfo info = new RobotTrajectoryInfo();
                 info.setRobotId(Long.valueOf(robotId));
                 info.setCreateTime(new Date());
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java
new file mode 100644
index 0000000..a0f578e
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java
@@ -0,0 +1,28 @@
+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.ITaskInfoImgService;
+import java.util.List;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+
+import com.casic.missiles.modular.robot.dao.TaskInfoImgMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+
+
+/**
+ * <p>
+ * 任务照片存储 服务实现类
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Service
+public class TaskInfoImgServiceImpl extends ServiceImpl<TaskInfoImgMapper, TaskInfoImg> implements ITaskInfoImgService {
+@Override
+public List<TaskInfoImg> selectTaskInfoImgPage(Page<TaskInfoImg> page,QueryWrapper<TaskInfoImg> query) {
+return this.baseMapper.selectTaskInfoImgPage(page,query);
+}}
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 93745b6..d1417b0 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
@@ -6,11 +6,11 @@
 import cn.hutool.core.convert.Convert;
 import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.io.FileUtil;
+import cn.hutool.core.thread.ExecutorBuilder;
 import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
 import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
 import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
@@ -47,6 +47,7 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.*;
+import java.util.concurrent.ThreadPoolExecutor;
 
 
 /**
@@ -68,7 +69,10 @@
     private final IAlgorithmService algorithmService;
     private final IRobotCacheService cacheService;
     private final IBaseRobotService baseRobotService;
-
+    private final ITaskInfoImgService imgService;
+    /**
+     * 初始化线程池
+     */
 
     @Value("${casic.file.uploadPath}")
     private String uploadPath;
@@ -80,7 +84,7 @@
     @Value("${casic.obstacle:10}")
     private Integer obstacle;
 
-    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService) {
+    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService, ITaskInfoImgService imgService) {
         this.routeInfoService = routeInfoService;
         this.statusInfoService = statusInfoService;
         this.dictService = dictService;
@@ -89,6 +93,7 @@
         this.algorithmService = algorithmService;
         this.cacheService = cacheService;
         this.baseRobotService = baseRobotService;
+        this.imgService = imgService;
     }
 
     /**
@@ -145,6 +150,13 @@
         taskInfo.setDiscernTypeName(dictService.getDictNameByCode(RobotDictConstants.DISCERN_TYPE, taskInfo.getDiscernType() + ""));
         taskInfo.setTaskTypeName(dictService.getDictNameByCode(RobotDictConstants.TASK_TYPE, taskInfo.getTaskType() + ""));
         taskInfo.setTaskStatusName(dictService.getDictNameByCode(RobotDictConstants.TASK_STATUS, taskInfo.getTaskType() + ""));
+        TaskInfoImg taskInfoImg = imgService.getById(taskInfo.getId());
+        if (taskInfoImg != null) {
+            taskInfo.setRouteImg(taskInfoImg.getRouteImg());
+            taskInfo.setPsdImg(taskInfoImg.getPsdImg());
+            taskInfo.setMcaImg(taskInfoImg.getMcaImg());
+            taskInfo.setHeatImg(taskInfoImg.getHeatImg());
+        }
         //检索当前任务告警数量
         taskInfo.setAlarmNum(recordService.selectCountByTaskId(taskInfo.getId(), taskInfo.getRobotId()));
         taskInfo.setHeatMap(taskHeatMapService.getByTaskId(taskInfo.getId()));
@@ -209,6 +221,7 @@
 
         //清空任务缓存
         robotCacheClean(robotId);
+
         //清空机器当前任务
         statusInfoService.updateCurrTask(robotId, null, null);
 
@@ -240,6 +253,9 @@
         //缓存当前点位信息
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_XY_POINT + robotId, dto);
         RobotInfo robotInfo = cacheService.getRobotInfo(longId);
+        //slam经纬度转栅格
+        GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getResolution(), robotInfo);
+        log.info("currGrid:{}", pointDTO);
         if (robotInfo.getAlarmThreshold() == null || robotInfo.getMaxThreshold() == null) {
             log.error("no config 中子源阈值未配置");
             return;
@@ -254,13 +270,25 @@
         //算法初始化状态读取
         Integer initValue = cacheService.readTaskInit(longId);
 
-        //slam经纬度转栅格
-        GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getResolution(), robotInfo);
 
         //No.1 任务初始化
         if (initValue != 1) {
             //执行初始化操作
             if (cacheService.updateTaskInit(longId, 1)) {
+
+                try {
+                    File file = new File(".");
+                    File[] files = file.listFiles((dir, name) -> (name.endsWith(".png") && name.startsWith("step"))
+                            || (name.endsWith(".txt") && name.startsWith("step")) || name.equals("repetition.txt") || name.equals("xy_train.txt") || name.equals("z_train.txt"));
+                    if (files != null) {
+                        for (int i = 0; i < files.length; i++) {
+                            FileUtil.del(files[i]);
+                        }
+                    }
+                } catch (Exception e) {
+                    e.printStackTrace();
+                }
+
                 PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId);
                 //中子源计数率读取
                 pathInitDTO.setCount(cacheService.getNeutronCount(longId));
@@ -288,7 +316,7 @@
                 AlgorithmResponse response = algorithmService.pathPlanning(pathPlanDTO);
                 //存储算法输出栅格信息
                 CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId, response.getPointNextDTO());
-                sendWebSocket(InstructStatusMsgEnums.HEAT_MAP,robotId, response.getTaskHeatMap());
+                sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
                 //是否触发寻源操作
                 BigDecimal bigCount = new BigDecimal(pathPlanDTO.getCount());
                 if (bigCount.compareTo(robotInfo.getAlarmThreshold()) >= 0) {
@@ -329,6 +357,7 @@
         RobotInfo robotInfo = cacheService.getRobotInfo(longId);
         //slam经纬度转栅格
         GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getResolution(), robotInfo);
+        log.info("currGrid:{}", pointDTO);
     }
 
 
@@ -426,22 +455,23 @@
      *
      * @param imgDTO
      */
+    @Transactional
     @Override
     public void saveImg(ImgDTO imgDTO) {
         String path = saveHeatImg(imgDTO.getTaskId());
-        LambdaUpdateWrapper<TaskInfo> updateWrapper = new LambdaUpdateWrapper<>();
+        TaskInfoImg infoImg = new TaskInfoImg();
         if (StrUtil.isNotEmpty(imgDTO.getMcaImg())) {
-            updateWrapper.set(TaskInfo::getMcaImg, imgDTO.getMcaImg());
+            infoImg.setMcaImg(imgDTO.getMcaImg());
+            infoImg.setHeatImg(path);
         }
         if (StrUtil.isNotEmpty(imgDTO.getPsdImg())) {
-            updateWrapper.set(TaskInfo::getPsdImg, imgDTO.getPsdImg());
+            infoImg.setPsdImg(imgDTO.getPsdImg());
         }
         if (StrUtil.isNotEmpty(imgDTO.getRouteImg())) {
-            updateWrapper.set(TaskInfo::getRouteImg, imgDTO.getRouteImg());
+            infoImg.setRouteImg(imgDTO.getRouteImg());
         }
-        updateWrapper.set(TaskInfo::getHeatImg, path);
-        updateWrapper.eq(TaskInfo::getId, imgDTO.getTaskId());
-        update(updateWrapper);
+        infoImg.setId(Convert.toLong(imgDTO.getTaskId()));
+        imgService.saveOrUpdate(infoImg);
     }
 
     @SneakyThrows
@@ -449,6 +479,7 @@
     @Override
     public void exportDoc(HttpServletResponse response, String taskId) {
         TaskInfo info = getById(taskId);
+        wrapTaskInfo(info);
         RobotInfo robotInfo = cacheService.getRobotInfo(info.getRobotId());
         response.setContentType("application/octet-stream");
         response.setCharacterEncoding("utf-8");
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 75fec0e..35f1d41 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
@@ -62,7 +62,6 @@
                 query.eq("(a.monitor_val<b.alarm_threshold)", true);
             }
         }
-        query.orderByAsc("a.alarm_time");
         return query;
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskInfoImgVO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskInfoImgVO.java
new file mode 100644
index 0000000..cd79a07
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskInfoImgVO.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.vo;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import cn.hutool.core.util.StrUtil;
+
+
+/**
+ * 任务照片存储对象VO
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+public class TaskInfoImgVO {
+    private static final long serialVersionUID = 1L;
+
+
+            @ApiModelProperty(value = "MCA图片" , dataType = "String")
+            private String mcaImg;
+
+            @ApiModelProperty(value = "PSD图片" , dataType = "String")
+            private String psdImg;
+
+            @ApiModelProperty(value = "巡检路线img" , dataType = "String")
+            private String routeImg;
+
+            @ApiModelProperty(value = "热点分布图" , dataType = "String")
+            private String heatImg;
+
+public QueryWrapper<TaskInfoImg> genQuery() {
+QueryWrapper<TaskInfoImg> query = new QueryWrapper<>();
+if (StrUtil.isNotEmpty(mcaImg)) {
+        query.eq("mca_img",mcaImg);
+}
+if (StrUtil.isNotEmpty(psdImg)) {
+        query.eq("psd_img",psdImg);
+}
+if (StrUtil.isNotEmpty(routeImg)) {
+        query.eq("route_img",routeImg);
+}
+if (StrUtil.isNotEmpty(heatImg)) {
+        query.eq("heat_img",heatImg);
+}
+return query;
+}}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/DemoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/DemoController.java
deleted file mode 100644
index 99c4a6f..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/DemoController.java
+++ /dev/null
@@ -1,31 +0,0 @@
-package com.casic.missiles.modular.system.controller;
-
-
-import com.casic.missiles.model.response.ResponseData;
-import org.springframework.web.bind.annotation.PostMapping;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.ResponseBody;
-import org.springframework.web.bind.annotation.RestController;
-
-/**
- * @ClassName DemoController
- * @Description TODO
- * @Author lenovo
- * @Date 2020/6/13 15:38
- * @Version 1.0
- */
-@RestController
-@RequestMapping("/demo")
-public class DemoController {
-
-
-    /**
-     * 获取mockToken
-     */
-    @PostMapping("/test")
-    @ResponseBody
-    public Object testMqtt(String topic, String msg) {
-
-        return ResponseData.success();
-    }
-}
\ No newline at end of file

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
new file mode 100644
index 0000000..9d012da
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  任务照片存储 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface TaskInfoImgMapper extends BaseMapper<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage( @Param("page") Page<TaskInfoImg> page,@Param("ew" ) QueryWrapper<TaskInfoImg> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
new file mode 100644
index 0000000..e330c68
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.TaskInfoImgMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskInfoImg">
+            <result column="id" property="id"/>
+            <result column="mca_img" property="mcaImg"/>
+            <result column="psd_img" property="psdImg"/>
+            <result column="route_img" property="routeImg"/>
+            <result column="heat_img" property="heatImg"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    mca_img as mcaImg ,
+                    psd_img as psdImg ,
+                    route_img as routeImg ,
+                    heat_img as heatImg 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.mca_img
+            as mcaImg ,
+            a.psd_img
+            as psdImg ,
+            a.route_img
+            as routeImg ,
+            a.heat_img
+            as heatImg 
+</sql>
+<select id="selectTaskInfoImgPage" resultType="com.casic.missiles.modular.robot.model.TaskInfoImg">
+    select
+    <include refid="Base_Column_Alias"/>
+    from task_info_img a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.mcaImg!= null and request.mcaImg!=''">
+            and mca_img = #{request.mcaImg}
+</if>
+<if test="request.psdImg!= null and request.psdImg!=''">
+            and psd_img = #{request.psdImg}
+</if>
+<if test="request.routeImg!= null and request.routeImg!=''">
+            and route_img = #{request.routeImg}
+</if>
+<if test="request.heatImg!= null and request.heatImg!=''">
+            and heat_img = #{request.heatImg}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
new file mode 100644
index 0000000..ed06f3b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
@@ -0,0 +1,32 @@
+package com.casic.missiles.modular.robot.event;
+
+import com.casic.missiles.model.application.event.core.ModelEvent;
+import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+/**
+ * 用户登录数据变化事件
+ *
+ * @author lwh
+ */
+public class PoseMessageEvent extends ModelEvent<MqttMessage> {
+    private String robotId;
+    /**
+     * Create a new {@code ApplicationEvent}.
+     *
+     * @param type   事件类型
+     * @param source the object on which the event initially occurred or with
+     *               which the event is associated (never {@code null})
+     */
+    public PoseMessageEvent(AbstractEventTypeEnum type, MqttMessage source) {
+        super(type, source);
+    }
+
+    public String getRobotId() {
+        return robotId;
+    }
+
+    public void setRobotId(String robotId) {
+        this.robotId = robotId;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
new file mode 100644
index 0000000..2cc6cdc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.event;
+
+import cn.hutool.core.thread.ExecutorBuilder;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.ThreadPoolExecutor;
+
+/**
+ * 定位事件监听器
+ * @see  com.casic.missiles.modular.robot.opt.handler.msg.PoseMessageMsgHandler
+ */
+@Slf4j
+@Component
+public class PoseMessageListener {
+    private static ThreadPoolExecutor threadPoolExecutor = ExecutorBuilder.create().setCorePoolSize(5).setMaxPoolSize(10).build();
+    private final IRobotStatusInfoService statusInfoService;
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageListener(IRobotStatusInfoService statusInfoService, IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.statusInfoService = statusInfoService;
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @EventListener
+    public void onApplicationEvent(PoseMessageEvent event) {
+//        threadPoolExecutor.execute(() -> { });
+        robotTrajectoryInfoService.savePoseMessage(event.getRobotId(), (MqttMessage) event.getSource());
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
new file mode 100644
index 0000000..7e881d9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
@@ -0,0 +1,52 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+
+/**
+ * 任务照片存储对象 task_info_img
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+@TableName("task_info_img")
+public class TaskInfoImg extends Model<TaskInfoImg> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "任务ID", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "MCA图片", dataType = "String")
+    @TableField("mca_img")
+    private String mcaImg;
+
+    @ApiModelProperty(value = "PSD图片", dataType = "String")
+    @TableField("psd_img")
+    private String psdImg;
+
+    @ApiModelProperty(value = "巡检路线img", dataType = "String")
+    @TableField("route_img")
+    private String routeImg;
+
+    @ApiModelProperty(value = "热点分布图", dataType = "String")
+    @TableField("heat_img")
+    private String heatImg;
+
+
+    @Override
+    public String toString() {
+        return "TaskInfoImg{"
+                + "id=" + id
+                + "mcaImg=" + mcaImg
+                + "psdImg=" + psdImg
+                + "routeImg=" + routeImg
+                + "heatImg=" + heatImg
+                + "}";
+    }
+}
\ No newline at end of file
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 d74a38b..c4bc25d 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
@@ -35,7 +35,7 @@
     }),
     TRACK_RECORD("/track_record" , "/track_record_response" , "启动或关闭轨迹录制功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
-    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     DELETE_TRACK("/delete_track" , "/delete_track_response" , "删除路线" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
index 41879dd..83f4cb2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
@@ -13,6 +13,7 @@
 
 /**
  * websocket 推送消息
+ * @see com.casic.missiles.mqtt.config.MqttClientConfigListener#createMqtt
  */
 @Slf4j
 public abstract class AbstractSocketHandler implements IBaseMsgHandler {
@@ -48,7 +49,7 @@
                 wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
                 wsMsgBaseDTO.setData(jsonObject.get("msg"));
                 String msg = JSON.toJSONString(wsMsgBaseDTO);
-//                log.info("推送{}消息：{}", enums.getRemarks(), msg);
+                log.info("推送{}消息：{}", enums.getRemarks(), msg);
                 webSocket.sendOneMessage(robotId, msg);
             }
         } catch (Exception e) {
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 b8e561d..5e3fe49 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
@@ -6,6 +6,8 @@
  * 业务消息处理器
  */
 public interface IBaseMsgHandler {
+    static String index_key = "index";
+
     /**
      * 消息处理handler
      *
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
index cefe2cd..27bed0e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
@@ -55,9 +55,6 @@
         }
         messageDTO.setMsg(request);
         ResponseDataDTO<Integer> list = null;
-        if (request.getAction() != 1) {
-            taskInfoService.reloadTask(request, getRobotInfo());
-        }
         try {
             list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.START_TRACK, messageDTO);
         } catch (Exception e) {
@@ -75,8 +72,7 @@
      */
     @Override
     public ResponseDataDTO afterInvoke(StartTrackRequest request, ResponseDataDTO response) {
-        //增加循迹任务记录
-        taskInfoService.reloadTask(request, getRobotInfo());
+
         return response;
     }
 }
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
index 316fd8f..8b7fd0e 100644
--- 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
@@ -19,7 +19,7 @@
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
     static {
-        index.put("index", 0);
+        index.put(index_key, 0);
     }
 
     public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
@@ -28,7 +28,12 @@
 
     @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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 83d1d39..67ec20e 100644
--- 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
@@ -6,6 +6,9 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.stereotype.Component;
 
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
 /**
  * 停障状态实时接收器
  */
@@ -13,14 +16,23 @@
 @Component("/app_stop_navtrack")
 public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
     private final IRobotStatusInfoService statusInfoService;
-
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+    static {
+        index.put(index_key, 0);
+    }
     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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 1cf0e55..9c26129 100644
--- 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
@@ -1,28 +1,37 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.application.enums.LoginEventTypeEnum;
+import com.casic.missiles.model.application.event.core.EventPublisher;
+import com.casic.missiles.modular.robot.event.PoseMessageEvent;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
-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 extends AbstractSocketHandler {
 
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
 
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    private final EventPublisher publisher;
+
+    public PoseMessageMsgHandler(EventPublisher publisher) {
+
+        this.publisher = publisher;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+//        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
         sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message);
+        PoseMessageEvent event = new PoseMessageEvent(LoginEventTypeEnum.RELOAD_SCOPE, message);
+        event.setRobotId(robotId);
+        publisher.publishEvent(event);
+        log.info("实时定位已发送！！");
     }
 }
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
index 4910f62..b248839 100644
--- 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
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.model.application.event.core.EventPublisher;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -16,17 +17,18 @@
 @Slf4j
 @Component("/process_message")
 public class ProcessMessageMsgHandler extends AbstractSocketHandler {
-    private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+    private final EventPublisher publisher;
+    private final IRobotStatusInfoService statusInfoService;
+    public ProcessMessageMsgHandler(EventPublisher publisher, IRobotStatusInfoService statusInfoService) {
+        this.publisher = publisher;
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
+        statusInfoService.saveProcessMessage(robotId,message);
         sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, 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
index 3a19ebe..9d275bd 100644
--- 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
@@ -34,7 +34,7 @@
         index.put("index" , val);
         if (val > 30) {
             index.put("index" , 0);
-            statusInfoService.saveSensorStatus(robotId, message);
+//            statusInfoService.saveSensorStatus(robotId, message);
         }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
index 3acf1d7..8950815 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
@@ -19,13 +19,22 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
     public StopStateMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        statusInfoService.saveStopState(robotId, message);
-//        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+
+            statusInfoService.saveStopState(robotId, message);
+        }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
index ad0eda8..a9d7914 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.VoltageDTO;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
@@ -20,20 +25,58 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
+
     public VoltageResponseMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-//        log.info("----------------------电压信息反馈:{}", message);
-        statusInfoService.saveVoltageResponseMessage(robotId, message);
-        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
-        try{
 
-        RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
-        sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
-        }catch (Exception e){
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key) > 50) {
+            index.put(index_key, 0);
+            log.info("----------------------电压信息反馈:{}", message);
+            statusInfoService.saveVoltageResponseMessage(robotId, message);
+        }
+        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+        try {
+
+            RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
+            Integer appNav = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_NAV_PAUSE + robotId);
+            Integer appStop = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_STOP_NAVTRACK + robotId);
+            PoseMessageResponseDTO dto = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + robotId);
+            StopStateResponseDTO stopStateResponseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + robotId);
+            VoltageDTO voltageDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.VOLTAGE_RESPONSE + robotId);
+            if (robotStatusInfo != null) {
+                if (appNav != null) {
+                    robotStatusInfo.setAppNavPause(appNav);
+                }
+                if (appStop != null) {
+                    robotStatusInfo.setAppStopNavtrack(appStop);
+                }
+                if (dto != null) {
+                    robotStatusInfo.setPostionX(dto.getX());
+                    robotStatusInfo.setPostionY(dto.getY());
+                    robotStatusInfo.setPostionZ(dto.getZ());
+                }
+                if (stopStateResponseDTO != null) {
+                    robotStatusInfo.setSoft(stopStateResponseDTO.getSoft());
+                    robotStatusInfo.setSonic(stopStateResponseDTO.getSonic());
+                    robotStatusInfo.setCollision(stopStateResponseDTO.getCollision());
+                    robotStatusInfo.setButton(stopStateResponseDTO.getButton());
+                }
+                if (voltageDTO != null) {
+                    robotStatusInfo.setVoltage(voltageDTO.getVoltage());
+                    robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
+                }
+            }
+            //读取缓存信息
+            sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
+        } catch (Exception e) {
             e.printStackTrace();
         }
     }
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 c2c2773..8471e7a 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
@@ -141,6 +141,13 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+    @Transactional
+    @Override
+    public void startTrack(StartTrackRequest request) {
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, robotInfoService.getById(request.getRobotId()));
+        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+    }
 
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
new file mode 100644
index 0000000..c5071bc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.robot.opt.instruct.response;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+
+@Data
+public class VoltageDTO implements Serializable {
+    private Integer electricityQuantity;
+    private BigDecimal voltage;
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
index 9065f34..56b3e1d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -7,6 +7,7 @@
 import com.casic.missiles.modular.robot.model.RobotInfo;
 
 import java.math.BigDecimal;
+import java.util.List;
 
 /**
  * 循迹算法调用
@@ -37,4 +38,5 @@
      * @return
      */
     GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo);
+    void readAlgorithmResponse(String fileName, AlgorithmResponse response, Long taskId, List<String> res);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java
new file mode 100644
index 0000000..f197c10
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java
@@ -0,0 +1,22 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.extension.service.IService;
+import  com.casic.missiles.modular.robot.model.TaskInfoImg;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 任务照片存储 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface ITaskInfoImgService extends IService<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage(Page<TaskInfoImg> page,QueryWrapper<TaskInfoImg> query);}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
index df4a330..f808fa0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
@@ -64,7 +64,7 @@
     @Override
     public AlgorithmResponse pathPlanning(PathPlanDTO planDTO) {
         if (StrUtil.isEmpty(planDTO.getCount())) {
-            planDTO.setCount("0.01");
+            planDTO.setCount("0.001");
         }
         //算法路径及入参配置
         List<String> commends = new ArrayList<>();
@@ -162,8 +162,8 @@
         x = x.subtract(robotInfo.getOriginX());
         y = y.subtract(robotInfo.getOriginY());
 
-        pointDTO.setX(new BigDecimal(x.multiply(scale).intValue()));
-        pointDTO.setY(new BigDecimal(y.multiply(scale).intValue()));
+        pointDTO.setX(new BigDecimal(x.divide(scale,3,BigDecimal.ROUND_HALF_UP).intValue()+1));
+        pointDTO.setY(new BigDecimal(y.divide(scale,3,BigDecimal.ROUND_HALF_UP).intValue()+1));
         return pointDTO;
     }
 
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 0257c90..6d3ae91 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
@@ -1,18 +1,18 @@
 package com.casic.missiles.modular.robot.service.impl;
 
 import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
-import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
 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;
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dao.RobotStatusInfoMapper;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
@@ -21,10 +21,7 @@
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
 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.opt.instruct.response.AppCostmapResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.SpeedResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.VoltageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.*;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -151,7 +148,8 @@
     public void saveProcessMessage(String robotId, MqttMessage message) {
 //        String json = new String(message.getPayload());
 
-        RobotResponseDTO<ProcessMessageResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<ProcessMessageResponseDTO>>(){});
+        RobotResponseDTO<ProcessMessageResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<ProcessMessageResponseDTO>>() {
+        });
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             ProcessMessageResponseDTO msg = responseDTO.getMsg();
@@ -173,11 +171,8 @@
         RobotMsgResponseDTO<Integer> responseDTO = JSON.parseObject(json, new TypeReference<RobotMsgResponseDTO<Integer>>() {
         });
         if (responseDTO.getMsg() != null) {
-            UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_nav_pause", msg.getResult());
-            query.eq("robot_id", robotId);
-            update(query);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_NAV_PAUSE + robotId, msg.getResult());
         }
     }
 
@@ -186,12 +181,10 @@
         String json = new String(message.getPayload());
         RobotMsgResponseDTO<Integer> responseDTO = JSON.parseObject(json, new TypeReference<RobotMsgResponseDTO<Integer>>() {
         });
+
         if (responseDTO.getMsg() != null) {
-            UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_stop_navtrack", msg.getResult());
-            query.eq("robot_id", robotId);
-            update(query);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_STOP_NAVTRACK + robotId, msg.getResult());
         }
     }
 
@@ -228,16 +221,11 @@
 
     @Override
     public void saveStopState(String robotId, MqttMessage message) {
-        RobotResponseDTO<StopStateResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<StopStateResponseDTO>>(){});
+        RobotResponseDTO<StopStateResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<StopStateResponseDTO>>() {
+        });
         if (responseDTO != null && responseDTO.getMsg() != null) {
-//            log.info("急停状态保存：{}", responseDTO.getMsg());
-            LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
-            query.set(RobotStatusInfo::getButton, responseDTO.getMsg().getButton());
-            query.set(RobotStatusInfo::getCollision, responseDTO.getMsg().getCollision());
-            query.set(RobotStatusInfo::getSonic, responseDTO.getMsg().getSonic());
-            query.set(RobotStatusInfo::getSoft, responseDTO.getMsg().getSoft());
-            query.eq(RobotStatusInfo::getRobotId, robotId);
-            update(query);
+            log.info("急停状态保存：{}", responseDTO.getMsg());
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + robotId, responseDTO.getMsg());
         }
     }
 
@@ -250,37 +238,39 @@
         if (responseDTO != null && responseDTO.getMsg() != null) {
             RobotInfo info = robotInfoService.getById(robotId);
             log.info("电压状态保存：{}", responseDTO.getMsg());
-            LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
             if (CollectionUtil.isNotEmpty(responseDTO.getMsg().getVoltage())) {
                 Integer v = responseDTO.getMsg().getVoltage().get(0);
-                query.set(RobotStatusInfo::getVoltage, v);
                 //计算电量
                 Double quantity = new BigDecimal(v - info.getVoltageMin()).divide(new BigDecimal(info.getVoltageMax() - info.getVoltageMin()), 2, BigDecimal.ROUND_HALF_UP).doubleValue();
-                query.set(RobotStatusInfo::getElectricityQuantity, quantity * 100);
-                query.eq(RobotStatusInfo::getRobotId, robotId);
-                update(query);
+                VoltageDTO voltageDTO = new VoltageDTO();
+                voltageDTO.setVoltage(new BigDecimal(v));
+                voltageDTO.setElectricityQuantity(Convert.toInt(quantity * 100));
+                CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.VOLTAGE_RESPONSE + robotId, voltageDTO);
             }
         }
     }
 
     /**
      * 机器人栅格数据
+     *
      * @param robotId 机器人障碍物栅格数据保存
      * @param message 消息体
      */
     @Override
     public void saveCostMap(String robotId, MqttMessage message) {
         //数据接收
-        RobotResponseDTO<AppCostmapResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<AppCostmapResponseDTO>>() {});
+        RobotResponseDTO<AppCostmapResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<AppCostmapResponseDTO>>() {
+        });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
-            robotInfoService.updateRobotGrid(robotId,responseDTO.getMsg());
+            robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
 //            log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
         }
     }
 
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
+        //todo cache
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
         query.set("postion_x", dto.getX());
         query.set("postion_y", dto.getY());
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 bb066f4..6c9625f 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
@@ -5,6 +5,8 @@
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dao.RobotTrajectoryInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.model.RobotTrajectoryInfo;
@@ -34,11 +36,12 @@
 public class RobotTrajectoryInfoServiceImpl extends ServiceImpl<RobotTrajectoryInfoMapper, RobotTrajectoryInfo> implements IRobotTrajectoryInfoService {
     private final IRobotStatusInfoService robotStatusInfoService;
     private final ITaskInfoService infoService;
+    private final IRobotCacheService cacheService;
 
-
-    public RobotTrajectoryInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, ITaskInfoService infoService) {
+    public RobotTrajectoryInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, ITaskInfoService infoService, IRobotCacheService cacheService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.infoService = infoService;
+        this.cacheService = cacheService;
     }
 
     @Override
@@ -54,14 +57,15 @@
         });
 
         //读取导航状态,如果导航未开启则不存储
-        RobotStatusInfo statusInfo = robotStatusInfoService.getStatusByRobotId(robotId);
-        if (statusInfo != null && responseDTO.getMsg() != null) {
+//        RobotStatusInfo statusInfo = robotStatusInfoService.getStatusByRobotId(robotId);
+        Long routeId= cacheService.readRouteId(Long.valueOf(robotId));
+        if (routeId != null && responseDTO.getMsg() != null) {
             PoseMessageResponseDTO dto = responseDTO.getMsg();
             //执行循迹 保存当前轨迹信息
             //更新实时定位信息
-            robotStatusInfoService.updateRobotPoint(dto,robotId);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + robotId, dto);
             infoService.pointTestCallBack(dto, robotId);
-            if (statusInfo.getCurrRouteId() != null) {
+            if (routeId != null) {
                 RobotTrajectoryInfo info = new RobotTrajectoryInfo();
                 info.setRobotId(Long.valueOf(robotId));
                 info.setCreateTime(new Date());
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java
new file mode 100644
index 0000000..a0f578e
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java
@@ -0,0 +1,28 @@
+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.ITaskInfoImgService;
+import java.util.List;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+
+import com.casic.missiles.modular.robot.dao.TaskInfoImgMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+
+
+/**
+ * <p>
+ * 任务照片存储 服务实现类
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Service
+public class TaskInfoImgServiceImpl extends ServiceImpl<TaskInfoImgMapper, TaskInfoImg> implements ITaskInfoImgService {
+@Override
+public List<TaskInfoImg> selectTaskInfoImgPage(Page<TaskInfoImg> page,QueryWrapper<TaskInfoImg> query) {
+return this.baseMapper.selectTaskInfoImgPage(page,query);
+}}
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 93745b6..d1417b0 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
@@ -6,11 +6,11 @@
 import cn.hutool.core.convert.Convert;
 import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.io.FileUtil;
+import cn.hutool.core.thread.ExecutorBuilder;
 import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
 import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
 import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
@@ -47,6 +47,7 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.*;
+import java.util.concurrent.ThreadPoolExecutor;
 
 
 /**
@@ -68,7 +69,10 @@
     private final IAlgorithmService algorithmService;
     private final IRobotCacheService cacheService;
     private final IBaseRobotService baseRobotService;
-
+    private final ITaskInfoImgService imgService;
+    /**
+     * 初始化线程池
+     */
 
     @Value("${casic.file.uploadPath}")
     private String uploadPath;
@@ -80,7 +84,7 @@
     @Value("${casic.obstacle:10}")
     private Integer obstacle;
 
-    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService) {
+    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService, ITaskInfoImgService imgService) {
         this.routeInfoService = routeInfoService;
         this.statusInfoService = statusInfoService;
         this.dictService = dictService;
@@ -89,6 +93,7 @@
         this.algorithmService = algorithmService;
         this.cacheService = cacheService;
         this.baseRobotService = baseRobotService;
+        this.imgService = imgService;
     }
 
     /**
@@ -145,6 +150,13 @@
         taskInfo.setDiscernTypeName(dictService.getDictNameByCode(RobotDictConstants.DISCERN_TYPE, taskInfo.getDiscernType() + ""));
         taskInfo.setTaskTypeName(dictService.getDictNameByCode(RobotDictConstants.TASK_TYPE, taskInfo.getTaskType() + ""));
         taskInfo.setTaskStatusName(dictService.getDictNameByCode(RobotDictConstants.TASK_STATUS, taskInfo.getTaskType() + ""));
+        TaskInfoImg taskInfoImg = imgService.getById(taskInfo.getId());
+        if (taskInfoImg != null) {
+            taskInfo.setRouteImg(taskInfoImg.getRouteImg());
+            taskInfo.setPsdImg(taskInfoImg.getPsdImg());
+            taskInfo.setMcaImg(taskInfoImg.getMcaImg());
+            taskInfo.setHeatImg(taskInfoImg.getHeatImg());
+        }
         //检索当前任务告警数量
         taskInfo.setAlarmNum(recordService.selectCountByTaskId(taskInfo.getId(), taskInfo.getRobotId()));
         taskInfo.setHeatMap(taskHeatMapService.getByTaskId(taskInfo.getId()));
@@ -209,6 +221,7 @@
 
         //清空任务缓存
         robotCacheClean(robotId);
+
         //清空机器当前任务
         statusInfoService.updateCurrTask(robotId, null, null);
 
@@ -240,6 +253,9 @@
         //缓存当前点位信息
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_XY_POINT + robotId, dto);
         RobotInfo robotInfo = cacheService.getRobotInfo(longId);
+        //slam经纬度转栅格
+        GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getResolution(), robotInfo);
+        log.info("currGrid:{}", pointDTO);
         if (robotInfo.getAlarmThreshold() == null || robotInfo.getMaxThreshold() == null) {
             log.error("no config 中子源阈值未配置");
             return;
@@ -254,13 +270,25 @@
         //算法初始化状态读取
         Integer initValue = cacheService.readTaskInit(longId);
 
-        //slam经纬度转栅格
-        GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getResolution(), robotInfo);
 
         //No.1 任务初始化
         if (initValue != 1) {
             //执行初始化操作
             if (cacheService.updateTaskInit(longId, 1)) {
+
+                try {
+                    File file = new File(".");
+                    File[] files = file.listFiles((dir, name) -> (name.endsWith(".png") && name.startsWith("step"))
+                            || (name.endsWith(".txt") && name.startsWith("step")) || name.equals("repetition.txt") || name.equals("xy_train.txt") || name.equals("z_train.txt"));
+                    if (files != null) {
+                        for (int i = 0; i < files.length; i++) {
+                            FileUtil.del(files[i]);
+                        }
+                    }
+                } catch (Exception e) {
+                    e.printStackTrace();
+                }
+
                 PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId);
                 //中子源计数率读取
                 pathInitDTO.setCount(cacheService.getNeutronCount(longId));
@@ -288,7 +316,7 @@
                 AlgorithmResponse response = algorithmService.pathPlanning(pathPlanDTO);
                 //存储算法输出栅格信息
                 CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId, response.getPointNextDTO());
-                sendWebSocket(InstructStatusMsgEnums.HEAT_MAP,robotId, response.getTaskHeatMap());
+                sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
                 //是否触发寻源操作
                 BigDecimal bigCount = new BigDecimal(pathPlanDTO.getCount());
                 if (bigCount.compareTo(robotInfo.getAlarmThreshold()) >= 0) {
@@ -329,6 +357,7 @@
         RobotInfo robotInfo = cacheService.getRobotInfo(longId);
         //slam经纬度转栅格
         GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getResolution(), robotInfo);
+        log.info("currGrid:{}", pointDTO);
     }
 
 
@@ -426,22 +455,23 @@
      *
      * @param imgDTO
      */
+    @Transactional
     @Override
     public void saveImg(ImgDTO imgDTO) {
         String path = saveHeatImg(imgDTO.getTaskId());
-        LambdaUpdateWrapper<TaskInfo> updateWrapper = new LambdaUpdateWrapper<>();
+        TaskInfoImg infoImg = new TaskInfoImg();
         if (StrUtil.isNotEmpty(imgDTO.getMcaImg())) {
-            updateWrapper.set(TaskInfo::getMcaImg, imgDTO.getMcaImg());
+            infoImg.setMcaImg(imgDTO.getMcaImg());
+            infoImg.setHeatImg(path);
         }
         if (StrUtil.isNotEmpty(imgDTO.getPsdImg())) {
-            updateWrapper.set(TaskInfo::getPsdImg, imgDTO.getPsdImg());
+            infoImg.setPsdImg(imgDTO.getPsdImg());
         }
         if (StrUtil.isNotEmpty(imgDTO.getRouteImg())) {
-            updateWrapper.set(TaskInfo::getRouteImg, imgDTO.getRouteImg());
+            infoImg.setRouteImg(imgDTO.getRouteImg());
         }
-        updateWrapper.set(TaskInfo::getHeatImg, path);
-        updateWrapper.eq(TaskInfo::getId, imgDTO.getTaskId());
-        update(updateWrapper);
+        infoImg.setId(Convert.toLong(imgDTO.getTaskId()));
+        imgService.saveOrUpdate(infoImg);
     }
 
     @SneakyThrows
@@ -449,6 +479,7 @@
     @Override
     public void exportDoc(HttpServletResponse response, String taskId) {
         TaskInfo info = getById(taskId);
+        wrapTaskInfo(info);
         RobotInfo robotInfo = cacheService.getRobotInfo(info.getRobotId());
         response.setContentType("application/octet-stream");
         response.setCharacterEncoding("utf-8");
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 75fec0e..35f1d41 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
@@ -62,7 +62,6 @@
                 query.eq("(a.monitor_val<b.alarm_threshold)", true);
             }
         }
-        query.orderByAsc("a.alarm_time");
         return query;
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskInfoImgVO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskInfoImgVO.java
new file mode 100644
index 0000000..cd79a07
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskInfoImgVO.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.vo;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import cn.hutool.core.util.StrUtil;
+
+
+/**
+ * 任务照片存储对象VO
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+public class TaskInfoImgVO {
+    private static final long serialVersionUID = 1L;
+
+
+            @ApiModelProperty(value = "MCA图片" , dataType = "String")
+            private String mcaImg;
+
+            @ApiModelProperty(value = "PSD图片" , dataType = "String")
+            private String psdImg;
+
+            @ApiModelProperty(value = "巡检路线img" , dataType = "String")
+            private String routeImg;
+
+            @ApiModelProperty(value = "热点分布图" , dataType = "String")
+            private String heatImg;
+
+public QueryWrapper<TaskInfoImg> genQuery() {
+QueryWrapper<TaskInfoImg> query = new QueryWrapper<>();
+if (StrUtil.isNotEmpty(mcaImg)) {
+        query.eq("mca_img",mcaImg);
+}
+if (StrUtil.isNotEmpty(psdImg)) {
+        query.eq("psd_img",psdImg);
+}
+if (StrUtil.isNotEmpty(routeImg)) {
+        query.eq("route_img",routeImg);
+}
+if (StrUtil.isNotEmpty(heatImg)) {
+        query.eq("heat_img",heatImg);
+}
+return query;
+}}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/DemoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/DemoController.java
deleted file mode 100644
index 99c4a6f..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/DemoController.java
+++ /dev/null
@@ -1,31 +0,0 @@
-package com.casic.missiles.modular.system.controller;
-
-
-import com.casic.missiles.model.response.ResponseData;
-import org.springframework.web.bind.annotation.PostMapping;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.ResponseBody;
-import org.springframework.web.bind.annotation.RestController;
-
-/**
- * @ClassName DemoController
- * @Description TODO
- * @Author lenovo
- * @Date 2020/6/13 15:38
- * @Version 1.0
- */
-@RestController
-@RequestMapping("/demo")
-public class DemoController {
-
-
-    /**
-     * 获取mockToken
-     */
-    @PostMapping("/test")
-    @ResponseBody
-    public Object testMqtt(String topic, String msg) {
-
-        return ResponseData.success();
-    }
-}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/event/UserEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/system/event/UserEvent.java
deleted file mode 100644
index c6ed867..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/event/UserEvent.java
+++ /dev/null
@@ -1,23 +0,0 @@
-package com.casic.missiles.modular.system.event;
-
-import com.casic.missiles.model.application.event.core.ModelEvent;
-import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
-import com.casic.missiles.modular.system.model.User;
-
-/**
- * 用户事件
- *
- * @author lwh
- */
-public class UserEvent extends ModelEvent<User> {
-    /**
-     * Create a new {@code ApplicationEvent}.
-     *
-     * @param type   事件类型
-     * @param source the object on which the event initially occurred or with
-     *               which the event is associated (never {@code null})
-     */
-    public UserEvent(AbstractEventTypeEnum type, User source) {
-        super(type, source);
-    }
-}

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
new file mode 100644
index 0000000..9d012da
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  任务照片存储 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface TaskInfoImgMapper extends BaseMapper<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage( @Param("page") Page<TaskInfoImg> page,@Param("ew" ) QueryWrapper<TaskInfoImg> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
new file mode 100644
index 0000000..e330c68
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.TaskInfoImgMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskInfoImg">
+            <result column="id" property="id"/>
+            <result column="mca_img" property="mcaImg"/>
+            <result column="psd_img" property="psdImg"/>
+            <result column="route_img" property="routeImg"/>
+            <result column="heat_img" property="heatImg"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    mca_img as mcaImg ,
+                    psd_img as psdImg ,
+                    route_img as routeImg ,
+                    heat_img as heatImg 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.mca_img
+            as mcaImg ,
+            a.psd_img
+            as psdImg ,
+            a.route_img
+            as routeImg ,
+            a.heat_img
+            as heatImg 
+</sql>
+<select id="selectTaskInfoImgPage" resultType="com.casic.missiles.modular.robot.model.TaskInfoImg">
+    select
+    <include refid="Base_Column_Alias"/>
+    from task_info_img a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.mcaImg!= null and request.mcaImg!=''">
+            and mca_img = #{request.mcaImg}
+</if>
+<if test="request.psdImg!= null and request.psdImg!=''">
+            and psd_img = #{request.psdImg}
+</if>
+<if test="request.routeImg!= null and request.routeImg!=''">
+            and route_img = #{request.routeImg}
+</if>
+<if test="request.heatImg!= null and request.heatImg!=''">
+            and heat_img = #{request.heatImg}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
new file mode 100644
index 0000000..ed06f3b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
@@ -0,0 +1,32 @@
+package com.casic.missiles.modular.robot.event;
+
+import com.casic.missiles.model.application.event.core.ModelEvent;
+import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+/**
+ * 用户登录数据变化事件
+ *
+ * @author lwh
+ */
+public class PoseMessageEvent extends ModelEvent<MqttMessage> {
+    private String robotId;
+    /**
+     * Create a new {@code ApplicationEvent}.
+     *
+     * @param type   事件类型
+     * @param source the object on which the event initially occurred or with
+     *               which the event is associated (never {@code null})
+     */
+    public PoseMessageEvent(AbstractEventTypeEnum type, MqttMessage source) {
+        super(type, source);
+    }
+
+    public String getRobotId() {
+        return robotId;
+    }
+
+    public void setRobotId(String robotId) {
+        this.robotId = robotId;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
new file mode 100644
index 0000000..2cc6cdc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.event;
+
+import cn.hutool.core.thread.ExecutorBuilder;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.ThreadPoolExecutor;
+
+/**
+ * 定位事件监听器
+ * @see  com.casic.missiles.modular.robot.opt.handler.msg.PoseMessageMsgHandler
+ */
+@Slf4j
+@Component
+public class PoseMessageListener {
+    private static ThreadPoolExecutor threadPoolExecutor = ExecutorBuilder.create().setCorePoolSize(5).setMaxPoolSize(10).build();
+    private final IRobotStatusInfoService statusInfoService;
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageListener(IRobotStatusInfoService statusInfoService, IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.statusInfoService = statusInfoService;
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @EventListener
+    public void onApplicationEvent(PoseMessageEvent event) {
+//        threadPoolExecutor.execute(() -> { });
+        robotTrajectoryInfoService.savePoseMessage(event.getRobotId(), (MqttMessage) event.getSource());
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
new file mode 100644
index 0000000..7e881d9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
@@ -0,0 +1,52 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+
+/**
+ * 任务照片存储对象 task_info_img
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+@TableName("task_info_img")
+public class TaskInfoImg extends Model<TaskInfoImg> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "任务ID", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "MCA图片", dataType = "String")
+    @TableField("mca_img")
+    private String mcaImg;
+
+    @ApiModelProperty(value = "PSD图片", dataType = "String")
+    @TableField("psd_img")
+    private String psdImg;
+
+    @ApiModelProperty(value = "巡检路线img", dataType = "String")
+    @TableField("route_img")
+    private String routeImg;
+
+    @ApiModelProperty(value = "热点分布图", dataType = "String")
+    @TableField("heat_img")
+    private String heatImg;
+
+
+    @Override
+    public String toString() {
+        return "TaskInfoImg{"
+                + "id=" + id
+                + "mcaImg=" + mcaImg
+                + "psdImg=" + psdImg
+                + "routeImg=" + routeImg
+                + "heatImg=" + heatImg
+                + "}";
+    }
+}
\ No newline at end of file
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 d74a38b..c4bc25d 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
@@ -35,7 +35,7 @@
     }),
     TRACK_RECORD("/track_record" , "/track_record_response" , "启动或关闭轨迹录制功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
-    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     DELETE_TRACK("/delete_track" , "/delete_track_response" , "删除路线" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
index 41879dd..83f4cb2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
@@ -13,6 +13,7 @@
 
 /**
  * websocket 推送消息
+ * @see com.casic.missiles.mqtt.config.MqttClientConfigListener#createMqtt
  */
 @Slf4j
 public abstract class AbstractSocketHandler implements IBaseMsgHandler {
@@ -48,7 +49,7 @@
                 wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
                 wsMsgBaseDTO.setData(jsonObject.get("msg"));
                 String msg = JSON.toJSONString(wsMsgBaseDTO);
-//                log.info("推送{}消息：{}", enums.getRemarks(), msg);
+                log.info("推送{}消息：{}", enums.getRemarks(), msg);
                 webSocket.sendOneMessage(robotId, msg);
             }
         } catch (Exception e) {
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 b8e561d..5e3fe49 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
@@ -6,6 +6,8 @@
  * 业务消息处理器
  */
 public interface IBaseMsgHandler {
+    static String index_key = "index";
+
     /**
      * 消息处理handler
      *
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
index cefe2cd..27bed0e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
@@ -55,9 +55,6 @@
         }
         messageDTO.setMsg(request);
         ResponseDataDTO<Integer> list = null;
-        if (request.getAction() != 1) {
-            taskInfoService.reloadTask(request, getRobotInfo());
-        }
         try {
             list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.START_TRACK, messageDTO);
         } catch (Exception e) {
@@ -75,8 +72,7 @@
      */
     @Override
     public ResponseDataDTO afterInvoke(StartTrackRequest request, ResponseDataDTO response) {
-        //增加循迹任务记录
-        taskInfoService.reloadTask(request, getRobotInfo());
+
         return response;
     }
 }
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
index 316fd8f..8b7fd0e 100644
--- 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
@@ -19,7 +19,7 @@
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
     static {
-        index.put("index", 0);
+        index.put(index_key, 0);
     }
 
     public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
@@ -28,7 +28,12 @@
 
     @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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 83d1d39..67ec20e 100644
--- 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
@@ -6,6 +6,9 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.stereotype.Component;
 
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
 /**
  * 停障状态实时接收器
  */
@@ -13,14 +16,23 @@
 @Component("/app_stop_navtrack")
 public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
     private final IRobotStatusInfoService statusInfoService;
-
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+    static {
+        index.put(index_key, 0);
+    }
     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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 1cf0e55..9c26129 100644
--- 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
@@ -1,28 +1,37 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.application.enums.LoginEventTypeEnum;
+import com.casic.missiles.model.application.event.core.EventPublisher;
+import com.casic.missiles.modular.robot.event.PoseMessageEvent;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
-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 extends AbstractSocketHandler {
 
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
 
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    private final EventPublisher publisher;
+
+    public PoseMessageMsgHandler(EventPublisher publisher) {
+
+        this.publisher = publisher;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+//        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
         sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message);
+        PoseMessageEvent event = new PoseMessageEvent(LoginEventTypeEnum.RELOAD_SCOPE, message);
+        event.setRobotId(robotId);
+        publisher.publishEvent(event);
+        log.info("实时定位已发送！！");
     }
 }
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
index 4910f62..b248839 100644
--- 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
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.model.application.event.core.EventPublisher;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -16,17 +17,18 @@
 @Slf4j
 @Component("/process_message")
 public class ProcessMessageMsgHandler extends AbstractSocketHandler {
-    private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+    private final EventPublisher publisher;
+    private final IRobotStatusInfoService statusInfoService;
+    public ProcessMessageMsgHandler(EventPublisher publisher, IRobotStatusInfoService statusInfoService) {
+        this.publisher = publisher;
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
+        statusInfoService.saveProcessMessage(robotId,message);
         sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, 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
index 3a19ebe..9d275bd 100644
--- 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
@@ -34,7 +34,7 @@
         index.put("index" , val);
         if (val > 30) {
             index.put("index" , 0);
-            statusInfoService.saveSensorStatus(robotId, message);
+//            statusInfoService.saveSensorStatus(robotId, message);
         }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
index 3acf1d7..8950815 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
@@ -19,13 +19,22 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
     public StopStateMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        statusInfoService.saveStopState(robotId, message);
-//        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+
+            statusInfoService.saveStopState(robotId, message);
+        }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
index ad0eda8..a9d7914 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.VoltageDTO;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
@@ -20,20 +25,58 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
+
     public VoltageResponseMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-//        log.info("----------------------电压信息反馈:{}", message);
-        statusInfoService.saveVoltageResponseMessage(robotId, message);
-        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
-        try{
 
-        RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
-        sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
-        }catch (Exception e){
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key) > 50) {
+            index.put(index_key, 0);
+            log.info("----------------------电压信息反馈:{}", message);
+            statusInfoService.saveVoltageResponseMessage(robotId, message);
+        }
+        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+        try {
+
+            RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
+            Integer appNav = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_NAV_PAUSE + robotId);
+            Integer appStop = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_STOP_NAVTRACK + robotId);
+            PoseMessageResponseDTO dto = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + robotId);
+            StopStateResponseDTO stopStateResponseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + robotId);
+            VoltageDTO voltageDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.VOLTAGE_RESPONSE + robotId);
+            if (robotStatusInfo != null) {
+                if (appNav != null) {
+                    robotStatusInfo.setAppNavPause(appNav);
+                }
+                if (appStop != null) {
+                    robotStatusInfo.setAppStopNavtrack(appStop);
+                }
+                if (dto != null) {
+                    robotStatusInfo.setPostionX(dto.getX());
+                    robotStatusInfo.setPostionY(dto.getY());
+                    robotStatusInfo.setPostionZ(dto.getZ());
+                }
+                if (stopStateResponseDTO != null) {
+                    robotStatusInfo.setSoft(stopStateResponseDTO.getSoft());
+                    robotStatusInfo.setSonic(stopStateResponseDTO.getSonic());
+                    robotStatusInfo.setCollision(stopStateResponseDTO.getCollision());
+                    robotStatusInfo.setButton(stopStateResponseDTO.getButton());
+                }
+                if (voltageDTO != null) {
+                    robotStatusInfo.setVoltage(voltageDTO.getVoltage());
+                    robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
+                }
+            }
+            //读取缓存信息
+            sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
+        } catch (Exception e) {
             e.printStackTrace();
         }
     }
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 c2c2773..8471e7a 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
@@ -141,6 +141,13 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+    @Transactional
+    @Override
+    public void startTrack(StartTrackRequest request) {
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, robotInfoService.getById(request.getRobotId()));
+        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+    }
 
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
new file mode 100644
index 0000000..c5071bc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.robot.opt.instruct.response;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+
+@Data
+public class VoltageDTO implements Serializable {
+    private Integer electricityQuantity;
+    private BigDecimal voltage;
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
index 9065f34..56b3e1d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -7,6 +7,7 @@
 import com.casic.missiles.modular.robot.model.RobotInfo;
 
 import java.math.BigDecimal;
+import java.util.List;
 
 /**
  * 循迹算法调用
@@ -37,4 +38,5 @@
      * @return
      */
     GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo);
+    void readAlgorithmResponse(String fileName, AlgorithmResponse response, Long taskId, List<String> res);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java
new file mode 100644
index 0000000..f197c10
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java
@@ -0,0 +1,22 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.extension.service.IService;
+import  com.casic.missiles.modular.robot.model.TaskInfoImg;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 任务照片存储 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface ITaskInfoImgService extends IService<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage(Page<TaskInfoImg> page,QueryWrapper<TaskInfoImg> query);}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
index df4a330..f808fa0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
@@ -64,7 +64,7 @@
     @Override
     public AlgorithmResponse pathPlanning(PathPlanDTO planDTO) {
         if (StrUtil.isEmpty(planDTO.getCount())) {
-            planDTO.setCount("0.01");
+            planDTO.setCount("0.001");
         }
         //算法路径及入参配置
         List<String> commends = new ArrayList<>();
@@ -162,8 +162,8 @@
         x = x.subtract(robotInfo.getOriginX());
         y = y.subtract(robotInfo.getOriginY());
 
-        pointDTO.setX(new BigDecimal(x.multiply(scale).intValue()));
-        pointDTO.setY(new BigDecimal(y.multiply(scale).intValue()));
+        pointDTO.setX(new BigDecimal(x.divide(scale,3,BigDecimal.ROUND_HALF_UP).intValue()+1));
+        pointDTO.setY(new BigDecimal(y.divide(scale,3,BigDecimal.ROUND_HALF_UP).intValue()+1));
         return pointDTO;
     }
 
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 0257c90..6d3ae91 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
@@ -1,18 +1,18 @@
 package com.casic.missiles.modular.robot.service.impl;
 
 import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
-import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
 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;
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dao.RobotStatusInfoMapper;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
@@ -21,10 +21,7 @@
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
 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.opt.instruct.response.AppCostmapResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.SpeedResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.VoltageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.*;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -151,7 +148,8 @@
     public void saveProcessMessage(String robotId, MqttMessage message) {
 //        String json = new String(message.getPayload());
 
-        RobotResponseDTO<ProcessMessageResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<ProcessMessageResponseDTO>>(){});
+        RobotResponseDTO<ProcessMessageResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<ProcessMessageResponseDTO>>() {
+        });
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             ProcessMessageResponseDTO msg = responseDTO.getMsg();
@@ -173,11 +171,8 @@
         RobotMsgResponseDTO<Integer> responseDTO = JSON.parseObject(json, new TypeReference<RobotMsgResponseDTO<Integer>>() {
         });
         if (responseDTO.getMsg() != null) {
-            UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_nav_pause", msg.getResult());
-            query.eq("robot_id", robotId);
-            update(query);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_NAV_PAUSE + robotId, msg.getResult());
         }
     }
 
@@ -186,12 +181,10 @@
         String json = new String(message.getPayload());
         RobotMsgResponseDTO<Integer> responseDTO = JSON.parseObject(json, new TypeReference<RobotMsgResponseDTO<Integer>>() {
         });
+
         if (responseDTO.getMsg() != null) {
-            UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_stop_navtrack", msg.getResult());
-            query.eq("robot_id", robotId);
-            update(query);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_STOP_NAVTRACK + robotId, msg.getResult());
         }
     }
 
@@ -228,16 +221,11 @@
 
     @Override
     public void saveStopState(String robotId, MqttMessage message) {
-        RobotResponseDTO<StopStateResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<StopStateResponseDTO>>(){});
+        RobotResponseDTO<StopStateResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<StopStateResponseDTO>>() {
+        });
         if (responseDTO != null && responseDTO.getMsg() != null) {
-//            log.info("急停状态保存：{}", responseDTO.getMsg());
-            LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
-            query.set(RobotStatusInfo::getButton, responseDTO.getMsg().getButton());
-            query.set(RobotStatusInfo::getCollision, responseDTO.getMsg().getCollision());
-            query.set(RobotStatusInfo::getSonic, responseDTO.getMsg().getSonic());
-            query.set(RobotStatusInfo::getSoft, responseDTO.getMsg().getSoft());
-            query.eq(RobotStatusInfo::getRobotId, robotId);
-            update(query);
+            log.info("急停状态保存：{}", responseDTO.getMsg());
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + robotId, responseDTO.getMsg());
         }
     }
 
@@ -250,37 +238,39 @@
         if (responseDTO != null && responseDTO.getMsg() != null) {
             RobotInfo info = robotInfoService.getById(robotId);
             log.info("电压状态保存：{}", responseDTO.getMsg());
-            LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
             if (CollectionUtil.isNotEmpty(responseDTO.getMsg().getVoltage())) {
                 Integer v = responseDTO.getMsg().getVoltage().get(0);
-                query.set(RobotStatusInfo::getVoltage, v);
                 //计算电量
                 Double quantity = new BigDecimal(v - info.getVoltageMin()).divide(new BigDecimal(info.getVoltageMax() - info.getVoltageMin()), 2, BigDecimal.ROUND_HALF_UP).doubleValue();
-                query.set(RobotStatusInfo::getElectricityQuantity, quantity * 100);
-                query.eq(RobotStatusInfo::getRobotId, robotId);
-                update(query);
+                VoltageDTO voltageDTO = new VoltageDTO();
+                voltageDTO.setVoltage(new BigDecimal(v));
+                voltageDTO.setElectricityQuantity(Convert.toInt(quantity * 100));
+                CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.VOLTAGE_RESPONSE + robotId, voltageDTO);
             }
         }
     }
 
     /**
      * 机器人栅格数据
+     *
      * @param robotId 机器人障碍物栅格数据保存
      * @param message 消息体
      */
     @Override
     public void saveCostMap(String robotId, MqttMessage message) {
         //数据接收
-        RobotResponseDTO<AppCostmapResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<AppCostmapResponseDTO>>() {});
+        RobotResponseDTO<AppCostmapResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<AppCostmapResponseDTO>>() {
+        });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
-            robotInfoService.updateRobotGrid(robotId,responseDTO.getMsg());
+            robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
 //            log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
         }
     }
 
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
+        //todo cache
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
         query.set("postion_x", dto.getX());
         query.set("postion_y", dto.getY());
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 bb066f4..6c9625f 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
@@ -5,6 +5,8 @@
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dao.RobotTrajectoryInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.model.RobotTrajectoryInfo;
@@ -34,11 +36,12 @@
 public class RobotTrajectoryInfoServiceImpl extends ServiceImpl<RobotTrajectoryInfoMapper, RobotTrajectoryInfo> implements IRobotTrajectoryInfoService {
     private final IRobotStatusInfoService robotStatusInfoService;
     private final ITaskInfoService infoService;
+    private final IRobotCacheService cacheService;
 
-
-    public RobotTrajectoryInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, ITaskInfoService infoService) {
+    public RobotTrajectoryInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, ITaskInfoService infoService, IRobotCacheService cacheService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.infoService = infoService;
+        this.cacheService = cacheService;
     }
 
     @Override
@@ -54,14 +57,15 @@
         });
 
         //读取导航状态,如果导航未开启则不存储
-        RobotStatusInfo statusInfo = robotStatusInfoService.getStatusByRobotId(robotId);
-        if (statusInfo != null && responseDTO.getMsg() != null) {
+//        RobotStatusInfo statusInfo = robotStatusInfoService.getStatusByRobotId(robotId);
+        Long routeId= cacheService.readRouteId(Long.valueOf(robotId));
+        if (routeId != null && responseDTO.getMsg() != null) {
             PoseMessageResponseDTO dto = responseDTO.getMsg();
             //执行循迹 保存当前轨迹信息
             //更新实时定位信息
-            robotStatusInfoService.updateRobotPoint(dto,robotId);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + robotId, dto);
             infoService.pointTestCallBack(dto, robotId);
-            if (statusInfo.getCurrRouteId() != null) {
+            if (routeId != null) {
                 RobotTrajectoryInfo info = new RobotTrajectoryInfo();
                 info.setRobotId(Long.valueOf(robotId));
                 info.setCreateTime(new Date());
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java
new file mode 100644
index 0000000..a0f578e
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java
@@ -0,0 +1,28 @@
+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.ITaskInfoImgService;
+import java.util.List;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+
+import com.casic.missiles.modular.robot.dao.TaskInfoImgMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+
+
+/**
+ * <p>
+ * 任务照片存储 服务实现类
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Service
+public class TaskInfoImgServiceImpl extends ServiceImpl<TaskInfoImgMapper, TaskInfoImg> implements ITaskInfoImgService {
+@Override
+public List<TaskInfoImg> selectTaskInfoImgPage(Page<TaskInfoImg> page,QueryWrapper<TaskInfoImg> query) {
+return this.baseMapper.selectTaskInfoImgPage(page,query);
+}}
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 93745b6..d1417b0 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
@@ -6,11 +6,11 @@
 import cn.hutool.core.convert.Convert;
 import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.io.FileUtil;
+import cn.hutool.core.thread.ExecutorBuilder;
 import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
 import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
 import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
@@ -47,6 +47,7 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.*;
+import java.util.concurrent.ThreadPoolExecutor;
 
 
 /**
@@ -68,7 +69,10 @@
     private final IAlgorithmService algorithmService;
     private final IRobotCacheService cacheService;
     private final IBaseRobotService baseRobotService;
-
+    private final ITaskInfoImgService imgService;
+    /**
+     * 初始化线程池
+     */
 
     @Value("${casic.file.uploadPath}")
     private String uploadPath;
@@ -80,7 +84,7 @@
     @Value("${casic.obstacle:10}")
     private Integer obstacle;
 
-    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService) {
+    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService, ITaskInfoImgService imgService) {
         this.routeInfoService = routeInfoService;
         this.statusInfoService = statusInfoService;
         this.dictService = dictService;
@@ -89,6 +93,7 @@
         this.algorithmService = algorithmService;
         this.cacheService = cacheService;
         this.baseRobotService = baseRobotService;
+        this.imgService = imgService;
     }
 
     /**
@@ -145,6 +150,13 @@
         taskInfo.setDiscernTypeName(dictService.getDictNameByCode(RobotDictConstants.DISCERN_TYPE, taskInfo.getDiscernType() + ""));
         taskInfo.setTaskTypeName(dictService.getDictNameByCode(RobotDictConstants.TASK_TYPE, taskInfo.getTaskType() + ""));
         taskInfo.setTaskStatusName(dictService.getDictNameByCode(RobotDictConstants.TASK_STATUS, taskInfo.getTaskType() + ""));
+        TaskInfoImg taskInfoImg = imgService.getById(taskInfo.getId());
+        if (taskInfoImg != null) {
+            taskInfo.setRouteImg(taskInfoImg.getRouteImg());
+            taskInfo.setPsdImg(taskInfoImg.getPsdImg());
+            taskInfo.setMcaImg(taskInfoImg.getMcaImg());
+            taskInfo.setHeatImg(taskInfoImg.getHeatImg());
+        }
         //检索当前任务告警数量
         taskInfo.setAlarmNum(recordService.selectCountByTaskId(taskInfo.getId(), taskInfo.getRobotId()));
         taskInfo.setHeatMap(taskHeatMapService.getByTaskId(taskInfo.getId()));
@@ -209,6 +221,7 @@
 
         //清空任务缓存
         robotCacheClean(robotId);
+
         //清空机器当前任务
         statusInfoService.updateCurrTask(robotId, null, null);
 
@@ -240,6 +253,9 @@
         //缓存当前点位信息
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_XY_POINT + robotId, dto);
         RobotInfo robotInfo = cacheService.getRobotInfo(longId);
+        //slam经纬度转栅格
+        GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getResolution(), robotInfo);
+        log.info("currGrid:{}", pointDTO);
         if (robotInfo.getAlarmThreshold() == null || robotInfo.getMaxThreshold() == null) {
             log.error("no config 中子源阈值未配置");
             return;
@@ -254,13 +270,25 @@
         //算法初始化状态读取
         Integer initValue = cacheService.readTaskInit(longId);
 
-        //slam经纬度转栅格
-        GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getResolution(), robotInfo);
 
         //No.1 任务初始化
         if (initValue != 1) {
             //执行初始化操作
             if (cacheService.updateTaskInit(longId, 1)) {
+
+                try {
+                    File file = new File(".");
+                    File[] files = file.listFiles((dir, name) -> (name.endsWith(".png") && name.startsWith("step"))
+                            || (name.endsWith(".txt") && name.startsWith("step")) || name.equals("repetition.txt") || name.equals("xy_train.txt") || name.equals("z_train.txt"));
+                    if (files != null) {
+                        for (int i = 0; i < files.length; i++) {
+                            FileUtil.del(files[i]);
+                        }
+                    }
+                } catch (Exception e) {
+                    e.printStackTrace();
+                }
+
                 PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId);
                 //中子源计数率读取
                 pathInitDTO.setCount(cacheService.getNeutronCount(longId));
@@ -288,7 +316,7 @@
                 AlgorithmResponse response = algorithmService.pathPlanning(pathPlanDTO);
                 //存储算法输出栅格信息
                 CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId, response.getPointNextDTO());
-                sendWebSocket(InstructStatusMsgEnums.HEAT_MAP,robotId, response.getTaskHeatMap());
+                sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
                 //是否触发寻源操作
                 BigDecimal bigCount = new BigDecimal(pathPlanDTO.getCount());
                 if (bigCount.compareTo(robotInfo.getAlarmThreshold()) >= 0) {
@@ -329,6 +357,7 @@
         RobotInfo robotInfo = cacheService.getRobotInfo(longId);
         //slam经纬度转栅格
         GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getResolution(), robotInfo);
+        log.info("currGrid:{}", pointDTO);
     }
 
 
@@ -426,22 +455,23 @@
      *
      * @param imgDTO
      */
+    @Transactional
     @Override
     public void saveImg(ImgDTO imgDTO) {
         String path = saveHeatImg(imgDTO.getTaskId());
-        LambdaUpdateWrapper<TaskInfo> updateWrapper = new LambdaUpdateWrapper<>();
+        TaskInfoImg infoImg = new TaskInfoImg();
         if (StrUtil.isNotEmpty(imgDTO.getMcaImg())) {
-            updateWrapper.set(TaskInfo::getMcaImg, imgDTO.getMcaImg());
+            infoImg.setMcaImg(imgDTO.getMcaImg());
+            infoImg.setHeatImg(path);
         }
         if (StrUtil.isNotEmpty(imgDTO.getPsdImg())) {
-            updateWrapper.set(TaskInfo::getPsdImg, imgDTO.getPsdImg());
+            infoImg.setPsdImg(imgDTO.getPsdImg());
         }
         if (StrUtil.isNotEmpty(imgDTO.getRouteImg())) {
-            updateWrapper.set(TaskInfo::getRouteImg, imgDTO.getRouteImg());
+            infoImg.setRouteImg(imgDTO.getRouteImg());
         }
-        updateWrapper.set(TaskInfo::getHeatImg, path);
-        updateWrapper.eq(TaskInfo::getId, imgDTO.getTaskId());
-        update(updateWrapper);
+        infoImg.setId(Convert.toLong(imgDTO.getTaskId()));
+        imgService.saveOrUpdate(infoImg);
     }
 
     @SneakyThrows
@@ -449,6 +479,7 @@
     @Override
     public void exportDoc(HttpServletResponse response, String taskId) {
         TaskInfo info = getById(taskId);
+        wrapTaskInfo(info);
         RobotInfo robotInfo = cacheService.getRobotInfo(info.getRobotId());
         response.setContentType("application/octet-stream");
         response.setCharacterEncoding("utf-8");
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 75fec0e..35f1d41 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
@@ -62,7 +62,6 @@
                 query.eq("(a.monitor_val<b.alarm_threshold)", true);
             }
         }
-        query.orderByAsc("a.alarm_time");
         return query;
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskInfoImgVO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskInfoImgVO.java
new file mode 100644
index 0000000..cd79a07
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskInfoImgVO.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.vo;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import cn.hutool.core.util.StrUtil;
+
+
+/**
+ * 任务照片存储对象VO
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+public class TaskInfoImgVO {
+    private static final long serialVersionUID = 1L;
+
+
+            @ApiModelProperty(value = "MCA图片" , dataType = "String")
+            private String mcaImg;
+
+            @ApiModelProperty(value = "PSD图片" , dataType = "String")
+            private String psdImg;
+
+            @ApiModelProperty(value = "巡检路线img" , dataType = "String")
+            private String routeImg;
+
+            @ApiModelProperty(value = "热点分布图" , dataType = "String")
+            private String heatImg;
+
+public QueryWrapper<TaskInfoImg> genQuery() {
+QueryWrapper<TaskInfoImg> query = new QueryWrapper<>();
+if (StrUtil.isNotEmpty(mcaImg)) {
+        query.eq("mca_img",mcaImg);
+}
+if (StrUtil.isNotEmpty(psdImg)) {
+        query.eq("psd_img",psdImg);
+}
+if (StrUtil.isNotEmpty(routeImg)) {
+        query.eq("route_img",routeImg);
+}
+if (StrUtil.isNotEmpty(heatImg)) {
+        query.eq("heat_img",heatImg);
+}
+return query;
+}}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/DemoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/DemoController.java
deleted file mode 100644
index 99c4a6f..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/DemoController.java
+++ /dev/null
@@ -1,31 +0,0 @@
-package com.casic.missiles.modular.system.controller;
-
-
-import com.casic.missiles.model.response.ResponseData;
-import org.springframework.web.bind.annotation.PostMapping;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.ResponseBody;
-import org.springframework.web.bind.annotation.RestController;
-
-/**
- * @ClassName DemoController
- * @Description TODO
- * @Author lenovo
- * @Date 2020/6/13 15:38
- * @Version 1.0
- */
-@RestController
-@RequestMapping("/demo")
-public class DemoController {
-
-
-    /**
-     * 获取mockToken
-     */
-    @PostMapping("/test")
-    @ResponseBody
-    public Object testMqtt(String topic, String msg) {
-
-        return ResponseData.success();
-    }
-}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/event/UserEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/system/event/UserEvent.java
deleted file mode 100644
index c6ed867..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/event/UserEvent.java
+++ /dev/null
@@ -1,23 +0,0 @@
-package com.casic.missiles.modular.system.event;
-
-import com.casic.missiles.model.application.event.core.ModelEvent;
-import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
-import com.casic.missiles.modular.system.model.User;
-
-/**
- * 用户事件
- *
- * @author lwh
- */
-public class UserEvent extends ModelEvent<User> {
-    /**
-     * Create a new {@code ApplicationEvent}.
-     *
-     * @param type   事件类型
-     * @param source the object on which the event initially occurred or with
-     *               which the event is associated (never {@code null})
-     */
-    public UserEvent(AbstractEventTypeEnum type, User source) {
-        super(type, source);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/event/listener/UserOneListener.java b/casic-server/src/main/java/com/casic/missiles/modular/system/event/listener/UserOneListener.java
deleted file mode 100644
index 4480ef2..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/event/listener/UserOneListener.java
+++ /dev/null
@@ -1,20 +0,0 @@
-package com.casic.missiles.modular.system.event.listener;
-
-import com.casic.missiles.core.application.event.UserLoginEvent;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.context.event.EventListener;
-import org.springframework.stereotype.Component;
-
-/**
- * 用户事件订阅
- *
- * @author lwh
- */
-@Slf4j
-@Component
-public class UserOneListener {
-    @EventListener
-    public void onApplicationEvent(UserLoginEvent event) {
-        log.debug("用户1订阅:{}", event);
-    }
-}

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
new file mode 100644
index 0000000..9d012da
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  任务照片存储 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface TaskInfoImgMapper extends BaseMapper<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage( @Param("page") Page<TaskInfoImg> page,@Param("ew" ) QueryWrapper<TaskInfoImg> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
new file mode 100644
index 0000000..e330c68
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.TaskInfoImgMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskInfoImg">
+            <result column="id" property="id"/>
+            <result column="mca_img" property="mcaImg"/>
+            <result column="psd_img" property="psdImg"/>
+            <result column="route_img" property="routeImg"/>
+            <result column="heat_img" property="heatImg"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    mca_img as mcaImg ,
+                    psd_img as psdImg ,
+                    route_img as routeImg ,
+                    heat_img as heatImg 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.mca_img
+            as mcaImg ,
+            a.psd_img
+            as psdImg ,
+            a.route_img
+            as routeImg ,
+            a.heat_img
+            as heatImg 
+</sql>
+<select id="selectTaskInfoImgPage" resultType="com.casic.missiles.modular.robot.model.TaskInfoImg">
+    select
+    <include refid="Base_Column_Alias"/>
+    from task_info_img a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.mcaImg!= null and request.mcaImg!=''">
+            and mca_img = #{request.mcaImg}
+</if>
+<if test="request.psdImg!= null and request.psdImg!=''">
+            and psd_img = #{request.psdImg}
+</if>
+<if test="request.routeImg!= null and request.routeImg!=''">
+            and route_img = #{request.routeImg}
+</if>
+<if test="request.heatImg!= null and request.heatImg!=''">
+            and heat_img = #{request.heatImg}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
new file mode 100644
index 0000000..ed06f3b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
@@ -0,0 +1,32 @@
+package com.casic.missiles.modular.robot.event;
+
+import com.casic.missiles.model.application.event.core.ModelEvent;
+import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+/**
+ * 用户登录数据变化事件
+ *
+ * @author lwh
+ */
+public class PoseMessageEvent extends ModelEvent<MqttMessage> {
+    private String robotId;
+    /**
+     * Create a new {@code ApplicationEvent}.
+     *
+     * @param type   事件类型
+     * @param source the object on which the event initially occurred or with
+     *               which the event is associated (never {@code null})
+     */
+    public PoseMessageEvent(AbstractEventTypeEnum type, MqttMessage source) {
+        super(type, source);
+    }
+
+    public String getRobotId() {
+        return robotId;
+    }
+
+    public void setRobotId(String robotId) {
+        this.robotId = robotId;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
new file mode 100644
index 0000000..2cc6cdc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.event;
+
+import cn.hutool.core.thread.ExecutorBuilder;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.ThreadPoolExecutor;
+
+/**
+ * 定位事件监听器
+ * @see  com.casic.missiles.modular.robot.opt.handler.msg.PoseMessageMsgHandler
+ */
+@Slf4j
+@Component
+public class PoseMessageListener {
+    private static ThreadPoolExecutor threadPoolExecutor = ExecutorBuilder.create().setCorePoolSize(5).setMaxPoolSize(10).build();
+    private final IRobotStatusInfoService statusInfoService;
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageListener(IRobotStatusInfoService statusInfoService, IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.statusInfoService = statusInfoService;
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @EventListener
+    public void onApplicationEvent(PoseMessageEvent event) {
+//        threadPoolExecutor.execute(() -> { });
+        robotTrajectoryInfoService.savePoseMessage(event.getRobotId(), (MqttMessage) event.getSource());
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
new file mode 100644
index 0000000..7e881d9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
@@ -0,0 +1,52 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+
+/**
+ * 任务照片存储对象 task_info_img
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+@TableName("task_info_img")
+public class TaskInfoImg extends Model<TaskInfoImg> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "任务ID", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "MCA图片", dataType = "String")
+    @TableField("mca_img")
+    private String mcaImg;
+
+    @ApiModelProperty(value = "PSD图片", dataType = "String")
+    @TableField("psd_img")
+    private String psdImg;
+
+    @ApiModelProperty(value = "巡检路线img", dataType = "String")
+    @TableField("route_img")
+    private String routeImg;
+
+    @ApiModelProperty(value = "热点分布图", dataType = "String")
+    @TableField("heat_img")
+    private String heatImg;
+
+
+    @Override
+    public String toString() {
+        return "TaskInfoImg{"
+                + "id=" + id
+                + "mcaImg=" + mcaImg
+                + "psdImg=" + psdImg
+                + "routeImg=" + routeImg
+                + "heatImg=" + heatImg
+                + "}";
+    }
+}
\ No newline at end of file
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 d74a38b..c4bc25d 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
@@ -35,7 +35,7 @@
     }),
     TRACK_RECORD("/track_record" , "/track_record_response" , "启动或关闭轨迹录制功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
-    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     DELETE_TRACK("/delete_track" , "/delete_track_response" , "删除路线" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
index 41879dd..83f4cb2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
@@ -13,6 +13,7 @@
 
 /**
  * websocket 推送消息
+ * @see com.casic.missiles.mqtt.config.MqttClientConfigListener#createMqtt
  */
 @Slf4j
 public abstract class AbstractSocketHandler implements IBaseMsgHandler {
@@ -48,7 +49,7 @@
                 wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
                 wsMsgBaseDTO.setData(jsonObject.get("msg"));
                 String msg = JSON.toJSONString(wsMsgBaseDTO);
-//                log.info("推送{}消息：{}", enums.getRemarks(), msg);
+                log.info("推送{}消息：{}", enums.getRemarks(), msg);
                 webSocket.sendOneMessage(robotId, msg);
             }
         } catch (Exception e) {
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 b8e561d..5e3fe49 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
@@ -6,6 +6,8 @@
  * 业务消息处理器
  */
 public interface IBaseMsgHandler {
+    static String index_key = "index";
+
     /**
      * 消息处理handler
      *
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
index cefe2cd..27bed0e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
@@ -55,9 +55,6 @@
         }
         messageDTO.setMsg(request);
         ResponseDataDTO<Integer> list = null;
-        if (request.getAction() != 1) {
-            taskInfoService.reloadTask(request, getRobotInfo());
-        }
         try {
             list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.START_TRACK, messageDTO);
         } catch (Exception e) {
@@ -75,8 +72,7 @@
      */
     @Override
     public ResponseDataDTO afterInvoke(StartTrackRequest request, ResponseDataDTO response) {
-        //增加循迹任务记录
-        taskInfoService.reloadTask(request, getRobotInfo());
+
         return response;
     }
 }
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
index 316fd8f..8b7fd0e 100644
--- 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
@@ -19,7 +19,7 @@
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
     static {
-        index.put("index", 0);
+        index.put(index_key, 0);
     }
 
     public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
@@ -28,7 +28,12 @@
 
     @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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 83d1d39..67ec20e 100644
--- 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
@@ -6,6 +6,9 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.stereotype.Component;
 
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
 /**
  * 停障状态实时接收器
  */
@@ -13,14 +16,23 @@
 @Component("/app_stop_navtrack")
 public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
     private final IRobotStatusInfoService statusInfoService;
-
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+    static {
+        index.put(index_key, 0);
+    }
     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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 1cf0e55..9c26129 100644
--- 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
@@ -1,28 +1,37 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.application.enums.LoginEventTypeEnum;
+import com.casic.missiles.model.application.event.core.EventPublisher;
+import com.casic.missiles.modular.robot.event.PoseMessageEvent;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
-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 extends AbstractSocketHandler {
 
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
 
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    private final EventPublisher publisher;
+
+    public PoseMessageMsgHandler(EventPublisher publisher) {
+
+        this.publisher = publisher;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+//        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
         sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message);
+        PoseMessageEvent event = new PoseMessageEvent(LoginEventTypeEnum.RELOAD_SCOPE, message);
+        event.setRobotId(robotId);
+        publisher.publishEvent(event);
+        log.info("实时定位已发送！！");
     }
 }
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
index 4910f62..b248839 100644
--- 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
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.model.application.event.core.EventPublisher;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -16,17 +17,18 @@
 @Slf4j
 @Component("/process_message")
 public class ProcessMessageMsgHandler extends AbstractSocketHandler {
-    private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+    private final EventPublisher publisher;
+    private final IRobotStatusInfoService statusInfoService;
+    public ProcessMessageMsgHandler(EventPublisher publisher, IRobotStatusInfoService statusInfoService) {
+        this.publisher = publisher;
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
+        statusInfoService.saveProcessMessage(robotId,message);
         sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, 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
index 3a19ebe..9d275bd 100644
--- 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
@@ -34,7 +34,7 @@
         index.put("index" , val);
         if (val > 30) {
             index.put("index" , 0);
-            statusInfoService.saveSensorStatus(robotId, message);
+//            statusInfoService.saveSensorStatus(robotId, message);
         }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
index 3acf1d7..8950815 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
@@ -19,13 +19,22 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
     public StopStateMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        statusInfoService.saveStopState(robotId, message);
-//        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+
+            statusInfoService.saveStopState(robotId, message);
+        }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
index ad0eda8..a9d7914 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.VoltageDTO;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
@@ -20,20 +25,58 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
+
     public VoltageResponseMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-//        log.info("----------------------电压信息反馈:{}", message);
-        statusInfoService.saveVoltageResponseMessage(robotId, message);
-        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
-        try{
 
-        RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
-        sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
-        }catch (Exception e){
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key) > 50) {
+            index.put(index_key, 0);
+            log.info("----------------------电压信息反馈:{}", message);
+            statusInfoService.saveVoltageResponseMessage(robotId, message);
+        }
+        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+        try {
+
+            RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
+            Integer appNav = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_NAV_PAUSE + robotId);
+            Integer appStop = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_STOP_NAVTRACK + robotId);
+            PoseMessageResponseDTO dto = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + robotId);
+            StopStateResponseDTO stopStateResponseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + robotId);
+            VoltageDTO voltageDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.VOLTAGE_RESPONSE + robotId);
+            if (robotStatusInfo != null) {
+                if (appNav != null) {
+                    robotStatusInfo.setAppNavPause(appNav);
+                }
+                if (appStop != null) {
+                    robotStatusInfo.setAppStopNavtrack(appStop);
+                }
+                if (dto != null) {
+                    robotStatusInfo.setPostionX(dto.getX());
+                    robotStatusInfo.setPostionY(dto.getY());
+                    robotStatusInfo.setPostionZ(dto.getZ());
+                }
+                if (stopStateResponseDTO != null) {
+                    robotStatusInfo.setSoft(stopStateResponseDTO.getSoft());
+                    robotStatusInfo.setSonic(stopStateResponseDTO.getSonic());
+                    robotStatusInfo.setCollision(stopStateResponseDTO.getCollision());
+                    robotStatusInfo.setButton(stopStateResponseDTO.getButton());
+                }
+                if (voltageDTO != null) {
+                    robotStatusInfo.setVoltage(voltageDTO.getVoltage());
+                    robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
+                }
+            }
+            //读取缓存信息
+            sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
+        } catch (Exception e) {
             e.printStackTrace();
         }
     }
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 c2c2773..8471e7a 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
@@ -141,6 +141,13 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+    @Transactional
+    @Override
+    public void startTrack(StartTrackRequest request) {
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, robotInfoService.getById(request.getRobotId()));
+        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+    }
 
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
new file mode 100644
index 0000000..c5071bc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.robot.opt.instruct.response;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+
+@Data
+public class VoltageDTO implements Serializable {
+    private Integer electricityQuantity;
+    private BigDecimal voltage;
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
index 9065f34..56b3e1d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -7,6 +7,7 @@
 import com.casic.missiles.modular.robot.model.RobotInfo;
 
 import java.math.BigDecimal;
+import java.util.List;
 
 /**
  * 循迹算法调用
@@ -37,4 +38,5 @@
      * @return
      */
     GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo);
+    void readAlgorithmResponse(String fileName, AlgorithmResponse response, Long taskId, List<String> res);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java
new file mode 100644
index 0000000..f197c10
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java
@@ -0,0 +1,22 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.extension.service.IService;
+import  com.casic.missiles.modular.robot.model.TaskInfoImg;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 任务照片存储 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface ITaskInfoImgService extends IService<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage(Page<TaskInfoImg> page,QueryWrapper<TaskInfoImg> query);}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
index df4a330..f808fa0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
@@ -64,7 +64,7 @@
     @Override
     public AlgorithmResponse pathPlanning(PathPlanDTO planDTO) {
         if (StrUtil.isEmpty(planDTO.getCount())) {
-            planDTO.setCount("0.01");
+            planDTO.setCount("0.001");
         }
         //算法路径及入参配置
         List<String> commends = new ArrayList<>();
@@ -162,8 +162,8 @@
         x = x.subtract(robotInfo.getOriginX());
         y = y.subtract(robotInfo.getOriginY());
 
-        pointDTO.setX(new BigDecimal(x.multiply(scale).intValue()));
-        pointDTO.setY(new BigDecimal(y.multiply(scale).intValue()));
+        pointDTO.setX(new BigDecimal(x.divide(scale,3,BigDecimal.ROUND_HALF_UP).intValue()+1));
+        pointDTO.setY(new BigDecimal(y.divide(scale,3,BigDecimal.ROUND_HALF_UP).intValue()+1));
         return pointDTO;
     }
 
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 0257c90..6d3ae91 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
@@ -1,18 +1,18 @@
 package com.casic.missiles.modular.robot.service.impl;
 
 import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
-import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
 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;
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dao.RobotStatusInfoMapper;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
@@ -21,10 +21,7 @@
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
 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.opt.instruct.response.AppCostmapResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.SpeedResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.VoltageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.*;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -151,7 +148,8 @@
     public void saveProcessMessage(String robotId, MqttMessage message) {
 //        String json = new String(message.getPayload());
 
-        RobotResponseDTO<ProcessMessageResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<ProcessMessageResponseDTO>>(){});
+        RobotResponseDTO<ProcessMessageResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<ProcessMessageResponseDTO>>() {
+        });
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             ProcessMessageResponseDTO msg = responseDTO.getMsg();
@@ -173,11 +171,8 @@
         RobotMsgResponseDTO<Integer> responseDTO = JSON.parseObject(json, new TypeReference<RobotMsgResponseDTO<Integer>>() {
         });
         if (responseDTO.getMsg() != null) {
-            UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_nav_pause", msg.getResult());
-            query.eq("robot_id", robotId);
-            update(query);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_NAV_PAUSE + robotId, msg.getResult());
         }
     }
 
@@ -186,12 +181,10 @@
         String json = new String(message.getPayload());
         RobotMsgResponseDTO<Integer> responseDTO = JSON.parseObject(json, new TypeReference<RobotMsgResponseDTO<Integer>>() {
         });
+
         if (responseDTO.getMsg() != null) {
-            UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_stop_navtrack", msg.getResult());
-            query.eq("robot_id", robotId);
-            update(query);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_STOP_NAVTRACK + robotId, msg.getResult());
         }
     }
 
@@ -228,16 +221,11 @@
 
     @Override
     public void saveStopState(String robotId, MqttMessage message) {
-        RobotResponseDTO<StopStateResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<StopStateResponseDTO>>(){});
+        RobotResponseDTO<StopStateResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<StopStateResponseDTO>>() {
+        });
         if (responseDTO != null && responseDTO.getMsg() != null) {
-//            log.info("急停状态保存：{}", responseDTO.getMsg());
-            LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
-            query.set(RobotStatusInfo::getButton, responseDTO.getMsg().getButton());
-            query.set(RobotStatusInfo::getCollision, responseDTO.getMsg().getCollision());
-            query.set(RobotStatusInfo::getSonic, responseDTO.getMsg().getSonic());
-            query.set(RobotStatusInfo::getSoft, responseDTO.getMsg().getSoft());
-            query.eq(RobotStatusInfo::getRobotId, robotId);
-            update(query);
+            log.info("急停状态保存：{}", responseDTO.getMsg());
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + robotId, responseDTO.getMsg());
         }
     }
 
@@ -250,37 +238,39 @@
         if (responseDTO != null && responseDTO.getMsg() != null) {
             RobotInfo info = robotInfoService.getById(robotId);
             log.info("电压状态保存：{}", responseDTO.getMsg());
-            LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
             if (CollectionUtil.isNotEmpty(responseDTO.getMsg().getVoltage())) {
                 Integer v = responseDTO.getMsg().getVoltage().get(0);
-                query.set(RobotStatusInfo::getVoltage, v);
                 //计算电量
                 Double quantity = new BigDecimal(v - info.getVoltageMin()).divide(new BigDecimal(info.getVoltageMax() - info.getVoltageMin()), 2, BigDecimal.ROUND_HALF_UP).doubleValue();
-                query.set(RobotStatusInfo::getElectricityQuantity, quantity * 100);
-                query.eq(RobotStatusInfo::getRobotId, robotId);
-                update(query);
+                VoltageDTO voltageDTO = new VoltageDTO();
+                voltageDTO.setVoltage(new BigDecimal(v));
+                voltageDTO.setElectricityQuantity(Convert.toInt(quantity * 100));
+                CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.VOLTAGE_RESPONSE + robotId, voltageDTO);
             }
         }
     }
 
     /**
      * 机器人栅格数据
+     *
      * @param robotId 机器人障碍物栅格数据保存
      * @param message 消息体
      */
     @Override
     public void saveCostMap(String robotId, MqttMessage message) {
         //数据接收
-        RobotResponseDTO<AppCostmapResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<AppCostmapResponseDTO>>() {});
+        RobotResponseDTO<AppCostmapResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<AppCostmapResponseDTO>>() {
+        });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
-            robotInfoService.updateRobotGrid(robotId,responseDTO.getMsg());
+            robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
 //            log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
         }
     }
 
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
+        //todo cache
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
         query.set("postion_x", dto.getX());
         query.set("postion_y", dto.getY());
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 bb066f4..6c9625f 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
@@ -5,6 +5,8 @@
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dao.RobotTrajectoryInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.model.RobotTrajectoryInfo;
@@ -34,11 +36,12 @@
 public class RobotTrajectoryInfoServiceImpl extends ServiceImpl<RobotTrajectoryInfoMapper, RobotTrajectoryInfo> implements IRobotTrajectoryInfoService {
     private final IRobotStatusInfoService robotStatusInfoService;
     private final ITaskInfoService infoService;
+    private final IRobotCacheService cacheService;
 
-
-    public RobotTrajectoryInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, ITaskInfoService infoService) {
+    public RobotTrajectoryInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, ITaskInfoService infoService, IRobotCacheService cacheService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.infoService = infoService;
+        this.cacheService = cacheService;
     }
 
     @Override
@@ -54,14 +57,15 @@
         });
 
         //读取导航状态,如果导航未开启则不存储
-        RobotStatusInfo statusInfo = robotStatusInfoService.getStatusByRobotId(robotId);
-        if (statusInfo != null && responseDTO.getMsg() != null) {
+//        RobotStatusInfo statusInfo = robotStatusInfoService.getStatusByRobotId(robotId);
+        Long routeId= cacheService.readRouteId(Long.valueOf(robotId));
+        if (routeId != null && responseDTO.getMsg() != null) {
             PoseMessageResponseDTO dto = responseDTO.getMsg();
             //执行循迹 保存当前轨迹信息
             //更新实时定位信息
-            robotStatusInfoService.updateRobotPoint(dto,robotId);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + robotId, dto);
             infoService.pointTestCallBack(dto, robotId);
-            if (statusInfo.getCurrRouteId() != null) {
+            if (routeId != null) {
                 RobotTrajectoryInfo info = new RobotTrajectoryInfo();
                 info.setRobotId(Long.valueOf(robotId));
                 info.setCreateTime(new Date());
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java
new file mode 100644
index 0000000..a0f578e
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java
@@ -0,0 +1,28 @@
+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.ITaskInfoImgService;
+import java.util.List;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+
+import com.casic.missiles.modular.robot.dao.TaskInfoImgMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+
+
+/**
+ * <p>
+ * 任务照片存储 服务实现类
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Service
+public class TaskInfoImgServiceImpl extends ServiceImpl<TaskInfoImgMapper, TaskInfoImg> implements ITaskInfoImgService {
+@Override
+public List<TaskInfoImg> selectTaskInfoImgPage(Page<TaskInfoImg> page,QueryWrapper<TaskInfoImg> query) {
+return this.baseMapper.selectTaskInfoImgPage(page,query);
+}}
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 93745b6..d1417b0 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
@@ -6,11 +6,11 @@
 import cn.hutool.core.convert.Convert;
 import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.io.FileUtil;
+import cn.hutool.core.thread.ExecutorBuilder;
 import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
 import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
 import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
@@ -47,6 +47,7 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.*;
+import java.util.concurrent.ThreadPoolExecutor;
 
 
 /**
@@ -68,7 +69,10 @@
     private final IAlgorithmService algorithmService;
     private final IRobotCacheService cacheService;
     private final IBaseRobotService baseRobotService;
-
+    private final ITaskInfoImgService imgService;
+    /**
+     * 初始化线程池
+     */
 
     @Value("${casic.file.uploadPath}")
     private String uploadPath;
@@ -80,7 +84,7 @@
     @Value("${casic.obstacle:10}")
     private Integer obstacle;
 
-    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService) {
+    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService, ITaskInfoImgService imgService) {
         this.routeInfoService = routeInfoService;
         this.statusInfoService = statusInfoService;
         this.dictService = dictService;
@@ -89,6 +93,7 @@
         this.algorithmService = algorithmService;
         this.cacheService = cacheService;
         this.baseRobotService = baseRobotService;
+        this.imgService = imgService;
     }
 
     /**
@@ -145,6 +150,13 @@
         taskInfo.setDiscernTypeName(dictService.getDictNameByCode(RobotDictConstants.DISCERN_TYPE, taskInfo.getDiscernType() + ""));
         taskInfo.setTaskTypeName(dictService.getDictNameByCode(RobotDictConstants.TASK_TYPE, taskInfo.getTaskType() + ""));
         taskInfo.setTaskStatusName(dictService.getDictNameByCode(RobotDictConstants.TASK_STATUS, taskInfo.getTaskType() + ""));
+        TaskInfoImg taskInfoImg = imgService.getById(taskInfo.getId());
+        if (taskInfoImg != null) {
+            taskInfo.setRouteImg(taskInfoImg.getRouteImg());
+            taskInfo.setPsdImg(taskInfoImg.getPsdImg());
+            taskInfo.setMcaImg(taskInfoImg.getMcaImg());
+            taskInfo.setHeatImg(taskInfoImg.getHeatImg());
+        }
         //检索当前任务告警数量
         taskInfo.setAlarmNum(recordService.selectCountByTaskId(taskInfo.getId(), taskInfo.getRobotId()));
         taskInfo.setHeatMap(taskHeatMapService.getByTaskId(taskInfo.getId()));
@@ -209,6 +221,7 @@
 
         //清空任务缓存
         robotCacheClean(robotId);
+
         //清空机器当前任务
         statusInfoService.updateCurrTask(robotId, null, null);
 
@@ -240,6 +253,9 @@
         //缓存当前点位信息
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_XY_POINT + robotId, dto);
         RobotInfo robotInfo = cacheService.getRobotInfo(longId);
+        //slam经纬度转栅格
+        GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getResolution(), robotInfo);
+        log.info("currGrid:{}", pointDTO);
         if (robotInfo.getAlarmThreshold() == null || robotInfo.getMaxThreshold() == null) {
             log.error("no config 中子源阈值未配置");
             return;
@@ -254,13 +270,25 @@
         //算法初始化状态读取
         Integer initValue = cacheService.readTaskInit(longId);
 
-        //slam经纬度转栅格
-        GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getResolution(), robotInfo);
 
         //No.1 任务初始化
         if (initValue != 1) {
             //执行初始化操作
             if (cacheService.updateTaskInit(longId, 1)) {
+
+                try {
+                    File file = new File(".");
+                    File[] files = file.listFiles((dir, name) -> (name.endsWith(".png") && name.startsWith("step"))
+                            || (name.endsWith(".txt") && name.startsWith("step")) || name.equals("repetition.txt") || name.equals("xy_train.txt") || name.equals("z_train.txt"));
+                    if (files != null) {
+                        for (int i = 0; i < files.length; i++) {
+                            FileUtil.del(files[i]);
+                        }
+                    }
+                } catch (Exception e) {
+                    e.printStackTrace();
+                }
+
                 PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId);
                 //中子源计数率读取
                 pathInitDTO.setCount(cacheService.getNeutronCount(longId));
@@ -288,7 +316,7 @@
                 AlgorithmResponse response = algorithmService.pathPlanning(pathPlanDTO);
                 //存储算法输出栅格信息
                 CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId, response.getPointNextDTO());
-                sendWebSocket(InstructStatusMsgEnums.HEAT_MAP,robotId, response.getTaskHeatMap());
+                sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
                 //是否触发寻源操作
                 BigDecimal bigCount = new BigDecimal(pathPlanDTO.getCount());
                 if (bigCount.compareTo(robotInfo.getAlarmThreshold()) >= 0) {
@@ -329,6 +357,7 @@
         RobotInfo robotInfo = cacheService.getRobotInfo(longId);
         //slam经纬度转栅格
         GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getResolution(), robotInfo);
+        log.info("currGrid:{}", pointDTO);
     }
 
 
@@ -426,22 +455,23 @@
      *
      * @param imgDTO
      */
+    @Transactional
     @Override
     public void saveImg(ImgDTO imgDTO) {
         String path = saveHeatImg(imgDTO.getTaskId());
-        LambdaUpdateWrapper<TaskInfo> updateWrapper = new LambdaUpdateWrapper<>();
+        TaskInfoImg infoImg = new TaskInfoImg();
         if (StrUtil.isNotEmpty(imgDTO.getMcaImg())) {
-            updateWrapper.set(TaskInfo::getMcaImg, imgDTO.getMcaImg());
+            infoImg.setMcaImg(imgDTO.getMcaImg());
+            infoImg.setHeatImg(path);
         }
         if (StrUtil.isNotEmpty(imgDTO.getPsdImg())) {
-            updateWrapper.set(TaskInfo::getPsdImg, imgDTO.getPsdImg());
+            infoImg.setPsdImg(imgDTO.getPsdImg());
         }
         if (StrUtil.isNotEmpty(imgDTO.getRouteImg())) {
-            updateWrapper.set(TaskInfo::getRouteImg, imgDTO.getRouteImg());
+            infoImg.setRouteImg(imgDTO.getRouteImg());
         }
-        updateWrapper.set(TaskInfo::getHeatImg, path);
-        updateWrapper.eq(TaskInfo::getId, imgDTO.getTaskId());
-        update(updateWrapper);
+        infoImg.setId(Convert.toLong(imgDTO.getTaskId()));
+        imgService.saveOrUpdate(infoImg);
     }
 
     @SneakyThrows
@@ -449,6 +479,7 @@
     @Override
     public void exportDoc(HttpServletResponse response, String taskId) {
         TaskInfo info = getById(taskId);
+        wrapTaskInfo(info);
         RobotInfo robotInfo = cacheService.getRobotInfo(info.getRobotId());
         response.setContentType("application/octet-stream");
         response.setCharacterEncoding("utf-8");
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 75fec0e..35f1d41 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
@@ -62,7 +62,6 @@
                 query.eq("(a.monitor_val<b.alarm_threshold)", true);
             }
         }
-        query.orderByAsc("a.alarm_time");
         return query;
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskInfoImgVO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskInfoImgVO.java
new file mode 100644
index 0000000..cd79a07
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskInfoImgVO.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.vo;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import cn.hutool.core.util.StrUtil;
+
+
+/**
+ * 任务照片存储对象VO
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+public class TaskInfoImgVO {
+    private static final long serialVersionUID = 1L;
+
+
+            @ApiModelProperty(value = "MCA图片" , dataType = "String")
+            private String mcaImg;
+
+            @ApiModelProperty(value = "PSD图片" , dataType = "String")
+            private String psdImg;
+
+            @ApiModelProperty(value = "巡检路线img" , dataType = "String")
+            private String routeImg;
+
+            @ApiModelProperty(value = "热点分布图" , dataType = "String")
+            private String heatImg;
+
+public QueryWrapper<TaskInfoImg> genQuery() {
+QueryWrapper<TaskInfoImg> query = new QueryWrapper<>();
+if (StrUtil.isNotEmpty(mcaImg)) {
+        query.eq("mca_img",mcaImg);
+}
+if (StrUtil.isNotEmpty(psdImg)) {
+        query.eq("psd_img",psdImg);
+}
+if (StrUtil.isNotEmpty(routeImg)) {
+        query.eq("route_img",routeImg);
+}
+if (StrUtil.isNotEmpty(heatImg)) {
+        query.eq("heat_img",heatImg);
+}
+return query;
+}}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/DemoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/DemoController.java
deleted file mode 100644
index 99c4a6f..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/DemoController.java
+++ /dev/null
@@ -1,31 +0,0 @@
-package com.casic.missiles.modular.system.controller;
-
-
-import com.casic.missiles.model.response.ResponseData;
-import org.springframework.web.bind.annotation.PostMapping;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.ResponseBody;
-import org.springframework.web.bind.annotation.RestController;
-
-/**
- * @ClassName DemoController
- * @Description TODO
- * @Author lenovo
- * @Date 2020/6/13 15:38
- * @Version 1.0
- */
-@RestController
-@RequestMapping("/demo")
-public class DemoController {
-
-
-    /**
-     * 获取mockToken
-     */
-    @PostMapping("/test")
-    @ResponseBody
-    public Object testMqtt(String topic, String msg) {
-
-        return ResponseData.success();
-    }
-}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/event/UserEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/system/event/UserEvent.java
deleted file mode 100644
index c6ed867..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/event/UserEvent.java
+++ /dev/null
@@ -1,23 +0,0 @@
-package com.casic.missiles.modular.system.event;
-
-import com.casic.missiles.model.application.event.core.ModelEvent;
-import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
-import com.casic.missiles.modular.system.model.User;
-
-/**
- * 用户事件
- *
- * @author lwh
- */
-public class UserEvent extends ModelEvent<User> {
-    /**
-     * Create a new {@code ApplicationEvent}.
-     *
-     * @param type   事件类型
-     * @param source the object on which the event initially occurred or with
-     *               which the event is associated (never {@code null})
-     */
-    public UserEvent(AbstractEventTypeEnum type, User source) {
-        super(type, source);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/event/listener/UserOneListener.java b/casic-server/src/main/java/com/casic/missiles/modular/system/event/listener/UserOneListener.java
deleted file mode 100644
index 4480ef2..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/event/listener/UserOneListener.java
+++ /dev/null
@@ -1,20 +0,0 @@
-package com.casic.missiles.modular.system.event.listener;
-
-import com.casic.missiles.core.application.event.UserLoginEvent;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.context.event.EventListener;
-import org.springframework.stereotype.Component;
-
-/**
- * 用户事件订阅
- *
- * @author lwh
- */
-@Slf4j
-@Component
-public class UserOneListener {
-    @EventListener
-    public void onApplicationEvent(UserLoginEvent event) {
-        log.debug("用户1订阅:{}", event);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/event/listener/UserTwoListener.java b/casic-server/src/main/java/com/casic/missiles/modular/system/event/listener/UserTwoListener.java
deleted file mode 100644
index 8447a22..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/event/listener/UserTwoListener.java
+++ /dev/null
@@ -1,20 +0,0 @@
-package com.casic.missiles.modular.system.event.listener;
-
-import com.casic.missiles.model.application.event.core.EventSubscriber;
-import com.casic.missiles.modular.system.event.UserEvent;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 用户事件订阅
- *
- * @author lwh
- */
-@Slf4j
-@Component
-public class UserTwoListener extends EventSubscriber<UserEvent> {
-    @Override
-    public void onApplicationEvent(UserEvent event) {
-        log.debug("用户2订阅:{}", event);
-    }
-}

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
new file mode 100644
index 0000000..9d012da
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  任务照片存储 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface TaskInfoImgMapper extends BaseMapper<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage( @Param("page") Page<TaskInfoImg> page,@Param("ew" ) QueryWrapper<TaskInfoImg> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
new file mode 100644
index 0000000..e330c68
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.TaskInfoImgMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskInfoImg">
+            <result column="id" property="id"/>
+            <result column="mca_img" property="mcaImg"/>
+            <result column="psd_img" property="psdImg"/>
+            <result column="route_img" property="routeImg"/>
+            <result column="heat_img" property="heatImg"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    mca_img as mcaImg ,
+                    psd_img as psdImg ,
+                    route_img as routeImg ,
+                    heat_img as heatImg 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.mca_img
+            as mcaImg ,
+            a.psd_img
+            as psdImg ,
+            a.route_img
+            as routeImg ,
+            a.heat_img
+            as heatImg 
+</sql>
+<select id="selectTaskInfoImgPage" resultType="com.casic.missiles.modular.robot.model.TaskInfoImg">
+    select
+    <include refid="Base_Column_Alias"/>
+    from task_info_img a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.mcaImg!= null and request.mcaImg!=''">
+            and mca_img = #{request.mcaImg}
+</if>
+<if test="request.psdImg!= null and request.psdImg!=''">
+            and psd_img = #{request.psdImg}
+</if>
+<if test="request.routeImg!= null and request.routeImg!=''">
+            and route_img = #{request.routeImg}
+</if>
+<if test="request.heatImg!= null and request.heatImg!=''">
+            and heat_img = #{request.heatImg}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
new file mode 100644
index 0000000..ed06f3b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
@@ -0,0 +1,32 @@
+package com.casic.missiles.modular.robot.event;
+
+import com.casic.missiles.model.application.event.core.ModelEvent;
+import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+/**
+ * 用户登录数据变化事件
+ *
+ * @author lwh
+ */
+public class PoseMessageEvent extends ModelEvent<MqttMessage> {
+    private String robotId;
+    /**
+     * Create a new {@code ApplicationEvent}.
+     *
+     * @param type   事件类型
+     * @param source the object on which the event initially occurred or with
+     *               which the event is associated (never {@code null})
+     */
+    public PoseMessageEvent(AbstractEventTypeEnum type, MqttMessage source) {
+        super(type, source);
+    }
+
+    public String getRobotId() {
+        return robotId;
+    }
+
+    public void setRobotId(String robotId) {
+        this.robotId = robotId;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
new file mode 100644
index 0000000..2cc6cdc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.event;
+
+import cn.hutool.core.thread.ExecutorBuilder;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.ThreadPoolExecutor;
+
+/**
+ * 定位事件监听器
+ * @see  com.casic.missiles.modular.robot.opt.handler.msg.PoseMessageMsgHandler
+ */
+@Slf4j
+@Component
+public class PoseMessageListener {
+    private static ThreadPoolExecutor threadPoolExecutor = ExecutorBuilder.create().setCorePoolSize(5).setMaxPoolSize(10).build();
+    private final IRobotStatusInfoService statusInfoService;
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageListener(IRobotStatusInfoService statusInfoService, IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.statusInfoService = statusInfoService;
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @EventListener
+    public void onApplicationEvent(PoseMessageEvent event) {
+//        threadPoolExecutor.execute(() -> { });
+        robotTrajectoryInfoService.savePoseMessage(event.getRobotId(), (MqttMessage) event.getSource());
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
new file mode 100644
index 0000000..7e881d9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
@@ -0,0 +1,52 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+
+/**
+ * 任务照片存储对象 task_info_img
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+@TableName("task_info_img")
+public class TaskInfoImg extends Model<TaskInfoImg> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "任务ID", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "MCA图片", dataType = "String")
+    @TableField("mca_img")
+    private String mcaImg;
+
+    @ApiModelProperty(value = "PSD图片", dataType = "String")
+    @TableField("psd_img")
+    private String psdImg;
+
+    @ApiModelProperty(value = "巡检路线img", dataType = "String")
+    @TableField("route_img")
+    private String routeImg;
+
+    @ApiModelProperty(value = "热点分布图", dataType = "String")
+    @TableField("heat_img")
+    private String heatImg;
+
+
+    @Override
+    public String toString() {
+        return "TaskInfoImg{"
+                + "id=" + id
+                + "mcaImg=" + mcaImg
+                + "psdImg=" + psdImg
+                + "routeImg=" + routeImg
+                + "heatImg=" + heatImg
+                + "}";
+    }
+}
\ No newline at end of file
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 d74a38b..c4bc25d 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
@@ -35,7 +35,7 @@
     }),
     TRACK_RECORD("/track_record" , "/track_record_response" , "启动或关闭轨迹录制功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
-    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     DELETE_TRACK("/delete_track" , "/delete_track_response" , "删除路线" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
index 41879dd..83f4cb2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
@@ -13,6 +13,7 @@
 
 /**
  * websocket 推送消息
+ * @see com.casic.missiles.mqtt.config.MqttClientConfigListener#createMqtt
  */
 @Slf4j
 public abstract class AbstractSocketHandler implements IBaseMsgHandler {
@@ -48,7 +49,7 @@
                 wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
                 wsMsgBaseDTO.setData(jsonObject.get("msg"));
                 String msg = JSON.toJSONString(wsMsgBaseDTO);
-//                log.info("推送{}消息：{}", enums.getRemarks(), msg);
+                log.info("推送{}消息：{}", enums.getRemarks(), msg);
                 webSocket.sendOneMessage(robotId, msg);
             }
         } catch (Exception e) {
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 b8e561d..5e3fe49 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
@@ -6,6 +6,8 @@
  * 业务消息处理器
  */
 public interface IBaseMsgHandler {
+    static String index_key = "index";
+
     /**
      * 消息处理handler
      *
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
index cefe2cd..27bed0e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
@@ -55,9 +55,6 @@
         }
         messageDTO.setMsg(request);
         ResponseDataDTO<Integer> list = null;
-        if (request.getAction() != 1) {
-            taskInfoService.reloadTask(request, getRobotInfo());
-        }
         try {
             list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.START_TRACK, messageDTO);
         } catch (Exception e) {
@@ -75,8 +72,7 @@
      */
     @Override
     public ResponseDataDTO afterInvoke(StartTrackRequest request, ResponseDataDTO response) {
-        //增加循迹任务记录
-        taskInfoService.reloadTask(request, getRobotInfo());
+
         return response;
     }
 }
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
index 316fd8f..8b7fd0e 100644
--- 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
@@ -19,7 +19,7 @@
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
     static {
-        index.put("index", 0);
+        index.put(index_key, 0);
     }
 
     public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
@@ -28,7 +28,12 @@
 
     @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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 83d1d39..67ec20e 100644
--- 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
@@ -6,6 +6,9 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.stereotype.Component;
 
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
 /**
  * 停障状态实时接收器
  */
@@ -13,14 +16,23 @@
 @Component("/app_stop_navtrack")
 public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
     private final IRobotStatusInfoService statusInfoService;
-
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+    static {
+        index.put(index_key, 0);
+    }
     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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 1cf0e55..9c26129 100644
--- 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
@@ -1,28 +1,37 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.application.enums.LoginEventTypeEnum;
+import com.casic.missiles.model.application.event.core.EventPublisher;
+import com.casic.missiles.modular.robot.event.PoseMessageEvent;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
-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 extends AbstractSocketHandler {
 
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
 
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    private final EventPublisher publisher;
+
+    public PoseMessageMsgHandler(EventPublisher publisher) {
+
+        this.publisher = publisher;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+//        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
         sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message);
+        PoseMessageEvent event = new PoseMessageEvent(LoginEventTypeEnum.RELOAD_SCOPE, message);
+        event.setRobotId(robotId);
+        publisher.publishEvent(event);
+        log.info("实时定位已发送！！");
     }
 }
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
index 4910f62..b248839 100644
--- 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
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.model.application.event.core.EventPublisher;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -16,17 +17,18 @@
 @Slf4j
 @Component("/process_message")
 public class ProcessMessageMsgHandler extends AbstractSocketHandler {
-    private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+    private final EventPublisher publisher;
+    private final IRobotStatusInfoService statusInfoService;
+    public ProcessMessageMsgHandler(EventPublisher publisher, IRobotStatusInfoService statusInfoService) {
+        this.publisher = publisher;
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
+        statusInfoService.saveProcessMessage(robotId,message);
         sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, 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
index 3a19ebe..9d275bd 100644
--- 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
@@ -34,7 +34,7 @@
         index.put("index" , val);
         if (val > 30) {
             index.put("index" , 0);
-            statusInfoService.saveSensorStatus(robotId, message);
+//            statusInfoService.saveSensorStatus(robotId, message);
         }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
index 3acf1d7..8950815 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
@@ -19,13 +19,22 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
     public StopStateMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        statusInfoService.saveStopState(robotId, message);
-//        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+
+            statusInfoService.saveStopState(robotId, message);
+        }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
index ad0eda8..a9d7914 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.VoltageDTO;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
@@ -20,20 +25,58 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
+
     public VoltageResponseMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-//        log.info("----------------------电压信息反馈:{}", message);
-        statusInfoService.saveVoltageResponseMessage(robotId, message);
-        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
-        try{
 
-        RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
-        sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
-        }catch (Exception e){
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key) > 50) {
+            index.put(index_key, 0);
+            log.info("----------------------电压信息反馈:{}", message);
+            statusInfoService.saveVoltageResponseMessage(robotId, message);
+        }
+        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+        try {
+
+            RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
+            Integer appNav = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_NAV_PAUSE + robotId);
+            Integer appStop = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_STOP_NAVTRACK + robotId);
+            PoseMessageResponseDTO dto = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + robotId);
+            StopStateResponseDTO stopStateResponseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + robotId);
+            VoltageDTO voltageDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.VOLTAGE_RESPONSE + robotId);
+            if (robotStatusInfo != null) {
+                if (appNav != null) {
+                    robotStatusInfo.setAppNavPause(appNav);
+                }
+                if (appStop != null) {
+                    robotStatusInfo.setAppStopNavtrack(appStop);
+                }
+                if (dto != null) {
+                    robotStatusInfo.setPostionX(dto.getX());
+                    robotStatusInfo.setPostionY(dto.getY());
+                    robotStatusInfo.setPostionZ(dto.getZ());
+                }
+                if (stopStateResponseDTO != null) {
+                    robotStatusInfo.setSoft(stopStateResponseDTO.getSoft());
+                    robotStatusInfo.setSonic(stopStateResponseDTO.getSonic());
+                    robotStatusInfo.setCollision(stopStateResponseDTO.getCollision());
+                    robotStatusInfo.setButton(stopStateResponseDTO.getButton());
+                }
+                if (voltageDTO != null) {
+                    robotStatusInfo.setVoltage(voltageDTO.getVoltage());
+                    robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
+                }
+            }
+            //读取缓存信息
+            sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
+        } catch (Exception e) {
             e.printStackTrace();
         }
     }
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 c2c2773..8471e7a 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
@@ -141,6 +141,13 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+    @Transactional
+    @Override
+    public void startTrack(StartTrackRequest request) {
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, robotInfoService.getById(request.getRobotId()));
+        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+    }
 
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
new file mode 100644
index 0000000..c5071bc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.robot.opt.instruct.response;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+
+@Data
+public class VoltageDTO implements Serializable {
+    private Integer electricityQuantity;
+    private BigDecimal voltage;
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
index 9065f34..56b3e1d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -7,6 +7,7 @@
 import com.casic.missiles.modular.robot.model.RobotInfo;
 
 import java.math.BigDecimal;
+import java.util.List;
 
 /**
  * 循迹算法调用
@@ -37,4 +38,5 @@
      * @return
      */
     GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo);
+    void readAlgorithmResponse(String fileName, AlgorithmResponse response, Long taskId, List<String> res);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java
new file mode 100644
index 0000000..f197c10
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java
@@ -0,0 +1,22 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.extension.service.IService;
+import  com.casic.missiles.modular.robot.model.TaskInfoImg;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 任务照片存储 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface ITaskInfoImgService extends IService<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage(Page<TaskInfoImg> page,QueryWrapper<TaskInfoImg> query);}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
index df4a330..f808fa0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
@@ -64,7 +64,7 @@
     @Override
     public AlgorithmResponse pathPlanning(PathPlanDTO planDTO) {
         if (StrUtil.isEmpty(planDTO.getCount())) {
-            planDTO.setCount("0.01");
+            planDTO.setCount("0.001");
         }
         //算法路径及入参配置
         List<String> commends = new ArrayList<>();
@@ -162,8 +162,8 @@
         x = x.subtract(robotInfo.getOriginX());
         y = y.subtract(robotInfo.getOriginY());
 
-        pointDTO.setX(new BigDecimal(x.multiply(scale).intValue()));
-        pointDTO.setY(new BigDecimal(y.multiply(scale).intValue()));
+        pointDTO.setX(new BigDecimal(x.divide(scale,3,BigDecimal.ROUND_HALF_UP).intValue()+1));
+        pointDTO.setY(new BigDecimal(y.divide(scale,3,BigDecimal.ROUND_HALF_UP).intValue()+1));
         return pointDTO;
     }
 
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 0257c90..6d3ae91 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
@@ -1,18 +1,18 @@
 package com.casic.missiles.modular.robot.service.impl;
 
 import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
-import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
 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;
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dao.RobotStatusInfoMapper;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
@@ -21,10 +21,7 @@
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
 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.opt.instruct.response.AppCostmapResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.SpeedResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.VoltageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.*;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -151,7 +148,8 @@
     public void saveProcessMessage(String robotId, MqttMessage message) {
 //        String json = new String(message.getPayload());
 
-        RobotResponseDTO<ProcessMessageResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<ProcessMessageResponseDTO>>(){});
+        RobotResponseDTO<ProcessMessageResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<ProcessMessageResponseDTO>>() {
+        });
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             ProcessMessageResponseDTO msg = responseDTO.getMsg();
@@ -173,11 +171,8 @@
         RobotMsgResponseDTO<Integer> responseDTO = JSON.parseObject(json, new TypeReference<RobotMsgResponseDTO<Integer>>() {
         });
         if (responseDTO.getMsg() != null) {
-            UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_nav_pause", msg.getResult());
-            query.eq("robot_id", robotId);
-            update(query);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_NAV_PAUSE + robotId, msg.getResult());
         }
     }
 
@@ -186,12 +181,10 @@
         String json = new String(message.getPayload());
         RobotMsgResponseDTO<Integer> responseDTO = JSON.parseObject(json, new TypeReference<RobotMsgResponseDTO<Integer>>() {
         });
+
         if (responseDTO.getMsg() != null) {
-            UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_stop_navtrack", msg.getResult());
-            query.eq("robot_id", robotId);
-            update(query);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_STOP_NAVTRACK + robotId, msg.getResult());
         }
     }
 
@@ -228,16 +221,11 @@
 
     @Override
     public void saveStopState(String robotId, MqttMessage message) {
-        RobotResponseDTO<StopStateResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<StopStateResponseDTO>>(){});
+        RobotResponseDTO<StopStateResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<StopStateResponseDTO>>() {
+        });
         if (responseDTO != null && responseDTO.getMsg() != null) {
-//            log.info("急停状态保存：{}", responseDTO.getMsg());
-            LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
-            query.set(RobotStatusInfo::getButton, responseDTO.getMsg().getButton());
-            query.set(RobotStatusInfo::getCollision, responseDTO.getMsg().getCollision());
-            query.set(RobotStatusInfo::getSonic, responseDTO.getMsg().getSonic());
-            query.set(RobotStatusInfo::getSoft, responseDTO.getMsg().getSoft());
-            query.eq(RobotStatusInfo::getRobotId, robotId);
-            update(query);
+            log.info("急停状态保存：{}", responseDTO.getMsg());
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + robotId, responseDTO.getMsg());
         }
     }
 
@@ -250,37 +238,39 @@
         if (responseDTO != null && responseDTO.getMsg() != null) {
             RobotInfo info = robotInfoService.getById(robotId);
             log.info("电压状态保存：{}", responseDTO.getMsg());
-            LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
             if (CollectionUtil.isNotEmpty(responseDTO.getMsg().getVoltage())) {
                 Integer v = responseDTO.getMsg().getVoltage().get(0);
-                query.set(RobotStatusInfo::getVoltage, v);
                 //计算电量
                 Double quantity = new BigDecimal(v - info.getVoltageMin()).divide(new BigDecimal(info.getVoltageMax() - info.getVoltageMin()), 2, BigDecimal.ROUND_HALF_UP).doubleValue();
-                query.set(RobotStatusInfo::getElectricityQuantity, quantity * 100);
-                query.eq(RobotStatusInfo::getRobotId, robotId);
-                update(query);
+                VoltageDTO voltageDTO = new VoltageDTO();
+                voltageDTO.setVoltage(new BigDecimal(v));
+                voltageDTO.setElectricityQuantity(Convert.toInt(quantity * 100));
+                CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.VOLTAGE_RESPONSE + robotId, voltageDTO);
             }
         }
     }
 
     /**
      * 机器人栅格数据
+     *
      * @param robotId 机器人障碍物栅格数据保存
      * @param message 消息体
      */
     @Override
     public void saveCostMap(String robotId, MqttMessage message) {
         //数据接收
-        RobotResponseDTO<AppCostmapResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<AppCostmapResponseDTO>>() {});
+        RobotResponseDTO<AppCostmapResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<AppCostmapResponseDTO>>() {
+        });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
-            robotInfoService.updateRobotGrid(robotId,responseDTO.getMsg());
+            robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
 //            log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
         }
     }
 
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
+        //todo cache
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
         query.set("postion_x", dto.getX());
         query.set("postion_y", dto.getY());
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 bb066f4..6c9625f 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
@@ -5,6 +5,8 @@
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dao.RobotTrajectoryInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.model.RobotTrajectoryInfo;
@@ -34,11 +36,12 @@
 public class RobotTrajectoryInfoServiceImpl extends ServiceImpl<RobotTrajectoryInfoMapper, RobotTrajectoryInfo> implements IRobotTrajectoryInfoService {
     private final IRobotStatusInfoService robotStatusInfoService;
     private final ITaskInfoService infoService;
+    private final IRobotCacheService cacheService;
 
-
-    public RobotTrajectoryInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, ITaskInfoService infoService) {
+    public RobotTrajectoryInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, ITaskInfoService infoService, IRobotCacheService cacheService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.infoService = infoService;
+        this.cacheService = cacheService;
     }
 
     @Override
@@ -54,14 +57,15 @@
         });
 
         //读取导航状态,如果导航未开启则不存储
-        RobotStatusInfo statusInfo = robotStatusInfoService.getStatusByRobotId(robotId);
-        if (statusInfo != null && responseDTO.getMsg() != null) {
+//        RobotStatusInfo statusInfo = robotStatusInfoService.getStatusByRobotId(robotId);
+        Long routeId= cacheService.readRouteId(Long.valueOf(robotId));
+        if (routeId != null && responseDTO.getMsg() != null) {
             PoseMessageResponseDTO dto = responseDTO.getMsg();
             //执行循迹 保存当前轨迹信息
             //更新实时定位信息
-            robotStatusInfoService.updateRobotPoint(dto,robotId);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + robotId, dto);
             infoService.pointTestCallBack(dto, robotId);
-            if (statusInfo.getCurrRouteId() != null) {
+            if (routeId != null) {
                 RobotTrajectoryInfo info = new RobotTrajectoryInfo();
                 info.setRobotId(Long.valueOf(robotId));
                 info.setCreateTime(new Date());
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java
new file mode 100644
index 0000000..a0f578e
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java
@@ -0,0 +1,28 @@
+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.ITaskInfoImgService;
+import java.util.List;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+
+import com.casic.missiles.modular.robot.dao.TaskInfoImgMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+
+
+/**
+ * <p>
+ * 任务照片存储 服务实现类
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Service
+public class TaskInfoImgServiceImpl extends ServiceImpl<TaskInfoImgMapper, TaskInfoImg> implements ITaskInfoImgService {
+@Override
+public List<TaskInfoImg> selectTaskInfoImgPage(Page<TaskInfoImg> page,QueryWrapper<TaskInfoImg> query) {
+return this.baseMapper.selectTaskInfoImgPage(page,query);
+}}
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 93745b6..d1417b0 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
@@ -6,11 +6,11 @@
 import cn.hutool.core.convert.Convert;
 import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.io.FileUtil;
+import cn.hutool.core.thread.ExecutorBuilder;
 import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
 import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
 import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
@@ -47,6 +47,7 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.*;
+import java.util.concurrent.ThreadPoolExecutor;
 
 
 /**
@@ -68,7 +69,10 @@
     private final IAlgorithmService algorithmService;
     private final IRobotCacheService cacheService;
     private final IBaseRobotService baseRobotService;
-
+    private final ITaskInfoImgService imgService;
+    /**
+     * 初始化线程池
+     */
 
     @Value("${casic.file.uploadPath}")
     private String uploadPath;
@@ -80,7 +84,7 @@
     @Value("${casic.obstacle:10}")
     private Integer obstacle;
 
-    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService) {
+    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService, ITaskInfoImgService imgService) {
         this.routeInfoService = routeInfoService;
         this.statusInfoService = statusInfoService;
         this.dictService = dictService;
@@ -89,6 +93,7 @@
         this.algorithmService = algorithmService;
         this.cacheService = cacheService;
         this.baseRobotService = baseRobotService;
+        this.imgService = imgService;
     }
 
     /**
@@ -145,6 +150,13 @@
         taskInfo.setDiscernTypeName(dictService.getDictNameByCode(RobotDictConstants.DISCERN_TYPE, taskInfo.getDiscernType() + ""));
         taskInfo.setTaskTypeName(dictService.getDictNameByCode(RobotDictConstants.TASK_TYPE, taskInfo.getTaskType() + ""));
         taskInfo.setTaskStatusName(dictService.getDictNameByCode(RobotDictConstants.TASK_STATUS, taskInfo.getTaskType() + ""));
+        TaskInfoImg taskInfoImg = imgService.getById(taskInfo.getId());
+        if (taskInfoImg != null) {
+            taskInfo.setRouteImg(taskInfoImg.getRouteImg());
+            taskInfo.setPsdImg(taskInfoImg.getPsdImg());
+            taskInfo.setMcaImg(taskInfoImg.getMcaImg());
+            taskInfo.setHeatImg(taskInfoImg.getHeatImg());
+        }
         //检索当前任务告警数量
         taskInfo.setAlarmNum(recordService.selectCountByTaskId(taskInfo.getId(), taskInfo.getRobotId()));
         taskInfo.setHeatMap(taskHeatMapService.getByTaskId(taskInfo.getId()));
@@ -209,6 +221,7 @@
 
         //清空任务缓存
         robotCacheClean(robotId);
+
         //清空机器当前任务
         statusInfoService.updateCurrTask(robotId, null, null);
 
@@ -240,6 +253,9 @@
         //缓存当前点位信息
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_XY_POINT + robotId, dto);
         RobotInfo robotInfo = cacheService.getRobotInfo(longId);
+        //slam经纬度转栅格
+        GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getResolution(), robotInfo);
+        log.info("currGrid:{}", pointDTO);
         if (robotInfo.getAlarmThreshold() == null || robotInfo.getMaxThreshold() == null) {
             log.error("no config 中子源阈值未配置");
             return;
@@ -254,13 +270,25 @@
         //算法初始化状态读取
         Integer initValue = cacheService.readTaskInit(longId);
 
-        //slam经纬度转栅格
-        GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getResolution(), robotInfo);
 
         //No.1 任务初始化
         if (initValue != 1) {
             //执行初始化操作
             if (cacheService.updateTaskInit(longId, 1)) {
+
+                try {
+                    File file = new File(".");
+                    File[] files = file.listFiles((dir, name) -> (name.endsWith(".png") && name.startsWith("step"))
+                            || (name.endsWith(".txt") && name.startsWith("step")) || name.equals("repetition.txt") || name.equals("xy_train.txt") || name.equals("z_train.txt"));
+                    if (files != null) {
+                        for (int i = 0; i < files.length; i++) {
+                            FileUtil.del(files[i]);
+                        }
+                    }
+                } catch (Exception e) {
+                    e.printStackTrace();
+                }
+
                 PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId);
                 //中子源计数率读取
                 pathInitDTO.setCount(cacheService.getNeutronCount(longId));
@@ -288,7 +316,7 @@
                 AlgorithmResponse response = algorithmService.pathPlanning(pathPlanDTO);
                 //存储算法输出栅格信息
                 CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId, response.getPointNextDTO());
-                sendWebSocket(InstructStatusMsgEnums.HEAT_MAP,robotId, response.getTaskHeatMap());
+                sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
                 //是否触发寻源操作
                 BigDecimal bigCount = new BigDecimal(pathPlanDTO.getCount());
                 if (bigCount.compareTo(robotInfo.getAlarmThreshold()) >= 0) {
@@ -329,6 +357,7 @@
         RobotInfo robotInfo = cacheService.getRobotInfo(longId);
         //slam经纬度转栅格
         GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getResolution(), robotInfo);
+        log.info("currGrid:{}", pointDTO);
     }
 
 
@@ -426,22 +455,23 @@
      *
      * @param imgDTO
      */
+    @Transactional
     @Override
     public void saveImg(ImgDTO imgDTO) {
         String path = saveHeatImg(imgDTO.getTaskId());
-        LambdaUpdateWrapper<TaskInfo> updateWrapper = new LambdaUpdateWrapper<>();
+        TaskInfoImg infoImg = new TaskInfoImg();
         if (StrUtil.isNotEmpty(imgDTO.getMcaImg())) {
-            updateWrapper.set(TaskInfo::getMcaImg, imgDTO.getMcaImg());
+            infoImg.setMcaImg(imgDTO.getMcaImg());
+            infoImg.setHeatImg(path);
         }
         if (StrUtil.isNotEmpty(imgDTO.getPsdImg())) {
-            updateWrapper.set(TaskInfo::getPsdImg, imgDTO.getPsdImg());
+            infoImg.setPsdImg(imgDTO.getPsdImg());
         }
         if (StrUtil.isNotEmpty(imgDTO.getRouteImg())) {
-            updateWrapper.set(TaskInfo::getRouteImg, imgDTO.getRouteImg());
+            infoImg.setRouteImg(imgDTO.getRouteImg());
         }
-        updateWrapper.set(TaskInfo::getHeatImg, path);
-        updateWrapper.eq(TaskInfo::getId, imgDTO.getTaskId());
-        update(updateWrapper);
+        infoImg.setId(Convert.toLong(imgDTO.getTaskId()));
+        imgService.saveOrUpdate(infoImg);
     }
 
     @SneakyThrows
@@ -449,6 +479,7 @@
     @Override
     public void exportDoc(HttpServletResponse response, String taskId) {
         TaskInfo info = getById(taskId);
+        wrapTaskInfo(info);
         RobotInfo robotInfo = cacheService.getRobotInfo(info.getRobotId());
         response.setContentType("application/octet-stream");
         response.setCharacterEncoding("utf-8");
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 75fec0e..35f1d41 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
@@ -62,7 +62,6 @@
                 query.eq("(a.monitor_val<b.alarm_threshold)", true);
             }
         }
-        query.orderByAsc("a.alarm_time");
         return query;
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskInfoImgVO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskInfoImgVO.java
new file mode 100644
index 0000000..cd79a07
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskInfoImgVO.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.vo;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import cn.hutool.core.util.StrUtil;
+
+
+/**
+ * 任务照片存储对象VO
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+public class TaskInfoImgVO {
+    private static final long serialVersionUID = 1L;
+
+
+            @ApiModelProperty(value = "MCA图片" , dataType = "String")
+            private String mcaImg;
+
+            @ApiModelProperty(value = "PSD图片" , dataType = "String")
+            private String psdImg;
+
+            @ApiModelProperty(value = "巡检路线img" , dataType = "String")
+            private String routeImg;
+
+            @ApiModelProperty(value = "热点分布图" , dataType = "String")
+            private String heatImg;
+
+public QueryWrapper<TaskInfoImg> genQuery() {
+QueryWrapper<TaskInfoImg> query = new QueryWrapper<>();
+if (StrUtil.isNotEmpty(mcaImg)) {
+        query.eq("mca_img",mcaImg);
+}
+if (StrUtil.isNotEmpty(psdImg)) {
+        query.eq("psd_img",psdImg);
+}
+if (StrUtil.isNotEmpty(routeImg)) {
+        query.eq("route_img",routeImg);
+}
+if (StrUtil.isNotEmpty(heatImg)) {
+        query.eq("heat_img",heatImg);
+}
+return query;
+}}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/DemoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/DemoController.java
deleted file mode 100644
index 99c4a6f..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/DemoController.java
+++ /dev/null
@@ -1,31 +0,0 @@
-package com.casic.missiles.modular.system.controller;
-
-
-import com.casic.missiles.model.response.ResponseData;
-import org.springframework.web.bind.annotation.PostMapping;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.ResponseBody;
-import org.springframework.web.bind.annotation.RestController;
-
-/**
- * @ClassName DemoController
- * @Description TODO
- * @Author lenovo
- * @Date 2020/6/13 15:38
- * @Version 1.0
- */
-@RestController
-@RequestMapping("/demo")
-public class DemoController {
-
-
-    /**
-     * 获取mockToken
-     */
-    @PostMapping("/test")
-    @ResponseBody
-    public Object testMqtt(String topic, String msg) {
-
-        return ResponseData.success();
-    }
-}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/event/UserEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/system/event/UserEvent.java
deleted file mode 100644
index c6ed867..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/event/UserEvent.java
+++ /dev/null
@@ -1,23 +0,0 @@
-package com.casic.missiles.modular.system.event;
-
-import com.casic.missiles.model.application.event.core.ModelEvent;
-import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
-import com.casic.missiles.modular.system.model.User;
-
-/**
- * 用户事件
- *
- * @author lwh
- */
-public class UserEvent extends ModelEvent<User> {
-    /**
-     * Create a new {@code ApplicationEvent}.
-     *
-     * @param type   事件类型
-     * @param source the object on which the event initially occurred or with
-     *               which the event is associated (never {@code null})
-     */
-    public UserEvent(AbstractEventTypeEnum type, User source) {
-        super(type, source);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/event/listener/UserOneListener.java b/casic-server/src/main/java/com/casic/missiles/modular/system/event/listener/UserOneListener.java
deleted file mode 100644
index 4480ef2..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/event/listener/UserOneListener.java
+++ /dev/null
@@ -1,20 +0,0 @@
-package com.casic.missiles.modular.system.event.listener;
-
-import com.casic.missiles.core.application.event.UserLoginEvent;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.context.event.EventListener;
-import org.springframework.stereotype.Component;
-
-/**
- * 用户事件订阅
- *
- * @author lwh
- */
-@Slf4j
-@Component
-public class UserOneListener {
-    @EventListener
-    public void onApplicationEvent(UserLoginEvent event) {
-        log.debug("用户1订阅:{}", event);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/event/listener/UserTwoListener.java b/casic-server/src/main/java/com/casic/missiles/modular/system/event/listener/UserTwoListener.java
deleted file mode 100644
index 8447a22..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/event/listener/UserTwoListener.java
+++ /dev/null
@@ -1,20 +0,0 @@
-package com.casic.missiles.modular.system.event.listener;
-
-import com.casic.missiles.model.application.event.core.EventSubscriber;
-import com.casic.missiles.modular.system.event.UserEvent;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 用户事件订阅
- *
- * @author lwh
- */
-@Slf4j
-@Component
-public class UserTwoListener extends EventSubscriber<UserEvent> {
-    @Override
-    public void onApplicationEvent(UserEvent event) {
-        log.debug("用户2订阅:{}", event);
-    }
-}
diff --git a/casic-web/pom.xml b/casic-web/pom.xml
index 627e36f..01be493 100644
--- a/casic-web/pom.xml
+++ b/casic-web/pom.xml
@@ -57,6 +57,7 @@
                 </exclusion>
             </exclusions>
         </dependency>
+
         <dependency>
             <groupId>org.springframework.boot</groupId>
             <artifactId>spring-boot-starter-jdbc</artifactId>
@@ -68,6 +69,11 @@
             <version>${core.version}</version>
         </dependency>
         <dependency>
+            <groupId>io.swagger</groupId>
+            <artifactId>swagger-models</artifactId>
+            <version>1.6.0</version>
+        </dependency>
+        <dependency>
             <groupId>com.casic</groupId>
             <artifactId>casic-admin-core</artifactId>
             <version>${admin.version}</version>
@@ -76,6 +82,10 @@
                     <groupId>io.springfox</groupId>
                     <artifactId>springfox-swagger-ui</artifactId>
                 </exclusion>
+                <exclusion>
+                    <groupId>io.swagger</groupId>
+                    <artifactId>swagger-models</artifactId>
+                </exclusion>
             </exclusions>
         </dependency>
         <dependency>

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
new file mode 100644
index 0000000..9d012da
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  任务照片存储 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface TaskInfoImgMapper extends BaseMapper<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage( @Param("page") Page<TaskInfoImg> page,@Param("ew" ) QueryWrapper<TaskInfoImg> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
new file mode 100644
index 0000000..e330c68
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.TaskInfoImgMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskInfoImg">
+            <result column="id" property="id"/>
+            <result column="mca_img" property="mcaImg"/>
+            <result column="psd_img" property="psdImg"/>
+            <result column="route_img" property="routeImg"/>
+            <result column="heat_img" property="heatImg"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    mca_img as mcaImg ,
+                    psd_img as psdImg ,
+                    route_img as routeImg ,
+                    heat_img as heatImg 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.mca_img
+            as mcaImg ,
+            a.psd_img
+            as psdImg ,
+            a.route_img
+            as routeImg ,
+            a.heat_img
+            as heatImg 
+</sql>
+<select id="selectTaskInfoImgPage" resultType="com.casic.missiles.modular.robot.model.TaskInfoImg">
+    select
+    <include refid="Base_Column_Alias"/>
+    from task_info_img a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.mcaImg!= null and request.mcaImg!=''">
+            and mca_img = #{request.mcaImg}
+</if>
+<if test="request.psdImg!= null and request.psdImg!=''">
+            and psd_img = #{request.psdImg}
+</if>
+<if test="request.routeImg!= null and request.routeImg!=''">
+            and route_img = #{request.routeImg}
+</if>
+<if test="request.heatImg!= null and request.heatImg!=''">
+            and heat_img = #{request.heatImg}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
new file mode 100644
index 0000000..ed06f3b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
@@ -0,0 +1,32 @@
+package com.casic.missiles.modular.robot.event;
+
+import com.casic.missiles.model.application.event.core.ModelEvent;
+import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+/**
+ * 用户登录数据变化事件
+ *
+ * @author lwh
+ */
+public class PoseMessageEvent extends ModelEvent<MqttMessage> {
+    private String robotId;
+    /**
+     * Create a new {@code ApplicationEvent}.
+     *
+     * @param type   事件类型
+     * @param source the object on which the event initially occurred or with
+     *               which the event is associated (never {@code null})
+     */
+    public PoseMessageEvent(AbstractEventTypeEnum type, MqttMessage source) {
+        super(type, source);
+    }
+
+    public String getRobotId() {
+        return robotId;
+    }
+
+    public void setRobotId(String robotId) {
+        this.robotId = robotId;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
new file mode 100644
index 0000000..2cc6cdc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.event;
+
+import cn.hutool.core.thread.ExecutorBuilder;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.ThreadPoolExecutor;
+
+/**
+ * 定位事件监听器
+ * @see  com.casic.missiles.modular.robot.opt.handler.msg.PoseMessageMsgHandler
+ */
+@Slf4j
+@Component
+public class PoseMessageListener {
+    private static ThreadPoolExecutor threadPoolExecutor = ExecutorBuilder.create().setCorePoolSize(5).setMaxPoolSize(10).build();
+    private final IRobotStatusInfoService statusInfoService;
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageListener(IRobotStatusInfoService statusInfoService, IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.statusInfoService = statusInfoService;
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @EventListener
+    public void onApplicationEvent(PoseMessageEvent event) {
+//        threadPoolExecutor.execute(() -> { });
+        robotTrajectoryInfoService.savePoseMessage(event.getRobotId(), (MqttMessage) event.getSource());
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
new file mode 100644
index 0000000..7e881d9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
@@ -0,0 +1,52 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+
+/**
+ * 任务照片存储对象 task_info_img
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+@TableName("task_info_img")
+public class TaskInfoImg extends Model<TaskInfoImg> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "任务ID", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "MCA图片", dataType = "String")
+    @TableField("mca_img")
+    private String mcaImg;
+
+    @ApiModelProperty(value = "PSD图片", dataType = "String")
+    @TableField("psd_img")
+    private String psdImg;
+
+    @ApiModelProperty(value = "巡检路线img", dataType = "String")
+    @TableField("route_img")
+    private String routeImg;
+
+    @ApiModelProperty(value = "热点分布图", dataType = "String")
+    @TableField("heat_img")
+    private String heatImg;
+
+
+    @Override
+    public String toString() {
+        return "TaskInfoImg{"
+                + "id=" + id
+                + "mcaImg=" + mcaImg
+                + "psdImg=" + psdImg
+                + "routeImg=" + routeImg
+                + "heatImg=" + heatImg
+                + "}";
+    }
+}
\ No newline at end of file
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 d74a38b..c4bc25d 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
@@ -35,7 +35,7 @@
     }),
     TRACK_RECORD("/track_record" , "/track_record_response" , "启动或关闭轨迹录制功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
-    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     DELETE_TRACK("/delete_track" , "/delete_track_response" , "删除路线" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
index 41879dd..83f4cb2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
@@ -13,6 +13,7 @@
 
 /**
  * websocket 推送消息
+ * @see com.casic.missiles.mqtt.config.MqttClientConfigListener#createMqtt
  */
 @Slf4j
 public abstract class AbstractSocketHandler implements IBaseMsgHandler {
@@ -48,7 +49,7 @@
                 wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
                 wsMsgBaseDTO.setData(jsonObject.get("msg"));
                 String msg = JSON.toJSONString(wsMsgBaseDTO);
-//                log.info("推送{}消息：{}", enums.getRemarks(), msg);
+                log.info("推送{}消息：{}", enums.getRemarks(), msg);
                 webSocket.sendOneMessage(robotId, msg);
             }
         } catch (Exception e) {
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 b8e561d..5e3fe49 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
@@ -6,6 +6,8 @@
  * 业务消息处理器
  */
 public interface IBaseMsgHandler {
+    static String index_key = "index";
+
     /**
      * 消息处理handler
      *
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
index cefe2cd..27bed0e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
@@ -55,9 +55,6 @@
         }
         messageDTO.setMsg(request);
         ResponseDataDTO<Integer> list = null;
-        if (request.getAction() != 1) {
-            taskInfoService.reloadTask(request, getRobotInfo());
-        }
         try {
             list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.START_TRACK, messageDTO);
         } catch (Exception e) {
@@ -75,8 +72,7 @@
      */
     @Override
     public ResponseDataDTO afterInvoke(StartTrackRequest request, ResponseDataDTO response) {
-        //增加循迹任务记录
-        taskInfoService.reloadTask(request, getRobotInfo());
+
         return response;
     }
 }
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
index 316fd8f..8b7fd0e 100644
--- 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
@@ -19,7 +19,7 @@
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
     static {
-        index.put("index", 0);
+        index.put(index_key, 0);
     }
 
     public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
@@ -28,7 +28,12 @@
 
     @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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 83d1d39..67ec20e 100644
--- 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
@@ -6,6 +6,9 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.stereotype.Component;
 
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
 /**
  * 停障状态实时接收器
  */
@@ -13,14 +16,23 @@
 @Component("/app_stop_navtrack")
 public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
     private final IRobotStatusInfoService statusInfoService;
-
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+    static {
+        index.put(index_key, 0);
+    }
     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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 1cf0e55..9c26129 100644
--- 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
@@ -1,28 +1,37 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.application.enums.LoginEventTypeEnum;
+import com.casic.missiles.model.application.event.core.EventPublisher;
+import com.casic.missiles.modular.robot.event.PoseMessageEvent;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
-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 extends AbstractSocketHandler {
 
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
 
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    private final EventPublisher publisher;
+
+    public PoseMessageMsgHandler(EventPublisher publisher) {
+
+        this.publisher = publisher;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+//        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
         sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message);
+        PoseMessageEvent event = new PoseMessageEvent(LoginEventTypeEnum.RELOAD_SCOPE, message);
+        event.setRobotId(robotId);
+        publisher.publishEvent(event);
+        log.info("实时定位已发送！！");
     }
 }
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
index 4910f62..b248839 100644
--- 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
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.model.application.event.core.EventPublisher;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -16,17 +17,18 @@
 @Slf4j
 @Component("/process_message")
 public class ProcessMessageMsgHandler extends AbstractSocketHandler {
-    private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+    private final EventPublisher publisher;
+    private final IRobotStatusInfoService statusInfoService;
+    public ProcessMessageMsgHandler(EventPublisher publisher, IRobotStatusInfoService statusInfoService) {
+        this.publisher = publisher;
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
+        statusInfoService.saveProcessMessage(robotId,message);
         sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, 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
index 3a19ebe..9d275bd 100644
--- 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
@@ -34,7 +34,7 @@
         index.put("index" , val);
         if (val > 30) {
             index.put("index" , 0);
-            statusInfoService.saveSensorStatus(robotId, message);
+//            statusInfoService.saveSensorStatus(robotId, message);
         }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
index 3acf1d7..8950815 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
@@ -19,13 +19,22 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
     public StopStateMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        statusInfoService.saveStopState(robotId, message);
-//        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+
+            statusInfoService.saveStopState(robotId, message);
+        }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
index ad0eda8..a9d7914 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.VoltageDTO;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
@@ -20,20 +25,58 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
+
     public VoltageResponseMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-//        log.info("----------------------电压信息反馈:{}", message);
-        statusInfoService.saveVoltageResponseMessage(robotId, message);
-        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
-        try{
 
-        RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
-        sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
-        }catch (Exception e){
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key) > 50) {
+            index.put(index_key, 0);
+            log.info("----------------------电压信息反馈:{}", message);
+            statusInfoService.saveVoltageResponseMessage(robotId, message);
+        }
+        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+        try {
+
+            RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
+            Integer appNav = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_NAV_PAUSE + robotId);
+            Integer appStop = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_STOP_NAVTRACK + robotId);
+            PoseMessageResponseDTO dto = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + robotId);
+            StopStateResponseDTO stopStateResponseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + robotId);
+            VoltageDTO voltageDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.VOLTAGE_RESPONSE + robotId);
+            if (robotStatusInfo != null) {
+                if (appNav != null) {
+                    robotStatusInfo.setAppNavPause(appNav);
+                }
+                if (appStop != null) {
+                    robotStatusInfo.setAppStopNavtrack(appStop);
+                }
+                if (dto != null) {
+                    robotStatusInfo.setPostionX(dto.getX());
+                    robotStatusInfo.setPostionY(dto.getY());
+                    robotStatusInfo.setPostionZ(dto.getZ());
+                }
+                if (stopStateResponseDTO != null) {
+                    robotStatusInfo.setSoft(stopStateResponseDTO.getSoft());
+                    robotStatusInfo.setSonic(stopStateResponseDTO.getSonic());
+                    robotStatusInfo.setCollision(stopStateResponseDTO.getCollision());
+                    robotStatusInfo.setButton(stopStateResponseDTO.getButton());
+                }
+                if (voltageDTO != null) {
+                    robotStatusInfo.setVoltage(voltageDTO.getVoltage());
+                    robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
+                }
+            }
+            //读取缓存信息
+            sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
+        } catch (Exception e) {
             e.printStackTrace();
         }
     }
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 c2c2773..8471e7a 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
@@ -141,6 +141,13 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+    @Transactional
+    @Override
+    public void startTrack(StartTrackRequest request) {
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, robotInfoService.getById(request.getRobotId()));
+        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+    }
 
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
new file mode 100644
index 0000000..c5071bc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.robot.opt.instruct.response;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+
+@Data
+public class VoltageDTO implements Serializable {
+    private Integer electricityQuantity;
+    private BigDecimal voltage;
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
index 9065f34..56b3e1d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -7,6 +7,7 @@
 import com.casic.missiles.modular.robot.model.RobotInfo;
 
 import java.math.BigDecimal;
+import java.util.List;
 
 /**
  * 循迹算法调用
@@ -37,4 +38,5 @@
      * @return
      */
     GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo);
+    void readAlgorithmResponse(String fileName, AlgorithmResponse response, Long taskId, List<String> res);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java
new file mode 100644
index 0000000..f197c10
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java
@@ -0,0 +1,22 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.extension.service.IService;
+import  com.casic.missiles.modular.robot.model.TaskInfoImg;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 任务照片存储 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface ITaskInfoImgService extends IService<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage(Page<TaskInfoImg> page,QueryWrapper<TaskInfoImg> query);}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
index df4a330..f808fa0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
@@ -64,7 +64,7 @@
     @Override
     public AlgorithmResponse pathPlanning(PathPlanDTO planDTO) {
         if (StrUtil.isEmpty(planDTO.getCount())) {
-            planDTO.setCount("0.01");
+            planDTO.setCount("0.001");
         }
         //算法路径及入参配置
         List<String> commends = new ArrayList<>();
@@ -162,8 +162,8 @@
         x = x.subtract(robotInfo.getOriginX());
         y = y.subtract(robotInfo.getOriginY());
 
-        pointDTO.setX(new BigDecimal(x.multiply(scale).intValue()));
-        pointDTO.setY(new BigDecimal(y.multiply(scale).intValue()));
+        pointDTO.setX(new BigDecimal(x.divide(scale,3,BigDecimal.ROUND_HALF_UP).intValue()+1));
+        pointDTO.setY(new BigDecimal(y.divide(scale,3,BigDecimal.ROUND_HALF_UP).intValue()+1));
         return pointDTO;
     }
 
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 0257c90..6d3ae91 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
@@ -1,18 +1,18 @@
 package com.casic.missiles.modular.robot.service.impl;
 
 import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
-import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
 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;
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dao.RobotStatusInfoMapper;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
@@ -21,10 +21,7 @@
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
 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.opt.instruct.response.AppCostmapResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.SpeedResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.VoltageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.*;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -151,7 +148,8 @@
     public void saveProcessMessage(String robotId, MqttMessage message) {
 //        String json = new String(message.getPayload());
 
-        RobotResponseDTO<ProcessMessageResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<ProcessMessageResponseDTO>>(){});
+        RobotResponseDTO<ProcessMessageResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<ProcessMessageResponseDTO>>() {
+        });
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             ProcessMessageResponseDTO msg = responseDTO.getMsg();
@@ -173,11 +171,8 @@
         RobotMsgResponseDTO<Integer> responseDTO = JSON.parseObject(json, new TypeReference<RobotMsgResponseDTO<Integer>>() {
         });
         if (responseDTO.getMsg() != null) {
-            UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_nav_pause", msg.getResult());
-            query.eq("robot_id", robotId);
-            update(query);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_NAV_PAUSE + robotId, msg.getResult());
         }
     }
 
@@ -186,12 +181,10 @@
         String json = new String(message.getPayload());
         RobotMsgResponseDTO<Integer> responseDTO = JSON.parseObject(json, new TypeReference<RobotMsgResponseDTO<Integer>>() {
         });
+
         if (responseDTO.getMsg() != null) {
-            UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_stop_navtrack", msg.getResult());
-            query.eq("robot_id", robotId);
-            update(query);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_STOP_NAVTRACK + robotId, msg.getResult());
         }
     }
 
@@ -228,16 +221,11 @@
 
     @Override
     public void saveStopState(String robotId, MqttMessage message) {
-        RobotResponseDTO<StopStateResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<StopStateResponseDTO>>(){});
+        RobotResponseDTO<StopStateResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<StopStateResponseDTO>>() {
+        });
         if (responseDTO != null && responseDTO.getMsg() != null) {
-//            log.info("急停状态保存：{}", responseDTO.getMsg());
-            LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
-            query.set(RobotStatusInfo::getButton, responseDTO.getMsg().getButton());
-            query.set(RobotStatusInfo::getCollision, responseDTO.getMsg().getCollision());
-            query.set(RobotStatusInfo::getSonic, responseDTO.getMsg().getSonic());
-            query.set(RobotStatusInfo::getSoft, responseDTO.getMsg().getSoft());
-            query.eq(RobotStatusInfo::getRobotId, robotId);
-            update(query);
+            log.info("急停状态保存：{}", responseDTO.getMsg());
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + robotId, responseDTO.getMsg());
         }
     }
 
@@ -250,37 +238,39 @@
         if (responseDTO != null && responseDTO.getMsg() != null) {
             RobotInfo info = robotInfoService.getById(robotId);
             log.info("电压状态保存：{}", responseDTO.getMsg());
-            LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
             if (CollectionUtil.isNotEmpty(responseDTO.getMsg().getVoltage())) {
                 Integer v = responseDTO.getMsg().getVoltage().get(0);
-                query.set(RobotStatusInfo::getVoltage, v);
                 //计算电量
                 Double quantity = new BigDecimal(v - info.getVoltageMin()).divide(new BigDecimal(info.getVoltageMax() - info.getVoltageMin()), 2, BigDecimal.ROUND_HALF_UP).doubleValue();
-                query.set(RobotStatusInfo::getElectricityQuantity, quantity * 100);
-                query.eq(RobotStatusInfo::getRobotId, robotId);
-                update(query);
+                VoltageDTO voltageDTO = new VoltageDTO();
+                voltageDTO.setVoltage(new BigDecimal(v));
+                voltageDTO.setElectricityQuantity(Convert.toInt(quantity * 100));
+                CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.VOLTAGE_RESPONSE + robotId, voltageDTO);
             }
         }
     }
 
     /**
      * 机器人栅格数据
+     *
      * @param robotId 机器人障碍物栅格数据保存
      * @param message 消息体
      */
     @Override
     public void saveCostMap(String robotId, MqttMessage message) {
         //数据接收
-        RobotResponseDTO<AppCostmapResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<AppCostmapResponseDTO>>() {});
+        RobotResponseDTO<AppCostmapResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<AppCostmapResponseDTO>>() {
+        });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
-            robotInfoService.updateRobotGrid(robotId,responseDTO.getMsg());
+            robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
 //            log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
         }
     }
 
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
+        //todo cache
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
         query.set("postion_x", dto.getX());
         query.set("postion_y", dto.getY());
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 bb066f4..6c9625f 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
@@ -5,6 +5,8 @@
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dao.RobotTrajectoryInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.model.RobotTrajectoryInfo;
@@ -34,11 +36,12 @@
 public class RobotTrajectoryInfoServiceImpl extends ServiceImpl<RobotTrajectoryInfoMapper, RobotTrajectoryInfo> implements IRobotTrajectoryInfoService {
     private final IRobotStatusInfoService robotStatusInfoService;
     private final ITaskInfoService infoService;
+    private final IRobotCacheService cacheService;
 
-
-    public RobotTrajectoryInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, ITaskInfoService infoService) {
+    public RobotTrajectoryInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, ITaskInfoService infoService, IRobotCacheService cacheService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.infoService = infoService;
+        this.cacheService = cacheService;
     }
 
     @Override
@@ -54,14 +57,15 @@
         });
 
         //读取导航状态,如果导航未开启则不存储
-        RobotStatusInfo statusInfo = robotStatusInfoService.getStatusByRobotId(robotId);
-        if (statusInfo != null && responseDTO.getMsg() != null) {
+//        RobotStatusInfo statusInfo = robotStatusInfoService.getStatusByRobotId(robotId);
+        Long routeId= cacheService.readRouteId(Long.valueOf(robotId));
+        if (routeId != null && responseDTO.getMsg() != null) {
             PoseMessageResponseDTO dto = responseDTO.getMsg();
             //执行循迹 保存当前轨迹信息
             //更新实时定位信息
-            robotStatusInfoService.updateRobotPoint(dto,robotId);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + robotId, dto);
             infoService.pointTestCallBack(dto, robotId);
-            if (statusInfo.getCurrRouteId() != null) {
+            if (routeId != null) {
                 RobotTrajectoryInfo info = new RobotTrajectoryInfo();
                 info.setRobotId(Long.valueOf(robotId));
                 info.setCreateTime(new Date());
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java
new file mode 100644
index 0000000..a0f578e
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java
@@ -0,0 +1,28 @@
+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.ITaskInfoImgService;
+import java.util.List;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+
+import com.casic.missiles.modular.robot.dao.TaskInfoImgMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+
+
+/**
+ * <p>
+ * 任务照片存储 服务实现类
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Service
+public class TaskInfoImgServiceImpl extends ServiceImpl<TaskInfoImgMapper, TaskInfoImg> implements ITaskInfoImgService {
+@Override
+public List<TaskInfoImg> selectTaskInfoImgPage(Page<TaskInfoImg> page,QueryWrapper<TaskInfoImg> query) {
+return this.baseMapper.selectTaskInfoImgPage(page,query);
+}}
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 93745b6..d1417b0 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
@@ -6,11 +6,11 @@
 import cn.hutool.core.convert.Convert;
 import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.io.FileUtil;
+import cn.hutool.core.thread.ExecutorBuilder;
 import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
 import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
 import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
@@ -47,6 +47,7 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.*;
+import java.util.concurrent.ThreadPoolExecutor;
 
 
 /**
@@ -68,7 +69,10 @@
     private final IAlgorithmService algorithmService;
     private final IRobotCacheService cacheService;
     private final IBaseRobotService baseRobotService;
-
+    private final ITaskInfoImgService imgService;
+    /**
+     * 初始化线程池
+     */
 
     @Value("${casic.file.uploadPath}")
     private String uploadPath;
@@ -80,7 +84,7 @@
     @Value("${casic.obstacle:10}")
     private Integer obstacle;
 
-    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService) {
+    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService, ITaskInfoImgService imgService) {
         this.routeInfoService = routeInfoService;
         this.statusInfoService = statusInfoService;
         this.dictService = dictService;
@@ -89,6 +93,7 @@
         this.algorithmService = algorithmService;
         this.cacheService = cacheService;
         this.baseRobotService = baseRobotService;
+        this.imgService = imgService;
     }
 
     /**
@@ -145,6 +150,13 @@
         taskInfo.setDiscernTypeName(dictService.getDictNameByCode(RobotDictConstants.DISCERN_TYPE, taskInfo.getDiscernType() + ""));
         taskInfo.setTaskTypeName(dictService.getDictNameByCode(RobotDictConstants.TASK_TYPE, taskInfo.getTaskType() + ""));
         taskInfo.setTaskStatusName(dictService.getDictNameByCode(RobotDictConstants.TASK_STATUS, taskInfo.getTaskType() + ""));
+        TaskInfoImg taskInfoImg = imgService.getById(taskInfo.getId());
+        if (taskInfoImg != null) {
+            taskInfo.setRouteImg(taskInfoImg.getRouteImg());
+            taskInfo.setPsdImg(taskInfoImg.getPsdImg());
+            taskInfo.setMcaImg(taskInfoImg.getMcaImg());
+            taskInfo.setHeatImg(taskInfoImg.getHeatImg());
+        }
         //检索当前任务告警数量
         taskInfo.setAlarmNum(recordService.selectCountByTaskId(taskInfo.getId(), taskInfo.getRobotId()));
         taskInfo.setHeatMap(taskHeatMapService.getByTaskId(taskInfo.getId()));
@@ -209,6 +221,7 @@
 
         //清空任务缓存
         robotCacheClean(robotId);
+
         //清空机器当前任务
         statusInfoService.updateCurrTask(robotId, null, null);
 
@@ -240,6 +253,9 @@
         //缓存当前点位信息
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_XY_POINT + robotId, dto);
         RobotInfo robotInfo = cacheService.getRobotInfo(longId);
+        //slam经纬度转栅格
+        GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getResolution(), robotInfo);
+        log.info("currGrid:{}", pointDTO);
         if (robotInfo.getAlarmThreshold() == null || robotInfo.getMaxThreshold() == null) {
             log.error("no config 中子源阈值未配置");
             return;
@@ -254,13 +270,25 @@
         //算法初始化状态读取
         Integer initValue = cacheService.readTaskInit(longId);
 
-        //slam经纬度转栅格
-        GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getResolution(), robotInfo);
 
         //No.1 任务初始化
         if (initValue != 1) {
             //执行初始化操作
             if (cacheService.updateTaskInit(longId, 1)) {
+
+                try {
+                    File file = new File(".");
+                    File[] files = file.listFiles((dir, name) -> (name.endsWith(".png") && name.startsWith("step"))
+                            || (name.endsWith(".txt") && name.startsWith("step")) || name.equals("repetition.txt") || name.equals("xy_train.txt") || name.equals("z_train.txt"));
+                    if (files != null) {
+                        for (int i = 0; i < files.length; i++) {
+                            FileUtil.del(files[i]);
+                        }
+                    }
+                } catch (Exception e) {
+                    e.printStackTrace();
+                }
+
                 PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId);
                 //中子源计数率读取
                 pathInitDTO.setCount(cacheService.getNeutronCount(longId));
@@ -288,7 +316,7 @@
                 AlgorithmResponse response = algorithmService.pathPlanning(pathPlanDTO);
                 //存储算法输出栅格信息
                 CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId, response.getPointNextDTO());
-                sendWebSocket(InstructStatusMsgEnums.HEAT_MAP,robotId, response.getTaskHeatMap());
+                sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
                 //是否触发寻源操作
                 BigDecimal bigCount = new BigDecimal(pathPlanDTO.getCount());
                 if (bigCount.compareTo(robotInfo.getAlarmThreshold()) >= 0) {
@@ -329,6 +357,7 @@
         RobotInfo robotInfo = cacheService.getRobotInfo(longId);
         //slam经纬度转栅格
         GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getResolution(), robotInfo);
+        log.info("currGrid:{}", pointDTO);
     }
 
 
@@ -426,22 +455,23 @@
      *
      * @param imgDTO
      */
+    @Transactional
     @Override
     public void saveImg(ImgDTO imgDTO) {
         String path = saveHeatImg(imgDTO.getTaskId());
-        LambdaUpdateWrapper<TaskInfo> updateWrapper = new LambdaUpdateWrapper<>();
+        TaskInfoImg infoImg = new TaskInfoImg();
         if (StrUtil.isNotEmpty(imgDTO.getMcaImg())) {
-            updateWrapper.set(TaskInfo::getMcaImg, imgDTO.getMcaImg());
+            infoImg.setMcaImg(imgDTO.getMcaImg());
+            infoImg.setHeatImg(path);
         }
         if (StrUtil.isNotEmpty(imgDTO.getPsdImg())) {
-            updateWrapper.set(TaskInfo::getPsdImg, imgDTO.getPsdImg());
+            infoImg.setPsdImg(imgDTO.getPsdImg());
         }
         if (StrUtil.isNotEmpty(imgDTO.getRouteImg())) {
-            updateWrapper.set(TaskInfo::getRouteImg, imgDTO.getRouteImg());
+            infoImg.setRouteImg(imgDTO.getRouteImg());
         }
-        updateWrapper.set(TaskInfo::getHeatImg, path);
-        updateWrapper.eq(TaskInfo::getId, imgDTO.getTaskId());
-        update(updateWrapper);
+        infoImg.setId(Convert.toLong(imgDTO.getTaskId()));
+        imgService.saveOrUpdate(infoImg);
     }
 
     @SneakyThrows
@@ -449,6 +479,7 @@
     @Override
     public void exportDoc(HttpServletResponse response, String taskId) {
         TaskInfo info = getById(taskId);
+        wrapTaskInfo(info);
         RobotInfo robotInfo = cacheService.getRobotInfo(info.getRobotId());
         response.setContentType("application/octet-stream");
         response.setCharacterEncoding("utf-8");
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 75fec0e..35f1d41 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
@@ -62,7 +62,6 @@
                 query.eq("(a.monitor_val<b.alarm_threshold)", true);
             }
         }
-        query.orderByAsc("a.alarm_time");
         return query;
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskInfoImgVO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskInfoImgVO.java
new file mode 100644
index 0000000..cd79a07
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskInfoImgVO.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.vo;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import cn.hutool.core.util.StrUtil;
+
+
+/**
+ * 任务照片存储对象VO
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+public class TaskInfoImgVO {
+    private static final long serialVersionUID = 1L;
+
+
+            @ApiModelProperty(value = "MCA图片" , dataType = "String")
+            private String mcaImg;
+
+            @ApiModelProperty(value = "PSD图片" , dataType = "String")
+            private String psdImg;
+
+            @ApiModelProperty(value = "巡检路线img" , dataType = "String")
+            private String routeImg;
+
+            @ApiModelProperty(value = "热点分布图" , dataType = "String")
+            private String heatImg;
+
+public QueryWrapper<TaskInfoImg> genQuery() {
+QueryWrapper<TaskInfoImg> query = new QueryWrapper<>();
+if (StrUtil.isNotEmpty(mcaImg)) {
+        query.eq("mca_img",mcaImg);
+}
+if (StrUtil.isNotEmpty(psdImg)) {
+        query.eq("psd_img",psdImg);
+}
+if (StrUtil.isNotEmpty(routeImg)) {
+        query.eq("route_img",routeImg);
+}
+if (StrUtil.isNotEmpty(heatImg)) {
+        query.eq("heat_img",heatImg);
+}
+return query;
+}}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/DemoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/DemoController.java
deleted file mode 100644
index 99c4a6f..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/DemoController.java
+++ /dev/null
@@ -1,31 +0,0 @@
-package com.casic.missiles.modular.system.controller;
-
-
-import com.casic.missiles.model.response.ResponseData;
-import org.springframework.web.bind.annotation.PostMapping;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.ResponseBody;
-import org.springframework.web.bind.annotation.RestController;
-
-/**
- * @ClassName DemoController
- * @Description TODO
- * @Author lenovo
- * @Date 2020/6/13 15:38
- * @Version 1.0
- */
-@RestController
-@RequestMapping("/demo")
-public class DemoController {
-
-
-    /**
-     * 获取mockToken
-     */
-    @PostMapping("/test")
-    @ResponseBody
-    public Object testMqtt(String topic, String msg) {
-
-        return ResponseData.success();
-    }
-}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/event/UserEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/system/event/UserEvent.java
deleted file mode 100644
index c6ed867..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/event/UserEvent.java
+++ /dev/null
@@ -1,23 +0,0 @@
-package com.casic.missiles.modular.system.event;
-
-import com.casic.missiles.model.application.event.core.ModelEvent;
-import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
-import com.casic.missiles.modular.system.model.User;
-
-/**
- * 用户事件
- *
- * @author lwh
- */
-public class UserEvent extends ModelEvent<User> {
-    /**
-     * Create a new {@code ApplicationEvent}.
-     *
-     * @param type   事件类型
-     * @param source the object on which the event initially occurred or with
-     *               which the event is associated (never {@code null})
-     */
-    public UserEvent(AbstractEventTypeEnum type, User source) {
-        super(type, source);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/event/listener/UserOneListener.java b/casic-server/src/main/java/com/casic/missiles/modular/system/event/listener/UserOneListener.java
deleted file mode 100644
index 4480ef2..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/event/listener/UserOneListener.java
+++ /dev/null
@@ -1,20 +0,0 @@
-package com.casic.missiles.modular.system.event.listener;
-
-import com.casic.missiles.core.application.event.UserLoginEvent;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.context.event.EventListener;
-import org.springframework.stereotype.Component;
-
-/**
- * 用户事件订阅
- *
- * @author lwh
- */
-@Slf4j
-@Component
-public class UserOneListener {
-    @EventListener
-    public void onApplicationEvent(UserLoginEvent event) {
-        log.debug("用户1订阅:{}", event);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/event/listener/UserTwoListener.java b/casic-server/src/main/java/com/casic/missiles/modular/system/event/listener/UserTwoListener.java
deleted file mode 100644
index 8447a22..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/event/listener/UserTwoListener.java
+++ /dev/null
@@ -1,20 +0,0 @@
-package com.casic.missiles.modular.system.event.listener;
-
-import com.casic.missiles.model.application.event.core.EventSubscriber;
-import com.casic.missiles.modular.system.event.UserEvent;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 用户事件订阅
- *
- * @author lwh
- */
-@Slf4j
-@Component
-public class UserTwoListener extends EventSubscriber<UserEvent> {
-    @Override
-    public void onApplicationEvent(UserEvent event) {
-        log.debug("用户2订阅:{}", event);
-    }
-}
diff --git a/casic-web/pom.xml b/casic-web/pom.xml
index 627e36f..01be493 100644
--- a/casic-web/pom.xml
+++ b/casic-web/pom.xml
@@ -57,6 +57,7 @@
                 </exclusion>
             </exclusions>
         </dependency>
+
         <dependency>
             <groupId>org.springframework.boot</groupId>
             <artifactId>spring-boot-starter-jdbc</artifactId>
@@ -68,6 +69,11 @@
             <version>${core.version}</version>
         </dependency>
         <dependency>
+            <groupId>io.swagger</groupId>
+            <artifactId>swagger-models</artifactId>
+            <version>1.6.0</version>
+        </dependency>
+        <dependency>
             <groupId>com.casic</groupId>
             <artifactId>casic-admin-core</artifactId>
             <version>${admin.version}</version>
@@ -76,6 +82,10 @@
                     <groupId>io.springfox</groupId>
                     <artifactId>springfox-swagger-ui</artifactId>
                 </exclusion>
+                <exclusion>
+                    <groupId>io.swagger</groupId>
+                    <artifactId>swagger-models</artifactId>
+                </exclusion>
             </exclusions>
         </dependency>
         <dependency>
diff --git a/casic-web/src/main/resources/config/application-dev.yml b/casic-web/src/main/resources/config/application-dev.yml
index 3d8ae29..fa44b21 100644
--- a/casic-web/src/main/resources/config/application-dev.yml
+++ b/casic-web/src/main/resources/config/application-dev.yml
@@ -6,7 +6,7 @@
     driver-class-name: com.mysql.cj.jdbc.Driver
     url: jdbc:mysql://192.168.1.41:3000/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
     username: root
-    password: root
+    password: 123456
 jms:
    pub-sub-domain: true
 # session:

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
new file mode 100644
index 0000000..9d012da
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  任务照片存储 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface TaskInfoImgMapper extends BaseMapper<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage( @Param("page") Page<TaskInfoImg> page,@Param("ew" ) QueryWrapper<TaskInfoImg> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
new file mode 100644
index 0000000..e330c68
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.TaskInfoImgMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskInfoImg">
+            <result column="id" property="id"/>
+            <result column="mca_img" property="mcaImg"/>
+            <result column="psd_img" property="psdImg"/>
+            <result column="route_img" property="routeImg"/>
+            <result column="heat_img" property="heatImg"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    mca_img as mcaImg ,
+                    psd_img as psdImg ,
+                    route_img as routeImg ,
+                    heat_img as heatImg 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.mca_img
+            as mcaImg ,
+            a.psd_img
+            as psdImg ,
+            a.route_img
+            as routeImg ,
+            a.heat_img
+            as heatImg 
+</sql>
+<select id="selectTaskInfoImgPage" resultType="com.casic.missiles.modular.robot.model.TaskInfoImg">
+    select
+    <include refid="Base_Column_Alias"/>
+    from task_info_img a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.mcaImg!= null and request.mcaImg!=''">
+            and mca_img = #{request.mcaImg}
+</if>
+<if test="request.psdImg!= null and request.psdImg!=''">
+            and psd_img = #{request.psdImg}
+</if>
+<if test="request.routeImg!= null and request.routeImg!=''">
+            and route_img = #{request.routeImg}
+</if>
+<if test="request.heatImg!= null and request.heatImg!=''">
+            and heat_img = #{request.heatImg}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
new file mode 100644
index 0000000..ed06f3b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
@@ -0,0 +1,32 @@
+package com.casic.missiles.modular.robot.event;
+
+import com.casic.missiles.model.application.event.core.ModelEvent;
+import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+/**
+ * 用户登录数据变化事件
+ *
+ * @author lwh
+ */
+public class PoseMessageEvent extends ModelEvent<MqttMessage> {
+    private String robotId;
+    /**
+     * Create a new {@code ApplicationEvent}.
+     *
+     * @param type   事件类型
+     * @param source the object on which the event initially occurred or with
+     *               which the event is associated (never {@code null})
+     */
+    public PoseMessageEvent(AbstractEventTypeEnum type, MqttMessage source) {
+        super(type, source);
+    }
+
+    public String getRobotId() {
+        return robotId;
+    }
+
+    public void setRobotId(String robotId) {
+        this.robotId = robotId;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
new file mode 100644
index 0000000..2cc6cdc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.event;
+
+import cn.hutool.core.thread.ExecutorBuilder;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.ThreadPoolExecutor;
+
+/**
+ * 定位事件监听器
+ * @see  com.casic.missiles.modular.robot.opt.handler.msg.PoseMessageMsgHandler
+ */
+@Slf4j
+@Component
+public class PoseMessageListener {
+    private static ThreadPoolExecutor threadPoolExecutor = ExecutorBuilder.create().setCorePoolSize(5).setMaxPoolSize(10).build();
+    private final IRobotStatusInfoService statusInfoService;
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageListener(IRobotStatusInfoService statusInfoService, IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.statusInfoService = statusInfoService;
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @EventListener
+    public void onApplicationEvent(PoseMessageEvent event) {
+//        threadPoolExecutor.execute(() -> { });
+        robotTrajectoryInfoService.savePoseMessage(event.getRobotId(), (MqttMessage) event.getSource());
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
new file mode 100644
index 0000000..7e881d9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
@@ -0,0 +1,52 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+
+/**
+ * 任务照片存储对象 task_info_img
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+@TableName("task_info_img")
+public class TaskInfoImg extends Model<TaskInfoImg> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "任务ID", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "MCA图片", dataType = "String")
+    @TableField("mca_img")
+    private String mcaImg;
+
+    @ApiModelProperty(value = "PSD图片", dataType = "String")
+    @TableField("psd_img")
+    private String psdImg;
+
+    @ApiModelProperty(value = "巡检路线img", dataType = "String")
+    @TableField("route_img")
+    private String routeImg;
+
+    @ApiModelProperty(value = "热点分布图", dataType = "String")
+    @TableField("heat_img")
+    private String heatImg;
+
+
+    @Override
+    public String toString() {
+        return "TaskInfoImg{"
+                + "id=" + id
+                + "mcaImg=" + mcaImg
+                + "psdImg=" + psdImg
+                + "routeImg=" + routeImg
+                + "heatImg=" + heatImg
+                + "}";
+    }
+}
\ No newline at end of file
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 d74a38b..c4bc25d 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
@@ -35,7 +35,7 @@
     }),
     TRACK_RECORD("/track_record" , "/track_record_response" , "启动或关闭轨迹录制功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
-    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     DELETE_TRACK("/delete_track" , "/delete_track_response" , "删除路线" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
index 41879dd..83f4cb2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
@@ -13,6 +13,7 @@
 
 /**
  * websocket 推送消息
+ * @see com.casic.missiles.mqtt.config.MqttClientConfigListener#createMqtt
  */
 @Slf4j
 public abstract class AbstractSocketHandler implements IBaseMsgHandler {
@@ -48,7 +49,7 @@
                 wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
                 wsMsgBaseDTO.setData(jsonObject.get("msg"));
                 String msg = JSON.toJSONString(wsMsgBaseDTO);
-//                log.info("推送{}消息：{}", enums.getRemarks(), msg);
+                log.info("推送{}消息：{}", enums.getRemarks(), msg);
                 webSocket.sendOneMessage(robotId, msg);
             }
         } catch (Exception e) {
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 b8e561d..5e3fe49 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
@@ -6,6 +6,8 @@
  * 业务消息处理器
  */
 public interface IBaseMsgHandler {
+    static String index_key = "index";
+
     /**
      * 消息处理handler
      *
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
index cefe2cd..27bed0e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
@@ -55,9 +55,6 @@
         }
         messageDTO.setMsg(request);
         ResponseDataDTO<Integer> list = null;
-        if (request.getAction() != 1) {
-            taskInfoService.reloadTask(request, getRobotInfo());
-        }
         try {
             list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.START_TRACK, messageDTO);
         } catch (Exception e) {
@@ -75,8 +72,7 @@
      */
     @Override
     public ResponseDataDTO afterInvoke(StartTrackRequest request, ResponseDataDTO response) {
-        //增加循迹任务记录
-        taskInfoService.reloadTask(request, getRobotInfo());
+
         return response;
     }
 }
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
index 316fd8f..8b7fd0e 100644
--- 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
@@ -19,7 +19,7 @@
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
     static {
-        index.put("index", 0);
+        index.put(index_key, 0);
     }
 
     public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
@@ -28,7 +28,12 @@
 
     @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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 83d1d39..67ec20e 100644
--- 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
@@ -6,6 +6,9 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.stereotype.Component;
 
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
 /**
  * 停障状态实时接收器
  */
@@ -13,14 +16,23 @@
 @Component("/app_stop_navtrack")
 public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
     private final IRobotStatusInfoService statusInfoService;
-
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+    static {
+        index.put(index_key, 0);
+    }
     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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 1cf0e55..9c26129 100644
--- 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
@@ -1,28 +1,37 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.application.enums.LoginEventTypeEnum;
+import com.casic.missiles.model.application.event.core.EventPublisher;
+import com.casic.missiles.modular.robot.event.PoseMessageEvent;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
-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 extends AbstractSocketHandler {
 
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
 
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    private final EventPublisher publisher;
+
+    public PoseMessageMsgHandler(EventPublisher publisher) {
+
+        this.publisher = publisher;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+//        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
         sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message);
+        PoseMessageEvent event = new PoseMessageEvent(LoginEventTypeEnum.RELOAD_SCOPE, message);
+        event.setRobotId(robotId);
+        publisher.publishEvent(event);
+        log.info("实时定位已发送！！");
     }
 }
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
index 4910f62..b248839 100644
--- 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
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.model.application.event.core.EventPublisher;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -16,17 +17,18 @@
 @Slf4j
 @Component("/process_message")
 public class ProcessMessageMsgHandler extends AbstractSocketHandler {
-    private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+    private final EventPublisher publisher;
+    private final IRobotStatusInfoService statusInfoService;
+    public ProcessMessageMsgHandler(EventPublisher publisher, IRobotStatusInfoService statusInfoService) {
+        this.publisher = publisher;
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
+        statusInfoService.saveProcessMessage(robotId,message);
         sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, 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
index 3a19ebe..9d275bd 100644
--- 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
@@ -34,7 +34,7 @@
         index.put("index" , val);
         if (val > 30) {
             index.put("index" , 0);
-            statusInfoService.saveSensorStatus(robotId, message);
+//            statusInfoService.saveSensorStatus(robotId, message);
         }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
index 3acf1d7..8950815 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
@@ -19,13 +19,22 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
     public StopStateMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        statusInfoService.saveStopState(robotId, message);
-//        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+
+            statusInfoService.saveStopState(robotId, message);
+        }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
index ad0eda8..a9d7914 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.VoltageDTO;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
@@ -20,20 +25,58 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
+
     public VoltageResponseMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-//        log.info("----------------------电压信息反馈:{}", message);
-        statusInfoService.saveVoltageResponseMessage(robotId, message);
-        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
-        try{
 
-        RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
-        sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
-        }catch (Exception e){
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key) > 50) {
+            index.put(index_key, 0);
+            log.info("----------------------电压信息反馈:{}", message);
+            statusInfoService.saveVoltageResponseMessage(robotId, message);
+        }
+        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+        try {
+
+            RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
+            Integer appNav = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_NAV_PAUSE + robotId);
+            Integer appStop = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_STOP_NAVTRACK + robotId);
+            PoseMessageResponseDTO dto = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + robotId);
+            StopStateResponseDTO stopStateResponseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + robotId);
+            VoltageDTO voltageDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.VOLTAGE_RESPONSE + robotId);
+            if (robotStatusInfo != null) {
+                if (appNav != null) {
+                    robotStatusInfo.setAppNavPause(appNav);
+                }
+                if (appStop != null) {
+                    robotStatusInfo.setAppStopNavtrack(appStop);
+                }
+                if (dto != null) {
+                    robotStatusInfo.setPostionX(dto.getX());
+                    robotStatusInfo.setPostionY(dto.getY());
+                    robotStatusInfo.setPostionZ(dto.getZ());
+                }
+                if (stopStateResponseDTO != null) {
+                    robotStatusInfo.setSoft(stopStateResponseDTO.getSoft());
+                    robotStatusInfo.setSonic(stopStateResponseDTO.getSonic());
+                    robotStatusInfo.setCollision(stopStateResponseDTO.getCollision());
+                    robotStatusInfo.setButton(stopStateResponseDTO.getButton());
+                }
+                if (voltageDTO != null) {
+                    robotStatusInfo.setVoltage(voltageDTO.getVoltage());
+                    robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
+                }
+            }
+            //读取缓存信息
+            sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
+        } catch (Exception e) {
             e.printStackTrace();
         }
     }
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 c2c2773..8471e7a 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
@@ -141,6 +141,13 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+    @Transactional
+    @Override
+    public void startTrack(StartTrackRequest request) {
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, robotInfoService.getById(request.getRobotId()));
+        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+    }
 
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
new file mode 100644
index 0000000..c5071bc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.robot.opt.instruct.response;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+
+@Data
+public class VoltageDTO implements Serializable {
+    private Integer electricityQuantity;
+    private BigDecimal voltage;
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
index 9065f34..56b3e1d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -7,6 +7,7 @@
 import com.casic.missiles.modular.robot.model.RobotInfo;
 
 import java.math.BigDecimal;
+import java.util.List;
 
 /**
  * 循迹算法调用
@@ -37,4 +38,5 @@
      * @return
      */
     GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo);
+    void readAlgorithmResponse(String fileName, AlgorithmResponse response, Long taskId, List<String> res);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java
new file mode 100644
index 0000000..f197c10
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java
@@ -0,0 +1,22 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.extension.service.IService;
+import  com.casic.missiles.modular.robot.model.TaskInfoImg;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 任务照片存储 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface ITaskInfoImgService extends IService<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage(Page<TaskInfoImg> page,QueryWrapper<TaskInfoImg> query);}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
index df4a330..f808fa0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
@@ -64,7 +64,7 @@
     @Override
     public AlgorithmResponse pathPlanning(PathPlanDTO planDTO) {
         if (StrUtil.isEmpty(planDTO.getCount())) {
-            planDTO.setCount("0.01");
+            planDTO.setCount("0.001");
         }
         //算法路径及入参配置
         List<String> commends = new ArrayList<>();
@@ -162,8 +162,8 @@
         x = x.subtract(robotInfo.getOriginX());
         y = y.subtract(robotInfo.getOriginY());
 
-        pointDTO.setX(new BigDecimal(x.multiply(scale).intValue()));
-        pointDTO.setY(new BigDecimal(y.multiply(scale).intValue()));
+        pointDTO.setX(new BigDecimal(x.divide(scale,3,BigDecimal.ROUND_HALF_UP).intValue()+1));
+        pointDTO.setY(new BigDecimal(y.divide(scale,3,BigDecimal.ROUND_HALF_UP).intValue()+1));
         return pointDTO;
     }
 
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 0257c90..6d3ae91 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
@@ -1,18 +1,18 @@
 package com.casic.missiles.modular.robot.service.impl;
 
 import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
-import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
 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;
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dao.RobotStatusInfoMapper;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
@@ -21,10 +21,7 @@
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
 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.opt.instruct.response.AppCostmapResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.SpeedResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.VoltageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.*;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -151,7 +148,8 @@
     public void saveProcessMessage(String robotId, MqttMessage message) {
 //        String json = new String(message.getPayload());
 
-        RobotResponseDTO<ProcessMessageResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<ProcessMessageResponseDTO>>(){});
+        RobotResponseDTO<ProcessMessageResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<ProcessMessageResponseDTO>>() {
+        });
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             ProcessMessageResponseDTO msg = responseDTO.getMsg();
@@ -173,11 +171,8 @@
         RobotMsgResponseDTO<Integer> responseDTO = JSON.parseObject(json, new TypeReference<RobotMsgResponseDTO<Integer>>() {
         });
         if (responseDTO.getMsg() != null) {
-            UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_nav_pause", msg.getResult());
-            query.eq("robot_id", robotId);
-            update(query);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_NAV_PAUSE + robotId, msg.getResult());
         }
     }
 
@@ -186,12 +181,10 @@
         String json = new String(message.getPayload());
         RobotMsgResponseDTO<Integer> responseDTO = JSON.parseObject(json, new TypeReference<RobotMsgResponseDTO<Integer>>() {
         });
+
         if (responseDTO.getMsg() != null) {
-            UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_stop_navtrack", msg.getResult());
-            query.eq("robot_id", robotId);
-            update(query);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_STOP_NAVTRACK + robotId, msg.getResult());
         }
     }
 
@@ -228,16 +221,11 @@
 
     @Override
     public void saveStopState(String robotId, MqttMessage message) {
-        RobotResponseDTO<StopStateResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<StopStateResponseDTO>>(){});
+        RobotResponseDTO<StopStateResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<StopStateResponseDTO>>() {
+        });
         if (responseDTO != null && responseDTO.getMsg() != null) {
-//            log.info("急停状态保存：{}", responseDTO.getMsg());
-            LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
-            query.set(RobotStatusInfo::getButton, responseDTO.getMsg().getButton());
-            query.set(RobotStatusInfo::getCollision, responseDTO.getMsg().getCollision());
-            query.set(RobotStatusInfo::getSonic, responseDTO.getMsg().getSonic());
-            query.set(RobotStatusInfo::getSoft, responseDTO.getMsg().getSoft());
-            query.eq(RobotStatusInfo::getRobotId, robotId);
-            update(query);
+            log.info("急停状态保存：{}", responseDTO.getMsg());
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + robotId, responseDTO.getMsg());
         }
     }
 
@@ -250,37 +238,39 @@
         if (responseDTO != null && responseDTO.getMsg() != null) {
             RobotInfo info = robotInfoService.getById(robotId);
             log.info("电压状态保存：{}", responseDTO.getMsg());
-            LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
             if (CollectionUtil.isNotEmpty(responseDTO.getMsg().getVoltage())) {
                 Integer v = responseDTO.getMsg().getVoltage().get(0);
-                query.set(RobotStatusInfo::getVoltage, v);
                 //计算电量
                 Double quantity = new BigDecimal(v - info.getVoltageMin()).divide(new BigDecimal(info.getVoltageMax() - info.getVoltageMin()), 2, BigDecimal.ROUND_HALF_UP).doubleValue();
-                query.set(RobotStatusInfo::getElectricityQuantity, quantity * 100);
-                query.eq(RobotStatusInfo::getRobotId, robotId);
-                update(query);
+                VoltageDTO voltageDTO = new VoltageDTO();
+                voltageDTO.setVoltage(new BigDecimal(v));
+                voltageDTO.setElectricityQuantity(Convert.toInt(quantity * 100));
+                CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.VOLTAGE_RESPONSE + robotId, voltageDTO);
             }
         }
     }
 
     /**
      * 机器人栅格数据
+     *
      * @param robotId 机器人障碍物栅格数据保存
      * @param message 消息体
      */
     @Override
     public void saveCostMap(String robotId, MqttMessage message) {
         //数据接收
-        RobotResponseDTO<AppCostmapResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<AppCostmapResponseDTO>>() {});
+        RobotResponseDTO<AppCostmapResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<AppCostmapResponseDTO>>() {
+        });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
-            robotInfoService.updateRobotGrid(robotId,responseDTO.getMsg());
+            robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
 //            log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
         }
     }
 
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
+        //todo cache
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
         query.set("postion_x", dto.getX());
         query.set("postion_y", dto.getY());
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 bb066f4..6c9625f 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
@@ -5,6 +5,8 @@
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dao.RobotTrajectoryInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.model.RobotTrajectoryInfo;
@@ -34,11 +36,12 @@
 public class RobotTrajectoryInfoServiceImpl extends ServiceImpl<RobotTrajectoryInfoMapper, RobotTrajectoryInfo> implements IRobotTrajectoryInfoService {
     private final IRobotStatusInfoService robotStatusInfoService;
     private final ITaskInfoService infoService;
+    private final IRobotCacheService cacheService;
 
-
-    public RobotTrajectoryInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, ITaskInfoService infoService) {
+    public RobotTrajectoryInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, ITaskInfoService infoService, IRobotCacheService cacheService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.infoService = infoService;
+        this.cacheService = cacheService;
     }
 
     @Override
@@ -54,14 +57,15 @@
         });
 
         //读取导航状态,如果导航未开启则不存储
-        RobotStatusInfo statusInfo = robotStatusInfoService.getStatusByRobotId(robotId);
-        if (statusInfo != null && responseDTO.getMsg() != null) {
+//        RobotStatusInfo statusInfo = robotStatusInfoService.getStatusByRobotId(robotId);
+        Long routeId= cacheService.readRouteId(Long.valueOf(robotId));
+        if (routeId != null && responseDTO.getMsg() != null) {
             PoseMessageResponseDTO dto = responseDTO.getMsg();
             //执行循迹 保存当前轨迹信息
             //更新实时定位信息
-            robotStatusInfoService.updateRobotPoint(dto,robotId);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + robotId, dto);
             infoService.pointTestCallBack(dto, robotId);
-            if (statusInfo.getCurrRouteId() != null) {
+            if (routeId != null) {
                 RobotTrajectoryInfo info = new RobotTrajectoryInfo();
                 info.setRobotId(Long.valueOf(robotId));
                 info.setCreateTime(new Date());
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java
new file mode 100644
index 0000000..a0f578e
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java
@@ -0,0 +1,28 @@
+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.ITaskInfoImgService;
+import java.util.List;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+
+import com.casic.missiles.modular.robot.dao.TaskInfoImgMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+
+
+/**
+ * <p>
+ * 任务照片存储 服务实现类
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Service
+public class TaskInfoImgServiceImpl extends ServiceImpl<TaskInfoImgMapper, TaskInfoImg> implements ITaskInfoImgService {
+@Override
+public List<TaskInfoImg> selectTaskInfoImgPage(Page<TaskInfoImg> page,QueryWrapper<TaskInfoImg> query) {
+return this.baseMapper.selectTaskInfoImgPage(page,query);
+}}
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 93745b6..d1417b0 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
@@ -6,11 +6,11 @@
 import cn.hutool.core.convert.Convert;
 import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.io.FileUtil;
+import cn.hutool.core.thread.ExecutorBuilder;
 import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
 import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
 import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
@@ -47,6 +47,7 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.*;
+import java.util.concurrent.ThreadPoolExecutor;
 
 
 /**
@@ -68,7 +69,10 @@
     private final IAlgorithmService algorithmService;
     private final IRobotCacheService cacheService;
     private final IBaseRobotService baseRobotService;
-
+    private final ITaskInfoImgService imgService;
+    /**
+     * 初始化线程池
+     */
 
     @Value("${casic.file.uploadPath}")
     private String uploadPath;
@@ -80,7 +84,7 @@
     @Value("${casic.obstacle:10}")
     private Integer obstacle;
 
-    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService) {
+    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService, ITaskInfoImgService imgService) {
         this.routeInfoService = routeInfoService;
         this.statusInfoService = statusInfoService;
         this.dictService = dictService;
@@ -89,6 +93,7 @@
         this.algorithmService = algorithmService;
         this.cacheService = cacheService;
         this.baseRobotService = baseRobotService;
+        this.imgService = imgService;
     }
 
     /**
@@ -145,6 +150,13 @@
         taskInfo.setDiscernTypeName(dictService.getDictNameByCode(RobotDictConstants.DISCERN_TYPE, taskInfo.getDiscernType() + ""));
         taskInfo.setTaskTypeName(dictService.getDictNameByCode(RobotDictConstants.TASK_TYPE, taskInfo.getTaskType() + ""));
         taskInfo.setTaskStatusName(dictService.getDictNameByCode(RobotDictConstants.TASK_STATUS, taskInfo.getTaskType() + ""));
+        TaskInfoImg taskInfoImg = imgService.getById(taskInfo.getId());
+        if (taskInfoImg != null) {
+            taskInfo.setRouteImg(taskInfoImg.getRouteImg());
+            taskInfo.setPsdImg(taskInfoImg.getPsdImg());
+            taskInfo.setMcaImg(taskInfoImg.getMcaImg());
+            taskInfo.setHeatImg(taskInfoImg.getHeatImg());
+        }
         //检索当前任务告警数量
         taskInfo.setAlarmNum(recordService.selectCountByTaskId(taskInfo.getId(), taskInfo.getRobotId()));
         taskInfo.setHeatMap(taskHeatMapService.getByTaskId(taskInfo.getId()));
@@ -209,6 +221,7 @@
 
         //清空任务缓存
         robotCacheClean(robotId);
+
         //清空机器当前任务
         statusInfoService.updateCurrTask(robotId, null, null);
 
@@ -240,6 +253,9 @@
         //缓存当前点位信息
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_XY_POINT + robotId, dto);
         RobotInfo robotInfo = cacheService.getRobotInfo(longId);
+        //slam经纬度转栅格
+        GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getResolution(), robotInfo);
+        log.info("currGrid:{}", pointDTO);
         if (robotInfo.getAlarmThreshold() == null || robotInfo.getMaxThreshold() == null) {
             log.error("no config 中子源阈值未配置");
             return;
@@ -254,13 +270,25 @@
         //算法初始化状态读取
         Integer initValue = cacheService.readTaskInit(longId);
 
-        //slam经纬度转栅格
-        GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getResolution(), robotInfo);
 
         //No.1 任务初始化
         if (initValue != 1) {
             //执行初始化操作
             if (cacheService.updateTaskInit(longId, 1)) {
+
+                try {
+                    File file = new File(".");
+                    File[] files = file.listFiles((dir, name) -> (name.endsWith(".png") && name.startsWith("step"))
+                            || (name.endsWith(".txt") && name.startsWith("step")) || name.equals("repetition.txt") || name.equals("xy_train.txt") || name.equals("z_train.txt"));
+                    if (files != null) {
+                        for (int i = 0; i < files.length; i++) {
+                            FileUtil.del(files[i]);
+                        }
+                    }
+                } catch (Exception e) {
+                    e.printStackTrace();
+                }
+
                 PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId);
                 //中子源计数率读取
                 pathInitDTO.setCount(cacheService.getNeutronCount(longId));
@@ -288,7 +316,7 @@
                 AlgorithmResponse response = algorithmService.pathPlanning(pathPlanDTO);
                 //存储算法输出栅格信息
                 CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId, response.getPointNextDTO());
-                sendWebSocket(InstructStatusMsgEnums.HEAT_MAP,robotId, response.getTaskHeatMap());
+                sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
                 //是否触发寻源操作
                 BigDecimal bigCount = new BigDecimal(pathPlanDTO.getCount());
                 if (bigCount.compareTo(robotInfo.getAlarmThreshold()) >= 0) {
@@ -329,6 +357,7 @@
         RobotInfo robotInfo = cacheService.getRobotInfo(longId);
         //slam经纬度转栅格
         GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getResolution(), robotInfo);
+        log.info("currGrid:{}", pointDTO);
     }
 
 
@@ -426,22 +455,23 @@
      *
      * @param imgDTO
      */
+    @Transactional
     @Override
     public void saveImg(ImgDTO imgDTO) {
         String path = saveHeatImg(imgDTO.getTaskId());
-        LambdaUpdateWrapper<TaskInfo> updateWrapper = new LambdaUpdateWrapper<>();
+        TaskInfoImg infoImg = new TaskInfoImg();
         if (StrUtil.isNotEmpty(imgDTO.getMcaImg())) {
-            updateWrapper.set(TaskInfo::getMcaImg, imgDTO.getMcaImg());
+            infoImg.setMcaImg(imgDTO.getMcaImg());
+            infoImg.setHeatImg(path);
         }
         if (StrUtil.isNotEmpty(imgDTO.getPsdImg())) {
-            updateWrapper.set(TaskInfo::getPsdImg, imgDTO.getPsdImg());
+            infoImg.setPsdImg(imgDTO.getPsdImg());
         }
         if (StrUtil.isNotEmpty(imgDTO.getRouteImg())) {
-            updateWrapper.set(TaskInfo::getRouteImg, imgDTO.getRouteImg());
+            infoImg.setRouteImg(imgDTO.getRouteImg());
         }
-        updateWrapper.set(TaskInfo::getHeatImg, path);
-        updateWrapper.eq(TaskInfo::getId, imgDTO.getTaskId());
-        update(updateWrapper);
+        infoImg.setId(Convert.toLong(imgDTO.getTaskId()));
+        imgService.saveOrUpdate(infoImg);
     }
 
     @SneakyThrows
@@ -449,6 +479,7 @@
     @Override
     public void exportDoc(HttpServletResponse response, String taskId) {
         TaskInfo info = getById(taskId);
+        wrapTaskInfo(info);
         RobotInfo robotInfo = cacheService.getRobotInfo(info.getRobotId());
         response.setContentType("application/octet-stream");
         response.setCharacterEncoding("utf-8");
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 75fec0e..35f1d41 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
@@ -62,7 +62,6 @@
                 query.eq("(a.monitor_val<b.alarm_threshold)", true);
             }
         }
-        query.orderByAsc("a.alarm_time");
         return query;
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskInfoImgVO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskInfoImgVO.java
new file mode 100644
index 0000000..cd79a07
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskInfoImgVO.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.vo;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import cn.hutool.core.util.StrUtil;
+
+
+/**
+ * 任务照片存储对象VO
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+public class TaskInfoImgVO {
+    private static final long serialVersionUID = 1L;
+
+
+            @ApiModelProperty(value = "MCA图片" , dataType = "String")
+            private String mcaImg;
+
+            @ApiModelProperty(value = "PSD图片" , dataType = "String")
+            private String psdImg;
+
+            @ApiModelProperty(value = "巡检路线img" , dataType = "String")
+            private String routeImg;
+
+            @ApiModelProperty(value = "热点分布图" , dataType = "String")
+            private String heatImg;
+
+public QueryWrapper<TaskInfoImg> genQuery() {
+QueryWrapper<TaskInfoImg> query = new QueryWrapper<>();
+if (StrUtil.isNotEmpty(mcaImg)) {
+        query.eq("mca_img",mcaImg);
+}
+if (StrUtil.isNotEmpty(psdImg)) {
+        query.eq("psd_img",psdImg);
+}
+if (StrUtil.isNotEmpty(routeImg)) {
+        query.eq("route_img",routeImg);
+}
+if (StrUtil.isNotEmpty(heatImg)) {
+        query.eq("heat_img",heatImg);
+}
+return query;
+}}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/DemoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/DemoController.java
deleted file mode 100644
index 99c4a6f..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/DemoController.java
+++ /dev/null
@@ -1,31 +0,0 @@
-package com.casic.missiles.modular.system.controller;
-
-
-import com.casic.missiles.model.response.ResponseData;
-import org.springframework.web.bind.annotation.PostMapping;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.ResponseBody;
-import org.springframework.web.bind.annotation.RestController;
-
-/**
- * @ClassName DemoController
- * @Description TODO
- * @Author lenovo
- * @Date 2020/6/13 15:38
- * @Version 1.0
- */
-@RestController
-@RequestMapping("/demo")
-public class DemoController {
-
-
-    /**
-     * 获取mockToken
-     */
-    @PostMapping("/test")
-    @ResponseBody
-    public Object testMqtt(String topic, String msg) {
-
-        return ResponseData.success();
-    }
-}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/event/UserEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/system/event/UserEvent.java
deleted file mode 100644
index c6ed867..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/event/UserEvent.java
+++ /dev/null
@@ -1,23 +0,0 @@
-package com.casic.missiles.modular.system.event;
-
-import com.casic.missiles.model.application.event.core.ModelEvent;
-import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
-import com.casic.missiles.modular.system.model.User;
-
-/**
- * 用户事件
- *
- * @author lwh
- */
-public class UserEvent extends ModelEvent<User> {
-    /**
-     * Create a new {@code ApplicationEvent}.
-     *
-     * @param type   事件类型
-     * @param source the object on which the event initially occurred or with
-     *               which the event is associated (never {@code null})
-     */
-    public UserEvent(AbstractEventTypeEnum type, User source) {
-        super(type, source);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/event/listener/UserOneListener.java b/casic-server/src/main/java/com/casic/missiles/modular/system/event/listener/UserOneListener.java
deleted file mode 100644
index 4480ef2..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/event/listener/UserOneListener.java
+++ /dev/null
@@ -1,20 +0,0 @@
-package com.casic.missiles.modular.system.event.listener;
-
-import com.casic.missiles.core.application.event.UserLoginEvent;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.context.event.EventListener;
-import org.springframework.stereotype.Component;
-
-/**
- * 用户事件订阅
- *
- * @author lwh
- */
-@Slf4j
-@Component
-public class UserOneListener {
-    @EventListener
-    public void onApplicationEvent(UserLoginEvent event) {
-        log.debug("用户1订阅:{}", event);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/event/listener/UserTwoListener.java b/casic-server/src/main/java/com/casic/missiles/modular/system/event/listener/UserTwoListener.java
deleted file mode 100644
index 8447a22..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/event/listener/UserTwoListener.java
+++ /dev/null
@@ -1,20 +0,0 @@
-package com.casic.missiles.modular.system.event.listener;
-
-import com.casic.missiles.model.application.event.core.EventSubscriber;
-import com.casic.missiles.modular.system.event.UserEvent;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 用户事件订阅
- *
- * @author lwh
- */
-@Slf4j
-@Component
-public class UserTwoListener extends EventSubscriber<UserEvent> {
-    @Override
-    public void onApplicationEvent(UserEvent event) {
-        log.debug("用户2订阅:{}", event);
-    }
-}
diff --git a/casic-web/pom.xml b/casic-web/pom.xml
index 627e36f..01be493 100644
--- a/casic-web/pom.xml
+++ b/casic-web/pom.xml
@@ -57,6 +57,7 @@
                 </exclusion>
             </exclusions>
         </dependency>
+
         <dependency>
             <groupId>org.springframework.boot</groupId>
             <artifactId>spring-boot-starter-jdbc</artifactId>
@@ -68,6 +69,11 @@
             <version>${core.version}</version>
         </dependency>
         <dependency>
+            <groupId>io.swagger</groupId>
+            <artifactId>swagger-models</artifactId>
+            <version>1.6.0</version>
+        </dependency>
+        <dependency>
             <groupId>com.casic</groupId>
             <artifactId>casic-admin-core</artifactId>
             <version>${admin.version}</version>
@@ -76,6 +82,10 @@
                     <groupId>io.springfox</groupId>
                     <artifactId>springfox-swagger-ui</artifactId>
                 </exclusion>
+                <exclusion>
+                    <groupId>io.swagger</groupId>
+                    <artifactId>swagger-models</artifactId>
+                </exclusion>
             </exclusions>
         </dependency>
         <dependency>
diff --git a/casic-web/src/main/resources/config/application-dev.yml b/casic-web/src/main/resources/config/application-dev.yml
index 3d8ae29..fa44b21 100644
--- a/casic-web/src/main/resources/config/application-dev.yml
+++ b/casic-web/src/main/resources/config/application-dev.yml
@@ -6,7 +6,7 @@
     driver-class-name: com.mysql.cj.jdbc.Driver
     url: jdbc:mysql://192.168.1.41:3000/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
     username: root
-    password: root
+    password: 123456
 jms:
    pub-sub-domain: true
 # session:
diff --git a/casic-web/src/main/resources/config/application.yml b/casic-web/src/main/resources/config/application.yml
index b8e78ef..7fca313 100644
--- a/casic-web/src/main/resources/config/application.yml
+++ b/casic-web/src/main/resources/config/application.yml
@@ -27,7 +27,9 @@
     serializer: org.springframework.data.redis.serializer.StringRedisSerializer
     redisValueSerializer: org.springframework.data.redis.serializer.JdkSerializationRedisSerializer
 #mybatis-plus:
-#    sql-injector: com.baomidou.mybatisplus.mapper.LogicSqlInjector
+#  configuration:
+#    # 配置结果集属性为空时 是否映射返回结果
+#    log-impl: org.apache.ibatis.logging.stdout.StdOutImpl #打印sql语句,调试用
 ###################  mybatis-plus配置  ###################
 ###################  guns配置  ###################
 casic:

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
index 33ac8b4..c7b5d28 100644
--- 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
@@ -31,7 +31,7 @@
     /**
      * PSD数据ID
      */
-    String KEY_PSD_DATA_ID= "PSD_DATA_ID_";
+    String KEY_PSD_DATA_ID = "PSD_DATA_ID_";
     /**
      * 当前栅格点位信息
      */
@@ -55,4 +55,26 @@
      * 探测器配置参数缓存
      */
     String KEY_CONFIG_PARAMS_ID = "KEY_CONFIG_PARAMS_ID_";
+
+    /**
+     * 暂停状态缓存信息
+     */
+    String APP_NAV_PAUSE = "APP_NAV_PAUSE_ID_";
+    /**
+     * 停障状态
+     */
+    String APP_STOP_NAVTRACK = "APP_STOP_NAVTRACK_ID_";
+    /**
+     * 实时位置
+     */
+    String ROBOT_POINT = "ROBOT_POINT_ID_";
+    /**
+     * 急停状态
+     */
+    String STOP_STATE = "STOP_STATE_ID_";
+
+    /**
+     * 电压状态
+     */
+    String VOLTAGE_RESPONSE = "voltage_response_id_";
 }
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 1395aa4..92c8c8e 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
@@ -8,6 +8,7 @@
 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;
 
 /**
  * 机器人操作类
@@ -73,4 +74,6 @@
      * @param info
      */
     void reloadPcd(RobotInfo info);
+
+    void startTrack(StartTrackRequest request);
 }
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 30ed038..e2ed939 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
@@ -136,7 +136,10 @@
     @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")
     @PostMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
-        return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+
+
+        baseRobotService.startTrack(request);
+        return ResponseDataDTO.success();
     }
 
     /**
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 838c6f9..e82a792 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
@@ -1,34 +1,35 @@
 package com.casic.missiles.modular.robot.controller;
 
-import cn.hutool.core.codec.Base64;
-import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.common.WebSocket;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.page.PageFactory;
 import com.casic.missiles.core.page.PageInfoBT;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.constants.RobotDictConstants;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
-import com.casic.missiles.modular.robot.dto.ImgDTO;
-import com.casic.missiles.modular.robot.dto.PathInitDTO;
-import com.casic.missiles.modular.robot.dto.PathPlanDTO;
+import com.casic.missiles.modular.robot.dto.*;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.TaskHeatMap;
 import com.casic.missiles.modular.robot.model.TaskInfo;
+import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
+import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO;
 import com.casic.missiles.modular.robot.service.IAlgorithmService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
+import com.casic.missiles.modular.robot.vo.IdsDTO;
 import com.casic.missiles.modular.robot.vo.TaskInfoVO;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import io.swagger.annotations.ApiParam;
-import org.springframework.util.Base64Utils;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
+import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
-import java.io.File;
 import java.math.BigDecimal;
 import java.util.List;
 
@@ -38,6 +39,7 @@
  * @author lwh
  * @date 2023-10-30
  */
+@Slf4j
 @Api(tags = "任务管理(其他信息待定)")
 @RestController
 @RequestMapping("/robot/taskInfo")
@@ -62,15 +64,43 @@
         QueryWrapper<TaskInfo> query = taskInfoVO.genQuery();
         return ResponseDataDTO.success(taskInfoService.list(query));
     }
+    /**
+     * websocket 连接
+     */
+    @Resource
+    private WebSocket webSocket;
 
     /**
+     * websocket 消息推送
+     *
+     * @param enums   推送消息枚举
+     * @param robotId 机器人连接
+     * @param heatMap 消息集合
+     */
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, TaskHeatMap heatMap) {
+        try {
+            WsMsgBaseDTO<TaskHeatMap> wsMsgBaseDTO = new WsMsgBaseDTO<TaskHeatMap>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(heatMap);
+            String msg = JSON.toJSONString(wsMsgBaseDTO);
+//            log.info("推送{}消息：{}", enums.getRemarks(), msg);
+            webSocket.sendOneMessage(robotId, msg);
+        } catch (Exception e) {
+            log.error(e.getMessage());
+        }
+
+    }
+    /**
      * 线路信息管理(其他信息待定)列表
      */
     @ApiOperation(value = "测试", hidden = true)
-    @GetMapping(value = "/test")
-    public ResponseDataDTO<List<RouteInfo>> test(@RequestBody PathInitDTO pathInitDTO) {
-        Long tsk = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID);
-        return ResponseDataDTO.success(algorithmService.pathPlanningInit(pathInitDTO));
+    @GetMapping(value = "/testRl")
+    public ResponseDataDTO<AlgorithmResponse> test() {
+        AlgorithmResponse response = new AlgorithmResponse();
+        response.setTaskHeatMap(new TaskHeatMap());
+        algorithmService.readAlgorithmResponse("step3.txt",response,123L,null);
+        sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, "1", response.getTaskHeatMap());
+        return ResponseDataDTO.success(response);
     }
 
     /**
@@ -98,7 +128,6 @@
     @ApiOperation("图片路径保存")
     @GetMapping(value = "/saveImg")
     public ResponseDataDTO<PageInfoBT<TaskInfo>> saveImg(ImgDTO imgDTO) {
-
         taskInfoService.saveImg(imgDTO);
         return ResponseDataDTO.success();
     }
@@ -146,9 +175,9 @@
      * 删除任务管理
      */
     @ApiOperation(value = "删除接口")
-    @GetMapping(value = "/delete")
-    public ResponseDataDTO delete(@RequestBody List<String> ids) {
-        taskInfoService.removeByIds(ids);
+    @PostMapping(value = "/delete")
+    public ResponseDataDTO delete(@RequestBody IdsDTO ids) {
+        taskInfoService.removeByIds(ids.getIds());
         return ResponseDataDTO.success();
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
new file mode 100644
index 0000000..9d012da
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/TaskInfoImgMapper.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import org.apache.ibatis.annotations.Param;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+/**
+ * <p>
+ *  任务照片存储 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface TaskInfoImgMapper extends BaseMapper<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage( @Param("page") Page<TaskInfoImg> page,@Param("ew" ) QueryWrapper<TaskInfoImg> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
new file mode 100644
index 0000000..e330c68
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/TaskInfoImgMapper.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.TaskInfoImgMapper">
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.TaskInfoImg">
+            <result column="id" property="id"/>
+            <result column="mca_img" property="mcaImg"/>
+            <result column="psd_img" property="psdImg"/>
+            <result column="route_img" property="routeImg"/>
+            <result column="heat_img" property="heatImg"/>
+    </resultMap>
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+            id ,
+                    mca_img as mcaImg ,
+                    psd_img as psdImg ,
+                    route_img as routeImg ,
+                    heat_img as heatImg 
+    </sql>
+<sql id="Base_Column_Alias">
+            a.id ,
+            a.mca_img
+            as mcaImg ,
+            a.psd_img
+            as psdImg ,
+            a.route_img
+            as routeImg ,
+            a.heat_img
+            as heatImg 
+</sql>
+<select id="selectTaskInfoImgPage" resultType="com.casic.missiles.modular.robot.model.TaskInfoImg">
+    select
+    <include refid="Base_Column_Alias"/>
+    from task_info_img a
+    <where>
+        <if test="ew != null">
+            ${ew.sqlSegment}
+        </if>
+    </where>
+</select>
+<sql id="Base_Column_Query">
+    <if test="request!=null">
+<if test="request.mcaImg!= null and request.mcaImg!=''">
+            and mca_img = #{request.mcaImg}
+</if>
+<if test="request.psdImg!= null and request.psdImg!=''">
+            and psd_img = #{request.psdImg}
+</if>
+<if test="request.routeImg!= null and request.routeImg!=''">
+            and route_img = #{request.routeImg}
+</if>
+<if test="request.heatImg!= null and request.heatImg!=''">
+            and heat_img = #{request.heatImg}
+</if>
+    </if>
+</sql></mapper>
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
new file mode 100644
index 0000000..ed06f3b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageEvent.java
@@ -0,0 +1,32 @@
+package com.casic.missiles.modular.robot.event;
+
+import com.casic.missiles.model.application.event.core.ModelEvent;
+import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+/**
+ * 用户登录数据变化事件
+ *
+ * @author lwh
+ */
+public class PoseMessageEvent extends ModelEvent<MqttMessage> {
+    private String robotId;
+    /**
+     * Create a new {@code ApplicationEvent}.
+     *
+     * @param type   事件类型
+     * @param source the object on which the event initially occurred or with
+     *               which the event is associated (never {@code null})
+     */
+    public PoseMessageEvent(AbstractEventTypeEnum type, MqttMessage source) {
+        super(type, source);
+    }
+
+    public String getRobotId() {
+        return robotId;
+    }
+
+    public void setRobotId(String robotId) {
+        this.robotId = robotId;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
new file mode 100644
index 0000000..2cc6cdc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/event/PoseMessageListener.java
@@ -0,0 +1,34 @@
+package com.casic.missiles.modular.robot.event;
+
+import cn.hutool.core.thread.ExecutorBuilder;
+import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
+import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.ThreadPoolExecutor;
+
+/**
+ * 定位事件监听器
+ * @see  com.casic.missiles.modular.robot.opt.handler.msg.PoseMessageMsgHandler
+ */
+@Slf4j
+@Component
+public class PoseMessageListener {
+    private static ThreadPoolExecutor threadPoolExecutor = ExecutorBuilder.create().setCorePoolSize(5).setMaxPoolSize(10).build();
+    private final IRobotStatusInfoService statusInfoService;
+    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
+
+    public PoseMessageListener(IRobotStatusInfoService statusInfoService, IRobotTrajectoryInfoService robotTrajectoryInfoService) {
+        this.statusInfoService = statusInfoService;
+        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    }
+
+    @EventListener
+    public void onApplicationEvent(PoseMessageEvent event) {
+//        threadPoolExecutor.execute(() -> { });
+        robotTrajectoryInfoService.savePoseMessage(event.getRobotId(), (MqttMessage) event.getSource());
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
new file mode 100644
index 0000000..7e881d9
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfoImg.java
@@ -0,0 +1,52 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+
+/**
+ * 任务照片存储对象 task_info_img
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+@TableName("task_info_img")
+public class TaskInfoImg extends Model<TaskInfoImg> {
+    private static final long serialVersionUID = 1L;
+
+    @ApiModelProperty(value = "任务ID", dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    @ApiModelProperty(value = "MCA图片", dataType = "String")
+    @TableField("mca_img")
+    private String mcaImg;
+
+    @ApiModelProperty(value = "PSD图片", dataType = "String")
+    @TableField("psd_img")
+    private String psdImg;
+
+    @ApiModelProperty(value = "巡检路线img", dataType = "String")
+    @TableField("route_img")
+    private String routeImg;
+
+    @ApiModelProperty(value = "热点分布图", dataType = "String")
+    @TableField("heat_img")
+    private String heatImg;
+
+
+    @Override
+    public String toString() {
+        return "TaskInfoImg{"
+                + "id=" + id
+                + "mcaImg=" + mcaImg
+                + "psdImg=" + psdImg
+                + "routeImg=" + routeImg
+                + "heatImg=" + heatImg
+                + "}";
+    }
+}
\ No newline at end of file
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 d74a38b..c4bc25d 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
@@ -35,7 +35,7 @@
     }),
     TRACK_RECORD("/track_record" , "/track_record_response" , "启动或关闭轨迹录制功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
-    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , true, new TypeReference<RobotMsgResponseDTO<Integer>>() {
+    START_TRACK("/start_track" , "/start_track_response" , "启动或关闭循迹功能" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
     DELETE_TRACK("/delete_track" , "/delete_track_response" , "删除路线" , false, new TypeReference<RobotMsgResponseDTO<Integer>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
index 41879dd..83f4cb2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java
@@ -13,6 +13,7 @@
 
 /**
  * websocket 推送消息
+ * @see com.casic.missiles.mqtt.config.MqttClientConfigListener#createMqtt
  */
 @Slf4j
 public abstract class AbstractSocketHandler implements IBaseMsgHandler {
@@ -48,7 +49,7 @@
                 wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
                 wsMsgBaseDTO.setData(jsonObject.get("msg"));
                 String msg = JSON.toJSONString(wsMsgBaseDTO);
-//                log.info("推送{}消息：{}", enums.getRemarks(), msg);
+                log.info("推送{}消息：{}", enums.getRemarks(), msg);
                 webSocket.sendOneMessage(robotId, msg);
             }
         } catch (Exception e) {
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 b8e561d..5e3fe49 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
@@ -6,6 +6,8 @@
  * 业务消息处理器
  */
 public interface IBaseMsgHandler {
+    static String index_key = "index";
+
     /**
      * 消息处理handler
      *
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
index cefe2cd..27bed0e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
@@ -55,9 +55,6 @@
         }
         messageDTO.setMsg(request);
         ResponseDataDTO<Integer> list = null;
-        if (request.getAction() != 1) {
-            taskInfoService.reloadTask(request, getRobotInfo());
-        }
         try {
             list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.START_TRACK, messageDTO);
         } catch (Exception e) {
@@ -75,8 +72,7 @@
      */
     @Override
     public ResponseDataDTO afterInvoke(StartTrackRequest request, ResponseDataDTO response) {
-        //增加循迹任务记录
-        taskInfoService.reloadTask(request, getRobotInfo());
+
         return response;
     }
 }
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
index 316fd8f..8b7fd0e 100644
--- 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
@@ -19,7 +19,7 @@
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
     static {
-        index.put("index", 0);
+        index.put(index_key, 0);
     }
 
     public AppNavPauseMsgHandler(IRobotStatusInfoService statusInfoService) {
@@ -28,7 +28,12 @@
 
     @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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 83d1d39..67ec20e 100644
--- 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
@@ -6,6 +6,9 @@
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.stereotype.Component;
 
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
 /**
  * 停障状态实时接收器
  */
@@ -13,14 +16,23 @@
 @Component("/app_stop_navtrack")
 public class AppStopNavtrackMsgHandler implements IBaseMsgHandler {
     private final IRobotStatusInfoService statusInfoService;
-
+    private static Map<String, Integer> index = new ConcurrentHashMap<>();
+    static {
+        index.put(index_key, 0);
+    }
     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);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            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
index 1cf0e55..9c26129 100644
--- 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
@@ -1,28 +1,37 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.application.enums.LoginEventTypeEnum;
+import com.casic.missiles.model.application.event.core.EventPublisher;
+import com.casic.missiles.modular.robot.event.PoseMessageEvent;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
-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 extends AbstractSocketHandler {
 
-    private final IRobotTrajectoryInfoService robotTrajectoryInfoService;
 
-    public PoseMessageMsgHandler(IRobotTrajectoryInfoService robotTrajectoryInfoService) {
-        this.robotTrajectoryInfoService = robotTrajectoryInfoService;
+    private final EventPublisher publisher;
+
+    public PoseMessageMsgHandler(EventPublisher publisher) {
+
+        this.publisher = publisher;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        robotTrajectoryInfoService.savePoseMessage(robotId, message);
+//        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
         sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message);
+        PoseMessageEvent event = new PoseMessageEvent(LoginEventTypeEnum.RELOAD_SCOPE, message);
+        event.setRobotId(robotId);
+        publisher.publishEvent(event);
+        log.info("实时定位已发送！！");
     }
 }
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
index 4910f62..b248839 100644
--- 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
@@ -1,5 +1,6 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.model.application.event.core.EventPublisher;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -16,17 +17,18 @@
 @Slf4j
 @Component("/process_message")
 public class ProcessMessageMsgHandler extends AbstractSocketHandler {
-    private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
-
-    public ProcessMessageMsgHandler(IRobotStatusInfoService statusInfoService) {
+    private final EventPublisher publisher;
+    private final IRobotStatusInfoService statusInfoService;
+    public ProcessMessageMsgHandler(EventPublisher publisher, IRobotStatusInfoService statusInfoService) {
+        this.publisher = publisher;
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         log.info("建图进度:{}", message);
-        statusInfoService.saveProcessMessage(robotId, message);
+        statusInfoService.saveProcessMessage(robotId,message);
         sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, 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
index 3a19ebe..9d275bd 100644
--- 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
@@ -34,7 +34,7 @@
         index.put("index" , val);
         if (val > 30) {
             index.put("index" , 0);
-            statusInfoService.saveSensorStatus(robotId, message);
+//            statusInfoService.saveSensorStatus(robotId, message);
         }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
index 3acf1d7..8950815 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java
@@ -19,13 +19,22 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
     public StopStateMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-        statusInfoService.saveStopState(robotId, message);
-//        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key)>50) {
+            index.put(index_key, 0);
+            log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+
+            statusInfoService.saveStopState(robotId, message);
+        }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
index ad0eda8..a9d7914 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.robot.opt.handler.msg;
 
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums;
 import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler;
+import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.VoltageDTO;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
@@ -20,20 +25,58 @@
     private final IRobotStatusInfoService statusInfoService;
     private static Map<String, Integer> index = new ConcurrentHashMap<>();
 
+    static {
+        index.put(index_key, 0);
+    }
+
     public VoltageResponseMsgHandler(IRobotStatusInfoService statusInfoService) {
         this.statusInfoService = statusInfoService;
     }
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-//        log.info("----------------------电压信息反馈:{}", message);
-        statusInfoService.saveVoltageResponseMessage(robotId, message);
-        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
-        try{
 
-        RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
-        sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
-        }catch (Exception e){
+        index.put(index_key, index.get("index") + 1);
+        if (index.get(index_key) > 50) {
+            index.put(index_key, 0);
+            log.info("----------------------电压信息反馈:{}", message);
+            statusInfoService.saveVoltageResponseMessage(robotId, message);
+        }
+        sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message);
+        try {
+
+            RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId);
+            Integer appNav = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_NAV_PAUSE + robotId);
+            Integer appStop = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_STOP_NAVTRACK + robotId);
+            PoseMessageResponseDTO dto = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + robotId);
+            StopStateResponseDTO stopStateResponseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + robotId);
+            VoltageDTO voltageDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.VOLTAGE_RESPONSE + robotId);
+            if (robotStatusInfo != null) {
+                if (appNav != null) {
+                    robotStatusInfo.setAppNavPause(appNav);
+                }
+                if (appStop != null) {
+                    robotStatusInfo.setAppStopNavtrack(appStop);
+                }
+                if (dto != null) {
+                    robotStatusInfo.setPostionX(dto.getX());
+                    robotStatusInfo.setPostionY(dto.getY());
+                    robotStatusInfo.setPostionZ(dto.getZ());
+                }
+                if (stopStateResponseDTO != null) {
+                    robotStatusInfo.setSoft(stopStateResponseDTO.getSoft());
+                    robotStatusInfo.setSonic(stopStateResponseDTO.getSonic());
+                    robotStatusInfo.setCollision(stopStateResponseDTO.getCollision());
+                    robotStatusInfo.setButton(stopStateResponseDTO.getButton());
+                }
+                if (voltageDTO != null) {
+                    robotStatusInfo.setVoltage(voltageDTO.getVoltage());
+                    robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
+                }
+            }
+            //读取缓存信息
+            sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
+        } catch (Exception e) {
             e.printStackTrace();
         }
     }
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 c2c2773..8471e7a 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
@@ -141,6 +141,13 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+    @Transactional
+    @Override
+    public void startTrack(StartTrackRequest request) {
+        //增加循迹任务记录
+        taskInfoService.reloadTask(request, robotInfoService.getById(request.getRobotId()));
+        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
+    }
 
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
new file mode 100644
index 0000000..c5071bc
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/response/VoltageDTO.java
@@ -0,0 +1,12 @@
+package com.casic.missiles.modular.robot.opt.instruct.response;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+
+@Data
+public class VoltageDTO implements Serializable {
+    private Integer electricityQuantity;
+    private BigDecimal voltage;
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
index 9065f34..56b3e1d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IAlgorithmService.java
@@ -7,6 +7,7 @@
 import com.casic.missiles.modular.robot.model.RobotInfo;
 
 import java.math.BigDecimal;
+import java.util.List;
 
 /**
  * 循迹算法调用
@@ -37,4 +38,5 @@
      * @return
      */
     GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo);
+    void readAlgorithmResponse(String fileName, AlgorithmResponse response, Long taskId, List<String> res);
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java
new file mode 100644
index 0000000..f197c10
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/ITaskInfoImgService.java
@@ -0,0 +1,22 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.extension.service.IService;
+import  com.casic.missiles.modular.robot.model.TaskInfoImg;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 任务照片存储 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+public interface ITaskInfoImgService extends IService<TaskInfoImg> {
+/**
+* 任务照片存储 分页检索
+*/
+List<TaskInfoImg> selectTaskInfoImgPage(Page<TaskInfoImg> page,QueryWrapper<TaskInfoImg> query);}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
index df4a330..f808fa0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
@@ -64,7 +64,7 @@
     @Override
     public AlgorithmResponse pathPlanning(PathPlanDTO planDTO) {
         if (StrUtil.isEmpty(planDTO.getCount())) {
-            planDTO.setCount("0.01");
+            planDTO.setCount("0.001");
         }
         //算法路径及入参配置
         List<String> commends = new ArrayList<>();
@@ -162,8 +162,8 @@
         x = x.subtract(robotInfo.getOriginX());
         y = y.subtract(robotInfo.getOriginY());
 
-        pointDTO.setX(new BigDecimal(x.multiply(scale).intValue()));
-        pointDTO.setY(new BigDecimal(y.multiply(scale).intValue()));
+        pointDTO.setX(new BigDecimal(x.divide(scale,3,BigDecimal.ROUND_HALF_UP).intValue()+1));
+        pointDTO.setY(new BigDecimal(y.divide(scale,3,BigDecimal.ROUND_HALF_UP).intValue()+1));
         return pointDTO;
     }
 
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 0257c90..6d3ae91 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
@@ -1,18 +1,18 @@
 package com.casic.missiles.modular.robot.service.impl;
 
 import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.convert.Convert;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
-import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
 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;
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dao.RobotStatusInfoMapper;
-import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
@@ -21,10 +21,7 @@
 import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO;
 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.opt.instruct.response.AppCostmapResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.SpeedResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.StopStateResponseDTO;
-import com.casic.missiles.modular.robot.opt.instruct.response.VoltageResponseDTO;
+import com.casic.missiles.modular.robot.opt.instruct.response.*;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
@@ -151,7 +148,8 @@
     public void saveProcessMessage(String robotId, MqttMessage message) {
 //        String json = new String(message.getPayload());
 
-        RobotResponseDTO<ProcessMessageResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<ProcessMessageResponseDTO>>(){});
+        RobotResponseDTO<ProcessMessageResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<ProcessMessageResponseDTO>>() {
+        });
         if (responseDTO.getMsg() != null) {
             UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             ProcessMessageResponseDTO msg = responseDTO.getMsg();
@@ -173,11 +171,8 @@
         RobotMsgResponseDTO<Integer> responseDTO = JSON.parseObject(json, new TypeReference<RobotMsgResponseDTO<Integer>>() {
         });
         if (responseDTO.getMsg() != null) {
-            UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_nav_pause", msg.getResult());
-            query.eq("robot_id", robotId);
-            update(query);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_NAV_PAUSE + robotId, msg.getResult());
         }
     }
 
@@ -186,12 +181,10 @@
         String json = new String(message.getPayload());
         RobotMsgResponseDTO<Integer> responseDTO = JSON.parseObject(json, new TypeReference<RobotMsgResponseDTO<Integer>>() {
         });
+
         if (responseDTO.getMsg() != null) {
-            UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
             RobotMsgDTO msg = responseDTO.getMsg();
-            query.set("app_stop_navtrack", msg.getResult());
-            query.eq("robot_id", robotId);
-            update(query);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.APP_STOP_NAVTRACK + robotId, msg.getResult());
         }
     }
 
@@ -228,16 +221,11 @@
 
     @Override
     public void saveStopState(String robotId, MqttMessage message) {
-        RobotResponseDTO<StopStateResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<StopStateResponseDTO>>(){});
+        RobotResponseDTO<StopStateResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<StopStateResponseDTO>>() {
+        });
         if (responseDTO != null && responseDTO.getMsg() != null) {
-//            log.info("急停状态保存：{}", responseDTO.getMsg());
-            LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
-            query.set(RobotStatusInfo::getButton, responseDTO.getMsg().getButton());
-            query.set(RobotStatusInfo::getCollision, responseDTO.getMsg().getCollision());
-            query.set(RobotStatusInfo::getSonic, responseDTO.getMsg().getSonic());
-            query.set(RobotStatusInfo::getSoft, responseDTO.getMsg().getSoft());
-            query.eq(RobotStatusInfo::getRobotId, robotId);
-            update(query);
+            log.info("急停状态保存：{}", responseDTO.getMsg());
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + robotId, responseDTO.getMsg());
         }
     }
 
@@ -250,37 +238,39 @@
         if (responseDTO != null && responseDTO.getMsg() != null) {
             RobotInfo info = robotInfoService.getById(robotId);
             log.info("电压状态保存：{}", responseDTO.getMsg());
-            LambdaUpdateWrapper<RobotStatusInfo> query = new LambdaUpdateWrapper<>();
             if (CollectionUtil.isNotEmpty(responseDTO.getMsg().getVoltage())) {
                 Integer v = responseDTO.getMsg().getVoltage().get(0);
-                query.set(RobotStatusInfo::getVoltage, v);
                 //计算电量
                 Double quantity = new BigDecimal(v - info.getVoltageMin()).divide(new BigDecimal(info.getVoltageMax() - info.getVoltageMin()), 2, BigDecimal.ROUND_HALF_UP).doubleValue();
-                query.set(RobotStatusInfo::getElectricityQuantity, quantity * 100);
-                query.eq(RobotStatusInfo::getRobotId, robotId);
-                update(query);
+                VoltageDTO voltageDTO = new VoltageDTO();
+                voltageDTO.setVoltage(new BigDecimal(v));
+                voltageDTO.setElectricityQuantity(Convert.toInt(quantity * 100));
+                CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.VOLTAGE_RESPONSE + robotId, voltageDTO);
             }
         }
     }
 
     /**
      * 机器人栅格数据
+     *
      * @param robotId 机器人障碍物栅格数据保存
      * @param message 消息体
      */
     @Override
     public void saveCostMap(String robotId, MqttMessage message) {
         //数据接收
-        RobotResponseDTO<AppCostmapResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<AppCostmapResponseDTO>>() {});
+        RobotResponseDTO<AppCostmapResponseDTO> responseDTO = parseJson(message, new TypeReference<RobotResponseDTO<AppCostmapResponseDTO>>() {
+        });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
-            robotInfoService.updateRobotGrid(robotId,responseDTO.getMsg());
+            robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
 //            log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
         }
     }
 
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
+        //todo cache
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
         query.set("postion_x", dto.getX());
         query.set("postion_y", dto.getY());
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 bb066f4..6c9625f 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
@@ -5,6 +5,8 @@
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.casic.missiles.core.cache.CacheUtil;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.dao.RobotTrajectoryInfoMapper;
 import com.casic.missiles.modular.robot.model.RobotStatusInfo;
 import com.casic.missiles.modular.robot.model.RobotTrajectoryInfo;
@@ -34,11 +36,12 @@
 public class RobotTrajectoryInfoServiceImpl extends ServiceImpl<RobotTrajectoryInfoMapper, RobotTrajectoryInfo> implements IRobotTrajectoryInfoService {
     private final IRobotStatusInfoService robotStatusInfoService;
     private final ITaskInfoService infoService;
+    private final IRobotCacheService cacheService;
 
-
-    public RobotTrajectoryInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, ITaskInfoService infoService) {
+    public RobotTrajectoryInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, ITaskInfoService infoService, IRobotCacheService cacheService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.infoService = infoService;
+        this.cacheService = cacheService;
     }
 
     @Override
@@ -54,14 +57,15 @@
         });
 
         //读取导航状态,如果导航未开启则不存储
-        RobotStatusInfo statusInfo = robotStatusInfoService.getStatusByRobotId(robotId);
-        if (statusInfo != null && responseDTO.getMsg() != null) {
+//        RobotStatusInfo statusInfo = robotStatusInfoService.getStatusByRobotId(robotId);
+        Long routeId= cacheService.readRouteId(Long.valueOf(robotId));
+        if (routeId != null && responseDTO.getMsg() != null) {
             PoseMessageResponseDTO dto = responseDTO.getMsg();
             //执行循迹 保存当前轨迹信息
             //更新实时定位信息
-            robotStatusInfoService.updateRobotPoint(dto,robotId);
+            CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + robotId, dto);
             infoService.pointTestCallBack(dto, robotId);
-            if (statusInfo.getCurrRouteId() != null) {
+            if (routeId != null) {
                 RobotTrajectoryInfo info = new RobotTrajectoryInfo();
                 info.setRobotId(Long.valueOf(robotId));
                 info.setCreateTime(new Date());
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java
new file mode 100644
index 0000000..a0f578e
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoImgServiceImpl.java
@@ -0,0 +1,28 @@
+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.ITaskInfoImgService;
+import java.util.List;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+
+import com.casic.missiles.modular.robot.dao.TaskInfoImgMapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+
+
+/**
+ * <p>
+ * 任务照片存储 服务实现类
+ * </p>
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Service
+public class TaskInfoImgServiceImpl extends ServiceImpl<TaskInfoImgMapper, TaskInfoImg> implements ITaskInfoImgService {
+@Override
+public List<TaskInfoImg> selectTaskInfoImgPage(Page<TaskInfoImg> page,QueryWrapper<TaskInfoImg> query) {
+return this.baseMapper.selectTaskInfoImgPage(page,query);
+}}
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 93745b6..d1417b0 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
@@ -6,11 +6,11 @@
 import cn.hutool.core.convert.Convert;
 import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.io.FileUtil;
+import cn.hutool.core.thread.ExecutorBuilder;
 import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
-import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
 import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
 import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
@@ -47,6 +47,7 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.*;
+import java.util.concurrent.ThreadPoolExecutor;
 
 
 /**
@@ -68,7 +69,10 @@
     private final IAlgorithmService algorithmService;
     private final IRobotCacheService cacheService;
     private final IBaseRobotService baseRobotService;
-
+    private final ITaskInfoImgService imgService;
+    /**
+     * 初始化线程池
+     */
 
     @Value("${casic.file.uploadPath}")
     private String uploadPath;
@@ -80,7 +84,7 @@
     @Value("${casic.obstacle:10}")
     private Integer obstacle;
 
-    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService) {
+    public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService, ITaskInfoImgService imgService) {
         this.routeInfoService = routeInfoService;
         this.statusInfoService = statusInfoService;
         this.dictService = dictService;
@@ -89,6 +93,7 @@
         this.algorithmService = algorithmService;
         this.cacheService = cacheService;
         this.baseRobotService = baseRobotService;
+        this.imgService = imgService;
     }
 
     /**
@@ -145,6 +150,13 @@
         taskInfo.setDiscernTypeName(dictService.getDictNameByCode(RobotDictConstants.DISCERN_TYPE, taskInfo.getDiscernType() + ""));
         taskInfo.setTaskTypeName(dictService.getDictNameByCode(RobotDictConstants.TASK_TYPE, taskInfo.getTaskType() + ""));
         taskInfo.setTaskStatusName(dictService.getDictNameByCode(RobotDictConstants.TASK_STATUS, taskInfo.getTaskType() + ""));
+        TaskInfoImg taskInfoImg = imgService.getById(taskInfo.getId());
+        if (taskInfoImg != null) {
+            taskInfo.setRouteImg(taskInfoImg.getRouteImg());
+            taskInfo.setPsdImg(taskInfoImg.getPsdImg());
+            taskInfo.setMcaImg(taskInfoImg.getMcaImg());
+            taskInfo.setHeatImg(taskInfoImg.getHeatImg());
+        }
         //检索当前任务告警数量
         taskInfo.setAlarmNum(recordService.selectCountByTaskId(taskInfo.getId(), taskInfo.getRobotId()));
         taskInfo.setHeatMap(taskHeatMapService.getByTaskId(taskInfo.getId()));
@@ -209,6 +221,7 @@
 
         //清空任务缓存
         robotCacheClean(robotId);
+
         //清空机器当前任务
         statusInfoService.updateCurrTask(robotId, null, null);
 
@@ -240,6 +253,9 @@
         //缓存当前点位信息
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_XY_POINT + robotId, dto);
         RobotInfo robotInfo = cacheService.getRobotInfo(longId);
+        //slam经纬度转栅格
+        GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getResolution(), robotInfo);
+        log.info("currGrid:{}", pointDTO);
         if (robotInfo.getAlarmThreshold() == null || robotInfo.getMaxThreshold() == null) {
             log.error("no config 中子源阈值未配置");
             return;
@@ -254,13 +270,25 @@
         //算法初始化状态读取
         Integer initValue = cacheService.readTaskInit(longId);
 
-        //slam经纬度转栅格
-        GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getResolution(), robotInfo);
 
         //No.1 任务初始化
         if (initValue != 1) {
             //执行初始化操作
             if (cacheService.updateTaskInit(longId, 1)) {
+
+                try {
+                    File file = new File(".");
+                    File[] files = file.listFiles((dir, name) -> (name.endsWith(".png") && name.startsWith("step"))
+                            || (name.endsWith(".txt") && name.startsWith("step")) || name.equals("repetition.txt") || name.equals("xy_train.txt") || name.equals("z_train.txt"));
+                    if (files != null) {
+                        for (int i = 0; i < files.length; i++) {
+                            FileUtil.del(files[i]);
+                        }
+                    }
+                } catch (Exception e) {
+                    e.printStackTrace();
+                }
+
                 PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId);
                 //中子源计数率读取
                 pathInitDTO.setCount(cacheService.getNeutronCount(longId));
@@ -288,7 +316,7 @@
                 AlgorithmResponse response = algorithmService.pathPlanning(pathPlanDTO);
                 //存储算法输出栅格信息
                 CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId, response.getPointNextDTO());
-                sendWebSocket(InstructStatusMsgEnums.HEAT_MAP,robotId, response.getTaskHeatMap());
+                sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
                 //是否触发寻源操作
                 BigDecimal bigCount = new BigDecimal(pathPlanDTO.getCount());
                 if (bigCount.compareTo(robotInfo.getAlarmThreshold()) >= 0) {
@@ -329,6 +357,7 @@
         RobotInfo robotInfo = cacheService.getRobotInfo(longId);
         //slam经纬度转栅格
         GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getResolution(), robotInfo);
+        log.info("currGrid:{}", pointDTO);
     }
 
 
@@ -426,22 +455,23 @@
      *
      * @param imgDTO
      */
+    @Transactional
     @Override
     public void saveImg(ImgDTO imgDTO) {
         String path = saveHeatImg(imgDTO.getTaskId());
-        LambdaUpdateWrapper<TaskInfo> updateWrapper = new LambdaUpdateWrapper<>();
+        TaskInfoImg infoImg = new TaskInfoImg();
         if (StrUtil.isNotEmpty(imgDTO.getMcaImg())) {
-            updateWrapper.set(TaskInfo::getMcaImg, imgDTO.getMcaImg());
+            infoImg.setMcaImg(imgDTO.getMcaImg());
+            infoImg.setHeatImg(path);
         }
         if (StrUtil.isNotEmpty(imgDTO.getPsdImg())) {
-            updateWrapper.set(TaskInfo::getPsdImg, imgDTO.getPsdImg());
+            infoImg.setPsdImg(imgDTO.getPsdImg());
         }
         if (StrUtil.isNotEmpty(imgDTO.getRouteImg())) {
-            updateWrapper.set(TaskInfo::getRouteImg, imgDTO.getRouteImg());
+            infoImg.setRouteImg(imgDTO.getRouteImg());
         }
-        updateWrapper.set(TaskInfo::getHeatImg, path);
-        updateWrapper.eq(TaskInfo::getId, imgDTO.getTaskId());
-        update(updateWrapper);
+        infoImg.setId(Convert.toLong(imgDTO.getTaskId()));
+        imgService.saveOrUpdate(infoImg);
     }
 
     @SneakyThrows
@@ -449,6 +479,7 @@
     @Override
     public void exportDoc(HttpServletResponse response, String taskId) {
         TaskInfo info = getById(taskId);
+        wrapTaskInfo(info);
         RobotInfo robotInfo = cacheService.getRobotInfo(info.getRobotId());
         response.setContentType("application/octet-stream");
         response.setCharacterEncoding("utf-8");
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 75fec0e..35f1d41 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
@@ -62,7 +62,6 @@
                 query.eq("(a.monitor_val<b.alarm_threshold)", true);
             }
         }
-        query.orderByAsc("a.alarm_time");
         return query;
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskInfoImgVO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskInfoImgVO.java
new file mode 100644
index 0000000..cd79a07
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/TaskInfoImgVO.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.vo;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.casic.missiles.modular.robot.model.TaskInfoImg;
+import cn.hutool.core.util.StrUtil;
+
+
+/**
+ * 任务照片存储对象VO
+ *
+ * @author lwh
+ * @date 2024-01-30
+ */
+@Data
+public class TaskInfoImgVO {
+    private static final long serialVersionUID = 1L;
+
+
+            @ApiModelProperty(value = "MCA图片" , dataType = "String")
+            private String mcaImg;
+
+            @ApiModelProperty(value = "PSD图片" , dataType = "String")
+            private String psdImg;
+
+            @ApiModelProperty(value = "巡检路线img" , dataType = "String")
+            private String routeImg;
+
+            @ApiModelProperty(value = "热点分布图" , dataType = "String")
+            private String heatImg;
+
+public QueryWrapper<TaskInfoImg> genQuery() {
+QueryWrapper<TaskInfoImg> query = new QueryWrapper<>();
+if (StrUtil.isNotEmpty(mcaImg)) {
+        query.eq("mca_img",mcaImg);
+}
+if (StrUtil.isNotEmpty(psdImg)) {
+        query.eq("psd_img",psdImg);
+}
+if (StrUtil.isNotEmpty(routeImg)) {
+        query.eq("route_img",routeImg);
+}
+if (StrUtil.isNotEmpty(heatImg)) {
+        query.eq("heat_img",heatImg);
+}
+return query;
+}}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/DemoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/DemoController.java
deleted file mode 100644
index 99c4a6f..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/DemoController.java
+++ /dev/null
@@ -1,31 +0,0 @@
-package com.casic.missiles.modular.system.controller;
-
-
-import com.casic.missiles.model.response.ResponseData;
-import org.springframework.web.bind.annotation.PostMapping;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.ResponseBody;
-import org.springframework.web.bind.annotation.RestController;
-
-/**
- * @ClassName DemoController
- * @Description TODO
- * @Author lenovo
- * @Date 2020/6/13 15:38
- * @Version 1.0
- */
-@RestController
-@RequestMapping("/demo")
-public class DemoController {
-
-
-    /**
-     * 获取mockToken
-     */
-    @PostMapping("/test")
-    @ResponseBody
-    public Object testMqtt(String topic, String msg) {
-
-        return ResponseData.success();
-    }
-}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/event/UserEvent.java b/casic-server/src/main/java/com/casic/missiles/modular/system/event/UserEvent.java
deleted file mode 100644
index c6ed867..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/event/UserEvent.java
+++ /dev/null
@@ -1,23 +0,0 @@
-package com.casic.missiles.modular.system.event;
-
-import com.casic.missiles.model.application.event.core.ModelEvent;
-import com.casic.missiles.model.application.event.type.AbstractEventTypeEnum;
-import com.casic.missiles.modular.system.model.User;
-
-/**
- * 用户事件
- *
- * @author lwh
- */
-public class UserEvent extends ModelEvent<User> {
-    /**
-     * Create a new {@code ApplicationEvent}.
-     *
-     * @param type   事件类型
-     * @param source the object on which the event initially occurred or with
-     *               which the event is associated (never {@code null})
-     */
-    public UserEvent(AbstractEventTypeEnum type, User source) {
-        super(type, source);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/event/listener/UserOneListener.java b/casic-server/src/main/java/com/casic/missiles/modular/system/event/listener/UserOneListener.java
deleted file mode 100644
index 4480ef2..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/event/listener/UserOneListener.java
+++ /dev/null
@@ -1,20 +0,0 @@
-package com.casic.missiles.modular.system.event.listener;
-
-import com.casic.missiles.core.application.event.UserLoginEvent;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.context.event.EventListener;
-import org.springframework.stereotype.Component;
-
-/**
- * 用户事件订阅
- *
- * @author lwh
- */
-@Slf4j
-@Component
-public class UserOneListener {
-    @EventListener
-    public void onApplicationEvent(UserLoginEvent event) {
-        log.debug("用户1订阅:{}", event);
-    }
-}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/event/listener/UserTwoListener.java b/casic-server/src/main/java/com/casic/missiles/modular/system/event/listener/UserTwoListener.java
deleted file mode 100644
index 8447a22..0000000
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/event/listener/UserTwoListener.java
+++ /dev/null
@@ -1,20 +0,0 @@
-package com.casic.missiles.modular.system.event.listener;
-
-import com.casic.missiles.model.application.event.core.EventSubscriber;
-import com.casic.missiles.modular.system.event.UserEvent;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.stereotype.Component;
-
-/**
- * 用户事件订阅
- *
- * @author lwh
- */
-@Slf4j
-@Component
-public class UserTwoListener extends EventSubscriber<UserEvent> {
-    @Override
-    public void onApplicationEvent(UserEvent event) {
-        log.debug("用户2订阅:{}", event);
-    }
-}
diff --git a/casic-web/pom.xml b/casic-web/pom.xml
index 627e36f..01be493 100644
--- a/casic-web/pom.xml
+++ b/casic-web/pom.xml
@@ -57,6 +57,7 @@
                 </exclusion>
             </exclusions>
         </dependency>
+
         <dependency>
             <groupId>org.springframework.boot</groupId>
             <artifactId>spring-boot-starter-jdbc</artifactId>
@@ -68,6 +69,11 @@
             <version>${core.version}</version>
         </dependency>
         <dependency>
+            <groupId>io.swagger</groupId>
+            <artifactId>swagger-models</artifactId>
+            <version>1.6.0</version>
+        </dependency>
+        <dependency>
             <groupId>com.casic</groupId>
             <artifactId>casic-admin-core</artifactId>
             <version>${admin.version}</version>
@@ -76,6 +82,10 @@
                     <groupId>io.springfox</groupId>
                     <artifactId>springfox-swagger-ui</artifactId>
                 </exclusion>
+                <exclusion>
+                    <groupId>io.swagger</groupId>
+                    <artifactId>swagger-models</artifactId>
+                </exclusion>
             </exclusions>
         </dependency>
         <dependency>
diff --git a/casic-web/src/main/resources/config/application-dev.yml b/casic-web/src/main/resources/config/application-dev.yml
index 3d8ae29..fa44b21 100644
--- a/casic-web/src/main/resources/config/application-dev.yml
+++ b/casic-web/src/main/resources/config/application-dev.yml
@@ -6,7 +6,7 @@
     driver-class-name: com.mysql.cj.jdbc.Driver
     url: jdbc:mysql://192.168.1.41:3000/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
     username: root
-    password: root
+    password: 123456
 jms:
    pub-sub-domain: true
 # session:
diff --git a/casic-web/src/main/resources/config/application.yml b/casic-web/src/main/resources/config/application.yml
index b8e78ef..7fca313 100644
--- a/casic-web/src/main/resources/config/application.yml
+++ b/casic-web/src/main/resources/config/application.yml
@@ -27,7 +27,9 @@
     serializer: org.springframework.data.redis.serializer.StringRedisSerializer
     redisValueSerializer: org.springframework.data.redis.serializer.JdkSerializationRedisSerializer
 #mybatis-plus:
-#    sql-injector: com.baomidou.mybatisplus.mapper.LogicSqlInjector
+#  configuration:
+#    # 配置结果集属性为空时 是否映射返回结果
+#    log-impl: org.apache.ibatis.logging.stdout.StdOutImpl #打印sql语句,调试用
 ###################  mybatis-plus配置  ###################
 ###################  guns配置  ###################
 casic:
diff --git a/pom.xml b/pom.xml
index 5e1a9ed..26979ba 100644
--- a/pom.xml
+++ b/pom.xml
@@ -45,11 +45,27 @@
                 <artifactId>casic-knife4j-boot-starter</artifactId>
                 <version>${extension.version}</version>
             </dependency>
+
             <dependency>
                 <groupId>org.springframework.boot</groupId>
                 <artifactId>spring-boot-starter-web</artifactId>
                 <version>${boot.version}</version>
             </dependency>
+            <dependency>
+                <groupId>com.casic</groupId>
+                <artifactId>casic-admin-core</artifactId>
+                <version>${admin.version}</version>
+                <exclusions>
+                    <exclusion>
+                        <groupId>io.springfox</groupId>
+                        <artifactId>springfox-swagger-ui</artifactId>
+                    </exclusion>
+                    <exclusion>
+                        <groupId>io.swagger</groupId>
+                        <artifactId>swagger-models</artifactId>
+                    </exclusion>
+                </exclusions>
+            </dependency>
             <!--casic相关代码-->
             <dependency>
                 <groupId>com.casic</groupId>