diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
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 a849528..4f34669 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
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
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 a849528..4f34669 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
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index bdfc2d0..d7736a5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -148,7 +148,7 @@
     public void insertPsdAlarms() {
         times++;
         //先查询正在巡检任务信息
-        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
+        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 2);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
 
         long currentTimes = System.currentTimeMillis();

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
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 a849528..4f34669 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
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index bdfc2d0..d7736a5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -148,7 +148,7 @@
     public void insertPsdAlarms() {
         times++;
         //先查询正在巡检任务信息
-        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
+        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 2);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
 
         long currentTimes = System.currentTimeMillis();
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 92c8c8e..6e94193 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
@@ -5,10 +5,7 @@
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 
 /**
  * 机器人操作类
@@ -76,4 +73,11 @@
     void reloadPcd(RobotInfo info);
 
     void startTrack(StartTrackRequest request);
+
+    /**
+     * 栅格寻点指令
+     * @param request 请求
+     * @return
+     */
+    ResponseDataDTO<Integer> targetGrid(TargetPointRequest request);
 }

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
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 a849528..4f34669 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
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index bdfc2d0..d7736a5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -148,7 +148,7 @@
     public void insertPsdAlarms() {
         times++;
         //先查询正在巡检任务信息
-        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
+        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 2);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
 
         long currentTimes = System.currentTimeMillis();
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 92c8c8e..6e94193 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
@@ -5,10 +5,7 @@
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 
 /**
  * 机器人操作类
@@ -76,4 +73,11 @@
     void reloadPcd(RobotInfo info);
 
     void startTrack(StartTrackRequest request);
+
+    /**
+     * 栅格寻点指令
+     * @param request 请求
+     * @return
+     */
+    ResponseDataDTO<Integer> targetGrid(TargetPointRequest 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 3bb475f..d8b3363 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.lang.Assert;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
@@ -25,7 +26,6 @@
 import io.swagger.annotations.ApiParam;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.apache.ibatis.annotations.Param;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.web.bind.annotation.*;
 import org.springframework.web.multipart.MultipartFile;
@@ -76,6 +76,13 @@
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
+    /**
+     * /{robotId}
+     *
+     * @param file
+     * @param robotId
+     * @return
+     */
     @SneakyThrows
     @ApiOperation(value = "PCD上传接口")
     @PostMapping(value = "/uploadPcd")
@@ -109,7 +116,12 @@
         robotInfoService.updateSpeed(robotInfo);
         return ResponseDataDTO.success();
     }
-
+    @ApiOperation(value = "设置任务启动模式", notes = "返回 1成功 0失败")
+    @PostMapping(value = "/setTaskMode")
+    public ResponseDataDTO setTaskMode(@RequestBody TaskModeRequest request) {
+        robotInfoService.setTaskMode(request);
+        return ResponseDataDTO.success();
+    }
     @ApiOperation(value = "机器人数据更新", notes = "1.pcd重载 2.路线及关键点数据重载")
     @PostMapping(value = "/reload")
     public ResponseDataDTO reload(@RequestBody BaseRobotCmdDTO request) {
@@ -149,6 +161,8 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
     }
 
+
+
     /**
      * 机器人请求id
      *
@@ -161,6 +175,16 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
     }
 
+    @ApiOperation(value = "寻栅格指令")
+    @PostMapping(value = "/targetGrid")
+    public ResponseDataDTO<Integer> targetGrid(@RequestBody TargetGridRequest request) {
+        TargetPointRequest targetPointRequest = new TargetPointRequest();
+        targetPointRequest.setRobotId(request.getRobotId());
+        targetPointRequest.setX(request.getEstimateGridX());
+        targetPointRequest.setY(request.getEstimateGridY());
+        return baseRobotService.targetGrid(targetPointRequest);
+    }
+
     /**
      * 机器人请求id
      *
@@ -174,6 +198,7 @@
         if (request.getStepLen() == null) {
             request.setStepLen(2);
         }
+        log.info(JSON.toJSONString(request));
         baseRobotService.startTrack(request);
         return ResponseDataDTO.success();
     }

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
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 a849528..4f34669 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
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index bdfc2d0..d7736a5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -148,7 +148,7 @@
     public void insertPsdAlarms() {
         times++;
         //先查询正在巡检任务信息
-        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
+        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 2);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
 
         long currentTimes = System.currentTimeMillis();
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 92c8c8e..6e94193 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
@@ -5,10 +5,7 @@
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 
 /**
  * 机器人操作类
@@ -76,4 +73,11 @@
     void reloadPcd(RobotInfo info);
 
     void startTrack(StartTrackRequest request);
+
+    /**
+     * 栅格寻点指令
+     * @param request 请求
+     * @return
+     */
+    ResponseDataDTO<Integer> targetGrid(TargetPointRequest 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 3bb475f..d8b3363 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.lang.Assert;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
@@ -25,7 +26,6 @@
 import io.swagger.annotations.ApiParam;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.apache.ibatis.annotations.Param;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.web.bind.annotation.*;
 import org.springframework.web.multipart.MultipartFile;
@@ -76,6 +76,13 @@
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
+    /**
+     * /{robotId}
+     *
+     * @param file
+     * @param robotId
+     * @return
+     */
     @SneakyThrows
     @ApiOperation(value = "PCD上传接口")
     @PostMapping(value = "/uploadPcd")
@@ -109,7 +116,12 @@
         robotInfoService.updateSpeed(robotInfo);
         return ResponseDataDTO.success();
     }
-
+    @ApiOperation(value = "设置任务启动模式", notes = "返回 1成功 0失败")
+    @PostMapping(value = "/setTaskMode")
+    public ResponseDataDTO setTaskMode(@RequestBody TaskModeRequest request) {
+        robotInfoService.setTaskMode(request);
+        return ResponseDataDTO.success();
+    }
     @ApiOperation(value = "机器人数据更新", notes = "1.pcd重载 2.路线及关键点数据重载")
     @PostMapping(value = "/reload")
     public ResponseDataDTO reload(@RequestBody BaseRobotCmdDTO request) {
@@ -149,6 +161,8 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
     }
 
+
+
     /**
      * 机器人请求id
      *
@@ -161,6 +175,16 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
     }
 
+    @ApiOperation(value = "寻栅格指令")
+    @PostMapping(value = "/targetGrid")
+    public ResponseDataDTO<Integer> targetGrid(@RequestBody TargetGridRequest request) {
+        TargetPointRequest targetPointRequest = new TargetPointRequest();
+        targetPointRequest.setRobotId(request.getRobotId());
+        targetPointRequest.setX(request.getEstimateGridX());
+        targetPointRequest.setY(request.getEstimateGridY());
+        return baseRobotService.targetGrid(targetPointRequest);
+    }
+
     /**
      * 机器人请求id
      *
@@ -174,6 +198,7 @@
         if (request.getStepLen() == null) {
             request.setStepLen(2);
         }
+        log.info(JSON.toJSONString(request));
         baseRobotService.startTrack(request);
         return ResponseDataDTO.success();
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
new file mode 100644
index 0000000..709bcd3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+@Data
+public class GridDTO {
+    /**
+     * 当前栅格x
+     */
+    private Integer currGridX;
+    /**
+     * 当前栅格y
+     */
+    private Integer currGridY;
+    /**
+     * 规划栅格x
+     */
+    private Integer estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private Integer estimateGridY;
+}

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
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 a849528..4f34669 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
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index bdfc2d0..d7736a5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -148,7 +148,7 @@
     public void insertPsdAlarms() {
         times++;
         //先查询正在巡检任务信息
-        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
+        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 2);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
 
         long currentTimes = System.currentTimeMillis();
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 92c8c8e..6e94193 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
@@ -5,10 +5,7 @@
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 
 /**
  * 机器人操作类
@@ -76,4 +73,11 @@
     void reloadPcd(RobotInfo info);
 
     void startTrack(StartTrackRequest request);
+
+    /**
+     * 栅格寻点指令
+     * @param request 请求
+     * @return
+     */
+    ResponseDataDTO<Integer> targetGrid(TargetPointRequest 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 3bb475f..d8b3363 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.lang.Assert;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
@@ -25,7 +26,6 @@
 import io.swagger.annotations.ApiParam;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.apache.ibatis.annotations.Param;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.web.bind.annotation.*;
 import org.springframework.web.multipart.MultipartFile;
@@ -76,6 +76,13 @@
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
+    /**
+     * /{robotId}
+     *
+     * @param file
+     * @param robotId
+     * @return
+     */
     @SneakyThrows
     @ApiOperation(value = "PCD上传接口")
     @PostMapping(value = "/uploadPcd")
@@ -109,7 +116,12 @@
         robotInfoService.updateSpeed(robotInfo);
         return ResponseDataDTO.success();
     }
-
+    @ApiOperation(value = "设置任务启动模式", notes = "返回 1成功 0失败")
+    @PostMapping(value = "/setTaskMode")
+    public ResponseDataDTO setTaskMode(@RequestBody TaskModeRequest request) {
+        robotInfoService.setTaskMode(request);
+        return ResponseDataDTO.success();
+    }
     @ApiOperation(value = "机器人数据更新", notes = "1.pcd重载 2.路线及关键点数据重载")
     @PostMapping(value = "/reload")
     public ResponseDataDTO reload(@RequestBody BaseRobotCmdDTO request) {
@@ -149,6 +161,8 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
     }
 
+
+
     /**
      * 机器人请求id
      *
@@ -161,6 +175,16 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
     }
 
+    @ApiOperation(value = "寻栅格指令")
+    @PostMapping(value = "/targetGrid")
+    public ResponseDataDTO<Integer> targetGrid(@RequestBody TargetGridRequest request) {
+        TargetPointRequest targetPointRequest = new TargetPointRequest();
+        targetPointRequest.setRobotId(request.getRobotId());
+        targetPointRequest.setX(request.getEstimateGridX());
+        targetPointRequest.setY(request.getEstimateGridY());
+        return baseRobotService.targetGrid(targetPointRequest);
+    }
+
     /**
      * 机器人请求id
      *
@@ -174,6 +198,7 @@
         if (request.getStepLen() == null) {
             request.setStepLen(2);
         }
+        log.info(JSON.toJSONString(request));
         baseRobotService.startTrack(request);
         return ResponseDataDTO.success();
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
new file mode 100644
index 0000000..709bcd3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+@Data
+public class GridDTO {
+    /**
+     * 当前栅格x
+     */
+    private Integer currGridX;
+    /**
+     * 当前栅格y
+     */
+    private Integer currGridY;
+    /**
+     * 规划栅格x
+     */
+    private Integer estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private Integer estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
new file mode 100644
index 0000000..7eae335
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+@Data
+public class GridPushDTO {
+    /**
+     * 当前栅格x
+     */
+    private BigDecimal currGridX;
+    /**
+     * 当前栅格y
+     */
+    private BigDecimal currGridY;
+
+    /**
+     * 规划栅格x
+     */
+    private BigDecimal estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private BigDecimal estimateGridY;
+}

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
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 a849528..4f34669 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
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index bdfc2d0..d7736a5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -148,7 +148,7 @@
     public void insertPsdAlarms() {
         times++;
         //先查询正在巡检任务信息
-        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
+        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 2);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
 
         long currentTimes = System.currentTimeMillis();
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 92c8c8e..6e94193 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
@@ -5,10 +5,7 @@
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 
 /**
  * 机器人操作类
@@ -76,4 +73,11 @@
     void reloadPcd(RobotInfo info);
 
     void startTrack(StartTrackRequest request);
+
+    /**
+     * 栅格寻点指令
+     * @param request 请求
+     * @return
+     */
+    ResponseDataDTO<Integer> targetGrid(TargetPointRequest 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 3bb475f..d8b3363 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.lang.Assert;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
@@ -25,7 +26,6 @@
 import io.swagger.annotations.ApiParam;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.apache.ibatis.annotations.Param;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.web.bind.annotation.*;
 import org.springframework.web.multipart.MultipartFile;
@@ -76,6 +76,13 @@
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
+    /**
+     * /{robotId}
+     *
+     * @param file
+     * @param robotId
+     * @return
+     */
     @SneakyThrows
     @ApiOperation(value = "PCD上传接口")
     @PostMapping(value = "/uploadPcd")
@@ -109,7 +116,12 @@
         robotInfoService.updateSpeed(robotInfo);
         return ResponseDataDTO.success();
     }
-
+    @ApiOperation(value = "设置任务启动模式", notes = "返回 1成功 0失败")
+    @PostMapping(value = "/setTaskMode")
+    public ResponseDataDTO setTaskMode(@RequestBody TaskModeRequest request) {
+        robotInfoService.setTaskMode(request);
+        return ResponseDataDTO.success();
+    }
     @ApiOperation(value = "机器人数据更新", notes = "1.pcd重载 2.路线及关键点数据重载")
     @PostMapping(value = "/reload")
     public ResponseDataDTO reload(@RequestBody BaseRobotCmdDTO request) {
@@ -149,6 +161,8 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
     }
 
+
+
     /**
      * 机器人请求id
      *
@@ -161,6 +175,16 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
     }
 
+    @ApiOperation(value = "寻栅格指令")
+    @PostMapping(value = "/targetGrid")
+    public ResponseDataDTO<Integer> targetGrid(@RequestBody TargetGridRequest request) {
+        TargetPointRequest targetPointRequest = new TargetPointRequest();
+        targetPointRequest.setRobotId(request.getRobotId());
+        targetPointRequest.setX(request.getEstimateGridX());
+        targetPointRequest.setY(request.getEstimateGridY());
+        return baseRobotService.targetGrid(targetPointRequest);
+    }
+
     /**
      * 机器人请求id
      *
@@ -174,6 +198,7 @@
         if (request.getStepLen() == null) {
             request.setStepLen(2);
         }
+        log.info(JSON.toJSONString(request));
         baseRobotService.startTrack(request);
         return ResponseDataDTO.success();
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
new file mode 100644
index 0000000..709bcd3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+@Data
+public class GridDTO {
+    /**
+     * 当前栅格x
+     */
+    private Integer currGridX;
+    /**
+     * 当前栅格y
+     */
+    private Integer currGridY;
+    /**
+     * 规划栅格x
+     */
+    private Integer estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private Integer estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
new file mode 100644
index 0000000..7eae335
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+@Data
+public class GridPushDTO {
+    /**
+     * 当前栅格x
+     */
+    private BigDecimal currGridX;
+    /**
+     * 当前栅格y
+     */
+    private BigDecimal currGridY;
+
+    /**
+     * 规划栅格x
+     */
+    private BigDecimal estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private BigDecimal estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index acbeb93..b9ad7a3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -23,4 +23,8 @@
     private BigDecimal gridWidth;
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     private BigDecimal resolution;
+    @ApiModelProperty(value = "新设原点X", dataType = "BigDecimal")
+    private BigDecimal newX;
+    @ApiModelProperty(value = "新设原点Y", dataType = "BigDecimal")
+    private BigDecimal newY;
 }

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
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 a849528..4f34669 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
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index bdfc2d0..d7736a5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -148,7 +148,7 @@
     public void insertPsdAlarms() {
         times++;
         //先查询正在巡检任务信息
-        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
+        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 2);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
 
         long currentTimes = System.currentTimeMillis();
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 92c8c8e..6e94193 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
@@ -5,10 +5,7 @@
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 
 /**
  * 机器人操作类
@@ -76,4 +73,11 @@
     void reloadPcd(RobotInfo info);
 
     void startTrack(StartTrackRequest request);
+
+    /**
+     * 栅格寻点指令
+     * @param request 请求
+     * @return
+     */
+    ResponseDataDTO<Integer> targetGrid(TargetPointRequest 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 3bb475f..d8b3363 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.lang.Assert;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
@@ -25,7 +26,6 @@
 import io.swagger.annotations.ApiParam;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.apache.ibatis.annotations.Param;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.web.bind.annotation.*;
 import org.springframework.web.multipart.MultipartFile;
@@ -76,6 +76,13 @@
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
+    /**
+     * /{robotId}
+     *
+     * @param file
+     * @param robotId
+     * @return
+     */
     @SneakyThrows
     @ApiOperation(value = "PCD上传接口")
     @PostMapping(value = "/uploadPcd")
@@ -109,7 +116,12 @@
         robotInfoService.updateSpeed(robotInfo);
         return ResponseDataDTO.success();
     }
-
+    @ApiOperation(value = "设置任务启动模式", notes = "返回 1成功 0失败")
+    @PostMapping(value = "/setTaskMode")
+    public ResponseDataDTO setTaskMode(@RequestBody TaskModeRequest request) {
+        robotInfoService.setTaskMode(request);
+        return ResponseDataDTO.success();
+    }
     @ApiOperation(value = "机器人数据更新", notes = "1.pcd重载 2.路线及关键点数据重载")
     @PostMapping(value = "/reload")
     public ResponseDataDTO reload(@RequestBody BaseRobotCmdDTO request) {
@@ -149,6 +161,8 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
     }
 
+
+
     /**
      * 机器人请求id
      *
@@ -161,6 +175,16 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
     }
 
+    @ApiOperation(value = "寻栅格指令")
+    @PostMapping(value = "/targetGrid")
+    public ResponseDataDTO<Integer> targetGrid(@RequestBody TargetGridRequest request) {
+        TargetPointRequest targetPointRequest = new TargetPointRequest();
+        targetPointRequest.setRobotId(request.getRobotId());
+        targetPointRequest.setX(request.getEstimateGridX());
+        targetPointRequest.setY(request.getEstimateGridY());
+        return baseRobotService.targetGrid(targetPointRequest);
+    }
+
     /**
      * 机器人请求id
      *
@@ -174,6 +198,7 @@
         if (request.getStepLen() == null) {
             request.setStepLen(2);
         }
+        log.info(JSON.toJSONString(request));
         baseRobotService.startTrack(request);
         return ResponseDataDTO.success();
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
new file mode 100644
index 0000000..709bcd3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+@Data
+public class GridDTO {
+    /**
+     * 当前栅格x
+     */
+    private Integer currGridX;
+    /**
+     * 当前栅格y
+     */
+    private Integer currGridY;
+    /**
+     * 规划栅格x
+     */
+    private Integer estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private Integer estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
new file mode 100644
index 0000000..7eae335
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+@Data
+public class GridPushDTO {
+    /**
+     * 当前栅格x
+     */
+    private BigDecimal currGridX;
+    /**
+     * 当前栅格y
+     */
+    private BigDecimal currGridY;
+
+    /**
+     * 规划栅格x
+     */
+    private BigDecimal estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private BigDecimal estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index acbeb93..b9ad7a3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -23,4 +23,8 @@
     private BigDecimal gridWidth;
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     private BigDecimal resolution;
+    @ApiModelProperty(value = "新设原点X", dataType = "BigDecimal")
+    private BigDecimal newX;
+    @ApiModelProperty(value = "新设原点Y", dataType = "BigDecimal")
+    private BigDecimal newY;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
new file mode 100644
index 0000000..acc38f3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
@@ -0,0 +1,15 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+@Data
+public class TaskEndMsg implements Serializable {
+    private String robotId;
+    private String message;
+    /**
+     * 1 正常 0 异常
+     */
+    private Integer code;
+}

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
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 a849528..4f34669 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
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index bdfc2d0..d7736a5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -148,7 +148,7 @@
     public void insertPsdAlarms() {
         times++;
         //先查询正在巡检任务信息
-        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
+        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 2);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
 
         long currentTimes = System.currentTimeMillis();
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 92c8c8e..6e94193 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
@@ -5,10 +5,7 @@
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 
 /**
  * 机器人操作类
@@ -76,4 +73,11 @@
     void reloadPcd(RobotInfo info);
 
     void startTrack(StartTrackRequest request);
+
+    /**
+     * 栅格寻点指令
+     * @param request 请求
+     * @return
+     */
+    ResponseDataDTO<Integer> targetGrid(TargetPointRequest 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 3bb475f..d8b3363 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.lang.Assert;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
@@ -25,7 +26,6 @@
 import io.swagger.annotations.ApiParam;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.apache.ibatis.annotations.Param;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.web.bind.annotation.*;
 import org.springframework.web.multipart.MultipartFile;
@@ -76,6 +76,13 @@
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
+    /**
+     * /{robotId}
+     *
+     * @param file
+     * @param robotId
+     * @return
+     */
     @SneakyThrows
     @ApiOperation(value = "PCD上传接口")
     @PostMapping(value = "/uploadPcd")
@@ -109,7 +116,12 @@
         robotInfoService.updateSpeed(robotInfo);
         return ResponseDataDTO.success();
     }
-
+    @ApiOperation(value = "设置任务启动模式", notes = "返回 1成功 0失败")
+    @PostMapping(value = "/setTaskMode")
+    public ResponseDataDTO setTaskMode(@RequestBody TaskModeRequest request) {
+        robotInfoService.setTaskMode(request);
+        return ResponseDataDTO.success();
+    }
     @ApiOperation(value = "机器人数据更新", notes = "1.pcd重载 2.路线及关键点数据重载")
     @PostMapping(value = "/reload")
     public ResponseDataDTO reload(@RequestBody BaseRobotCmdDTO request) {
@@ -149,6 +161,8 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
     }
 
+
+
     /**
      * 机器人请求id
      *
@@ -161,6 +175,16 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
     }
 
+    @ApiOperation(value = "寻栅格指令")
+    @PostMapping(value = "/targetGrid")
+    public ResponseDataDTO<Integer> targetGrid(@RequestBody TargetGridRequest request) {
+        TargetPointRequest targetPointRequest = new TargetPointRequest();
+        targetPointRequest.setRobotId(request.getRobotId());
+        targetPointRequest.setX(request.getEstimateGridX());
+        targetPointRequest.setY(request.getEstimateGridY());
+        return baseRobotService.targetGrid(targetPointRequest);
+    }
+
     /**
      * 机器人请求id
      *
@@ -174,6 +198,7 @@
         if (request.getStepLen() == null) {
             request.setStepLen(2);
         }
+        log.info(JSON.toJSONString(request));
         baseRobotService.startTrack(request);
         return ResponseDataDTO.success();
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
new file mode 100644
index 0000000..709bcd3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+@Data
+public class GridDTO {
+    /**
+     * 当前栅格x
+     */
+    private Integer currGridX;
+    /**
+     * 当前栅格y
+     */
+    private Integer currGridY;
+    /**
+     * 规划栅格x
+     */
+    private Integer estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private Integer estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
new file mode 100644
index 0000000..7eae335
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+@Data
+public class GridPushDTO {
+    /**
+     * 当前栅格x
+     */
+    private BigDecimal currGridX;
+    /**
+     * 当前栅格y
+     */
+    private BigDecimal currGridY;
+
+    /**
+     * 规划栅格x
+     */
+    private BigDecimal estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private BigDecimal estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index acbeb93..b9ad7a3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -23,4 +23,8 @@
     private BigDecimal gridWidth;
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     private BigDecimal resolution;
+    @ApiModelProperty(value = "新设原点X", dataType = "BigDecimal")
+    private BigDecimal newX;
+    @ApiModelProperty(value = "新设原点Y", dataType = "BigDecimal")
+    private BigDecimal newY;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
new file mode 100644
index 0000000..acc38f3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
@@ -0,0 +1,15 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+@Data
+public class TaskEndMsg implements Serializable {
+    private String robotId;
+    private String message;
+    /**
+     * 1 正常 0 异常
+     */
+    private Integer code;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 90e4dcf..d5ae18a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -154,7 +154,46 @@
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     @TableField("resolution")
     private BigDecimal resolution;
+    /**
+     * 新设定栅格原点X
+     */
+    @TableField("new_origin_x")
+    private BigDecimal newOriginX;
+    /**
+     * 新设定栅格原点Y
+     */
+    @TableField("new_origin_y")
+    private BigDecimal newOriginY;
 
+    /**
+     * 新设定栅格X
+     */
+    @TableField("new_grid_x")
+    private Integer newGridX;
+    /**
+     * 新设定栅格Y
+     */
+    @TableField("new_grid_y")
+    private Integer newGridY;
+
+    /**
+     * 裁剪右顶点X
+     */
+    @TableField("right_grid_x")
+    private Integer rightGridX;
+    @TableField("is_open")
+    private Integer isOpen;
+    /**
+     * 裁剪右顶点Y
+     */
+    @TableField("right_grid_y")
+    private Integer rightGridY;
+    public BigDecimal getNewX(){
+        return newOriginX;
+    }
+    public BigDecimal getNewY(){
+        return newOriginY;
+    }
     @Override
     public String toString() {
         return "RobotInfo{"

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
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 a849528..4f34669 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
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index bdfc2d0..d7736a5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -148,7 +148,7 @@
     public void insertPsdAlarms() {
         times++;
         //先查询正在巡检任务信息
-        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
+        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 2);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
 
         long currentTimes = System.currentTimeMillis();
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 92c8c8e..6e94193 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
@@ -5,10 +5,7 @@
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 
 /**
  * 机器人操作类
@@ -76,4 +73,11 @@
     void reloadPcd(RobotInfo info);
 
     void startTrack(StartTrackRequest request);
+
+    /**
+     * 栅格寻点指令
+     * @param request 请求
+     * @return
+     */
+    ResponseDataDTO<Integer> targetGrid(TargetPointRequest 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 3bb475f..d8b3363 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.lang.Assert;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
@@ -25,7 +26,6 @@
 import io.swagger.annotations.ApiParam;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.apache.ibatis.annotations.Param;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.web.bind.annotation.*;
 import org.springframework.web.multipart.MultipartFile;
@@ -76,6 +76,13 @@
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
+    /**
+     * /{robotId}
+     *
+     * @param file
+     * @param robotId
+     * @return
+     */
     @SneakyThrows
     @ApiOperation(value = "PCD上传接口")
     @PostMapping(value = "/uploadPcd")
@@ -109,7 +116,12 @@
         robotInfoService.updateSpeed(robotInfo);
         return ResponseDataDTO.success();
     }
-
+    @ApiOperation(value = "设置任务启动模式", notes = "返回 1成功 0失败")
+    @PostMapping(value = "/setTaskMode")
+    public ResponseDataDTO setTaskMode(@RequestBody TaskModeRequest request) {
+        robotInfoService.setTaskMode(request);
+        return ResponseDataDTO.success();
+    }
     @ApiOperation(value = "机器人数据更新", notes = "1.pcd重载 2.路线及关键点数据重载")
     @PostMapping(value = "/reload")
     public ResponseDataDTO reload(@RequestBody BaseRobotCmdDTO request) {
@@ -149,6 +161,8 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
     }
 
+
+
     /**
      * 机器人请求id
      *
@@ -161,6 +175,16 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
     }
 
+    @ApiOperation(value = "寻栅格指令")
+    @PostMapping(value = "/targetGrid")
+    public ResponseDataDTO<Integer> targetGrid(@RequestBody TargetGridRequest request) {
+        TargetPointRequest targetPointRequest = new TargetPointRequest();
+        targetPointRequest.setRobotId(request.getRobotId());
+        targetPointRequest.setX(request.getEstimateGridX());
+        targetPointRequest.setY(request.getEstimateGridY());
+        return baseRobotService.targetGrid(targetPointRequest);
+    }
+
     /**
      * 机器人请求id
      *
@@ -174,6 +198,7 @@
         if (request.getStepLen() == null) {
             request.setStepLen(2);
         }
+        log.info(JSON.toJSONString(request));
         baseRobotService.startTrack(request);
         return ResponseDataDTO.success();
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
new file mode 100644
index 0000000..709bcd3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+@Data
+public class GridDTO {
+    /**
+     * 当前栅格x
+     */
+    private Integer currGridX;
+    /**
+     * 当前栅格y
+     */
+    private Integer currGridY;
+    /**
+     * 规划栅格x
+     */
+    private Integer estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private Integer estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
new file mode 100644
index 0000000..7eae335
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+@Data
+public class GridPushDTO {
+    /**
+     * 当前栅格x
+     */
+    private BigDecimal currGridX;
+    /**
+     * 当前栅格y
+     */
+    private BigDecimal currGridY;
+
+    /**
+     * 规划栅格x
+     */
+    private BigDecimal estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private BigDecimal estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index acbeb93..b9ad7a3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -23,4 +23,8 @@
     private BigDecimal gridWidth;
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     private BigDecimal resolution;
+    @ApiModelProperty(value = "新设原点X", dataType = "BigDecimal")
+    private BigDecimal newX;
+    @ApiModelProperty(value = "新设原点Y", dataType = "BigDecimal")
+    private BigDecimal newY;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
new file mode 100644
index 0000000..acc38f3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
@@ -0,0 +1,15 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+@Data
+public class TaskEndMsg implements Serializable {
+    private String robotId;
+    private String message;
+    /**
+     * 1 正常 0 异常
+     */
+    private Integer code;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 90e4dcf..d5ae18a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -154,7 +154,46 @@
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     @TableField("resolution")
     private BigDecimal resolution;
+    /**
+     * 新设定栅格原点X
+     */
+    @TableField("new_origin_x")
+    private BigDecimal newOriginX;
+    /**
+     * 新设定栅格原点Y
+     */
+    @TableField("new_origin_y")
+    private BigDecimal newOriginY;
 
+    /**
+     * 新设定栅格X
+     */
+    @TableField("new_grid_x")
+    private Integer newGridX;
+    /**
+     * 新设定栅格Y
+     */
+    @TableField("new_grid_y")
+    private Integer newGridY;
+
+    /**
+     * 裁剪右顶点X
+     */
+    @TableField("right_grid_x")
+    private Integer rightGridX;
+    @TableField("is_open")
+    private Integer isOpen;
+    /**
+     * 裁剪右顶点Y
+     */
+    @TableField("right_grid_y")
+    private Integer rightGridY;
+    public BigDecimal getNewX(){
+        return newOriginX;
+    }
+    public BigDecimal getNewY(){
+        return newOriginY;
+    }
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
index 2cb752f..3e741d7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
@@ -24,7 +24,10 @@
      *
      * @see com.casic.missiles.modular.robot.service.impl.TaskInfoServiceImpl
      */
-    HEAT_MAP("heat_map" , "机器人热力图");
+    HEAT_MAP("heat_map" , "机器人热力图"),
+    GRID("grid" , "栅格推送"),
+    TASK_END("task_end" , "任务结束");
+
     /**
      * 请求地址
      */

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
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 a849528..4f34669 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
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index bdfc2d0..d7736a5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -148,7 +148,7 @@
     public void insertPsdAlarms() {
         times++;
         //先查询正在巡检任务信息
-        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
+        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 2);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
 
         long currentTimes = System.currentTimeMillis();
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 92c8c8e..6e94193 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
@@ -5,10 +5,7 @@
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 
 /**
  * 机器人操作类
@@ -76,4 +73,11 @@
     void reloadPcd(RobotInfo info);
 
     void startTrack(StartTrackRequest request);
+
+    /**
+     * 栅格寻点指令
+     * @param request 请求
+     * @return
+     */
+    ResponseDataDTO<Integer> targetGrid(TargetPointRequest 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 3bb475f..d8b3363 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.lang.Assert;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
@@ -25,7 +26,6 @@
 import io.swagger.annotations.ApiParam;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.apache.ibatis.annotations.Param;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.web.bind.annotation.*;
 import org.springframework.web.multipart.MultipartFile;
@@ -76,6 +76,13 @@
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
+    /**
+     * /{robotId}
+     *
+     * @param file
+     * @param robotId
+     * @return
+     */
     @SneakyThrows
     @ApiOperation(value = "PCD上传接口")
     @PostMapping(value = "/uploadPcd")
@@ -109,7 +116,12 @@
         robotInfoService.updateSpeed(robotInfo);
         return ResponseDataDTO.success();
     }
-
+    @ApiOperation(value = "设置任务启动模式", notes = "返回 1成功 0失败")
+    @PostMapping(value = "/setTaskMode")
+    public ResponseDataDTO setTaskMode(@RequestBody TaskModeRequest request) {
+        robotInfoService.setTaskMode(request);
+        return ResponseDataDTO.success();
+    }
     @ApiOperation(value = "机器人数据更新", notes = "1.pcd重载 2.路线及关键点数据重载")
     @PostMapping(value = "/reload")
     public ResponseDataDTO reload(@RequestBody BaseRobotCmdDTO request) {
@@ -149,6 +161,8 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
     }
 
+
+
     /**
      * 机器人请求id
      *
@@ -161,6 +175,16 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
     }
 
+    @ApiOperation(value = "寻栅格指令")
+    @PostMapping(value = "/targetGrid")
+    public ResponseDataDTO<Integer> targetGrid(@RequestBody TargetGridRequest request) {
+        TargetPointRequest targetPointRequest = new TargetPointRequest();
+        targetPointRequest.setRobotId(request.getRobotId());
+        targetPointRequest.setX(request.getEstimateGridX());
+        targetPointRequest.setY(request.getEstimateGridY());
+        return baseRobotService.targetGrid(targetPointRequest);
+    }
+
     /**
      * 机器人请求id
      *
@@ -174,6 +198,7 @@
         if (request.getStepLen() == null) {
             request.setStepLen(2);
         }
+        log.info(JSON.toJSONString(request));
         baseRobotService.startTrack(request);
         return ResponseDataDTO.success();
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
new file mode 100644
index 0000000..709bcd3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+@Data
+public class GridDTO {
+    /**
+     * 当前栅格x
+     */
+    private Integer currGridX;
+    /**
+     * 当前栅格y
+     */
+    private Integer currGridY;
+    /**
+     * 规划栅格x
+     */
+    private Integer estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private Integer estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
new file mode 100644
index 0000000..7eae335
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+@Data
+public class GridPushDTO {
+    /**
+     * 当前栅格x
+     */
+    private BigDecimal currGridX;
+    /**
+     * 当前栅格y
+     */
+    private BigDecimal currGridY;
+
+    /**
+     * 规划栅格x
+     */
+    private BigDecimal estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private BigDecimal estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index acbeb93..b9ad7a3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -23,4 +23,8 @@
     private BigDecimal gridWidth;
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     private BigDecimal resolution;
+    @ApiModelProperty(value = "新设原点X", dataType = "BigDecimal")
+    private BigDecimal newX;
+    @ApiModelProperty(value = "新设原点Y", dataType = "BigDecimal")
+    private BigDecimal newY;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
new file mode 100644
index 0000000..acc38f3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
@@ -0,0 +1,15 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+@Data
+public class TaskEndMsg implements Serializable {
+    private String robotId;
+    private String message;
+    /**
+     * 1 正常 0 异常
+     */
+    private Integer code;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 90e4dcf..d5ae18a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -154,7 +154,46 @@
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     @TableField("resolution")
     private BigDecimal resolution;
+    /**
+     * 新设定栅格原点X
+     */
+    @TableField("new_origin_x")
+    private BigDecimal newOriginX;
+    /**
+     * 新设定栅格原点Y
+     */
+    @TableField("new_origin_y")
+    private BigDecimal newOriginY;
 
+    /**
+     * 新设定栅格X
+     */
+    @TableField("new_grid_x")
+    private Integer newGridX;
+    /**
+     * 新设定栅格Y
+     */
+    @TableField("new_grid_y")
+    private Integer newGridY;
+
+    /**
+     * 裁剪右顶点X
+     */
+    @TableField("right_grid_x")
+    private Integer rightGridX;
+    @TableField("is_open")
+    private Integer isOpen;
+    /**
+     * 裁剪右顶点Y
+     */
+    @TableField("right_grid_y")
+    private Integer rightGridY;
+    public BigDecimal getNewX(){
+        return newOriginX;
+    }
+    public BigDecimal getNewY(){
+        return newOriginY;
+    }
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
index 2cb752f..3e741d7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
@@ -24,7 +24,10 @@
      *
      * @see com.casic.missiles.modular.robot.service.impl.TaskInfoServiceImpl
      */
-    HEAT_MAP("heat_map" , "机器人热力图");
+    HEAT_MAP("heat_map" , "机器人热力图"),
+    GRID("grid" , "栅格推送"),
+    TASK_END("task_end" , "任务结束");
+
     /**
      * 请求地址
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
index 88c9f79..3c93145 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -32,7 +32,6 @@
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         statusInfoService.saveCostMap(robotId, message);
-
         CostMapResolutionRequest costMapSet = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
         if(costMapSet != null){
             CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
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 a849528..4f34669 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
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index bdfc2d0..d7736a5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -148,7 +148,7 @@
     public void insertPsdAlarms() {
         times++;
         //先查询正在巡检任务信息
-        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
+        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 2);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
 
         long currentTimes = System.currentTimeMillis();
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 92c8c8e..6e94193 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
@@ -5,10 +5,7 @@
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 
 /**
  * 机器人操作类
@@ -76,4 +73,11 @@
     void reloadPcd(RobotInfo info);
 
     void startTrack(StartTrackRequest request);
+
+    /**
+     * 栅格寻点指令
+     * @param request 请求
+     * @return
+     */
+    ResponseDataDTO<Integer> targetGrid(TargetPointRequest 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 3bb475f..d8b3363 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.lang.Assert;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
@@ -25,7 +26,6 @@
 import io.swagger.annotations.ApiParam;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.apache.ibatis.annotations.Param;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.web.bind.annotation.*;
 import org.springframework.web.multipart.MultipartFile;
@@ -76,6 +76,13 @@
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
+    /**
+     * /{robotId}
+     *
+     * @param file
+     * @param robotId
+     * @return
+     */
     @SneakyThrows
     @ApiOperation(value = "PCD上传接口")
     @PostMapping(value = "/uploadPcd")
@@ -109,7 +116,12 @@
         robotInfoService.updateSpeed(robotInfo);
         return ResponseDataDTO.success();
     }
-
+    @ApiOperation(value = "设置任务启动模式", notes = "返回 1成功 0失败")
+    @PostMapping(value = "/setTaskMode")
+    public ResponseDataDTO setTaskMode(@RequestBody TaskModeRequest request) {
+        robotInfoService.setTaskMode(request);
+        return ResponseDataDTO.success();
+    }
     @ApiOperation(value = "机器人数据更新", notes = "1.pcd重载 2.路线及关键点数据重载")
     @PostMapping(value = "/reload")
     public ResponseDataDTO reload(@RequestBody BaseRobotCmdDTO request) {
@@ -149,6 +161,8 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
     }
 
+
+
     /**
      * 机器人请求id
      *
@@ -161,6 +175,16 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
     }
 
+    @ApiOperation(value = "寻栅格指令")
+    @PostMapping(value = "/targetGrid")
+    public ResponseDataDTO<Integer> targetGrid(@RequestBody TargetGridRequest request) {
+        TargetPointRequest targetPointRequest = new TargetPointRequest();
+        targetPointRequest.setRobotId(request.getRobotId());
+        targetPointRequest.setX(request.getEstimateGridX());
+        targetPointRequest.setY(request.getEstimateGridY());
+        return baseRobotService.targetGrid(targetPointRequest);
+    }
+
     /**
      * 机器人请求id
      *
@@ -174,6 +198,7 @@
         if (request.getStepLen() == null) {
             request.setStepLen(2);
         }
+        log.info(JSON.toJSONString(request));
         baseRobotService.startTrack(request);
         return ResponseDataDTO.success();
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
new file mode 100644
index 0000000..709bcd3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+@Data
+public class GridDTO {
+    /**
+     * 当前栅格x
+     */
+    private Integer currGridX;
+    /**
+     * 当前栅格y
+     */
+    private Integer currGridY;
+    /**
+     * 规划栅格x
+     */
+    private Integer estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private Integer estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
new file mode 100644
index 0000000..7eae335
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+@Data
+public class GridPushDTO {
+    /**
+     * 当前栅格x
+     */
+    private BigDecimal currGridX;
+    /**
+     * 当前栅格y
+     */
+    private BigDecimal currGridY;
+
+    /**
+     * 规划栅格x
+     */
+    private BigDecimal estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private BigDecimal estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index acbeb93..b9ad7a3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -23,4 +23,8 @@
     private BigDecimal gridWidth;
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     private BigDecimal resolution;
+    @ApiModelProperty(value = "新设原点X", dataType = "BigDecimal")
+    private BigDecimal newX;
+    @ApiModelProperty(value = "新设原点Y", dataType = "BigDecimal")
+    private BigDecimal newY;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
new file mode 100644
index 0000000..acc38f3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
@@ -0,0 +1,15 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+@Data
+public class TaskEndMsg implements Serializable {
+    private String robotId;
+    private String message;
+    /**
+     * 1 正常 0 异常
+     */
+    private Integer code;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 90e4dcf..d5ae18a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -154,7 +154,46 @@
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     @TableField("resolution")
     private BigDecimal resolution;
+    /**
+     * 新设定栅格原点X
+     */
+    @TableField("new_origin_x")
+    private BigDecimal newOriginX;
+    /**
+     * 新设定栅格原点Y
+     */
+    @TableField("new_origin_y")
+    private BigDecimal newOriginY;
 
+    /**
+     * 新设定栅格X
+     */
+    @TableField("new_grid_x")
+    private Integer newGridX;
+    /**
+     * 新设定栅格Y
+     */
+    @TableField("new_grid_y")
+    private Integer newGridY;
+
+    /**
+     * 裁剪右顶点X
+     */
+    @TableField("right_grid_x")
+    private Integer rightGridX;
+    @TableField("is_open")
+    private Integer isOpen;
+    /**
+     * 裁剪右顶点Y
+     */
+    @TableField("right_grid_y")
+    private Integer rightGridY;
+    public BigDecimal getNewX(){
+        return newOriginX;
+    }
+    public BigDecimal getNewY(){
+        return newOriginY;
+    }
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
index 2cb752f..3e741d7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
@@ -24,7 +24,10 @@
      *
      * @see com.casic.missiles.modular.robot.service.impl.TaskInfoServiceImpl
      */
-    HEAT_MAP("heat_map" , "机器人热力图");
+    HEAT_MAP("heat_map" , "机器人热力图"),
+    GRID("grid" , "栅格推送"),
+    TASK_END("task_end" , "任务结束");
+
     /**
      * 请求地址
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
index 88c9f79..3c93145 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -32,7 +32,6 @@
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         statusInfoService.saveCostMap(robotId, message);
-
         CostMapResolutionRequest costMapSet = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
         if(costMapSet != null){
             CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
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 8a71e0b..06f8ae6 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
@@ -30,10 +30,9 @@
     public void process(String robotId, String topic, MqttMessage message) {
 
         index.put(index_key, index.get("index") + 1);
-        if (index.get(index_key)>30) {
+        if (index.get(index_key)>1) {
             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/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
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 a849528..4f34669 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
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index bdfc2d0..d7736a5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -148,7 +148,7 @@
     public void insertPsdAlarms() {
         times++;
         //先查询正在巡检任务信息
-        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
+        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 2);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
 
         long currentTimes = System.currentTimeMillis();
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 92c8c8e..6e94193 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
@@ -5,10 +5,7 @@
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 
 /**
  * 机器人操作类
@@ -76,4 +73,11 @@
     void reloadPcd(RobotInfo info);
 
     void startTrack(StartTrackRequest request);
+
+    /**
+     * 栅格寻点指令
+     * @param request 请求
+     * @return
+     */
+    ResponseDataDTO<Integer> targetGrid(TargetPointRequest 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 3bb475f..d8b3363 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.lang.Assert;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
@@ -25,7 +26,6 @@
 import io.swagger.annotations.ApiParam;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.apache.ibatis.annotations.Param;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.web.bind.annotation.*;
 import org.springframework.web.multipart.MultipartFile;
@@ -76,6 +76,13 @@
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
+    /**
+     * /{robotId}
+     *
+     * @param file
+     * @param robotId
+     * @return
+     */
     @SneakyThrows
     @ApiOperation(value = "PCD上传接口")
     @PostMapping(value = "/uploadPcd")
@@ -109,7 +116,12 @@
         robotInfoService.updateSpeed(robotInfo);
         return ResponseDataDTO.success();
     }
-
+    @ApiOperation(value = "设置任务启动模式", notes = "返回 1成功 0失败")
+    @PostMapping(value = "/setTaskMode")
+    public ResponseDataDTO setTaskMode(@RequestBody TaskModeRequest request) {
+        robotInfoService.setTaskMode(request);
+        return ResponseDataDTO.success();
+    }
     @ApiOperation(value = "机器人数据更新", notes = "1.pcd重载 2.路线及关键点数据重载")
     @PostMapping(value = "/reload")
     public ResponseDataDTO reload(@RequestBody BaseRobotCmdDTO request) {
@@ -149,6 +161,8 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
     }
 
+
+
     /**
      * 机器人请求id
      *
@@ -161,6 +175,16 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
     }
 
+    @ApiOperation(value = "寻栅格指令")
+    @PostMapping(value = "/targetGrid")
+    public ResponseDataDTO<Integer> targetGrid(@RequestBody TargetGridRequest request) {
+        TargetPointRequest targetPointRequest = new TargetPointRequest();
+        targetPointRequest.setRobotId(request.getRobotId());
+        targetPointRequest.setX(request.getEstimateGridX());
+        targetPointRequest.setY(request.getEstimateGridY());
+        return baseRobotService.targetGrid(targetPointRequest);
+    }
+
     /**
      * 机器人请求id
      *
@@ -174,6 +198,7 @@
         if (request.getStepLen() == null) {
             request.setStepLen(2);
         }
+        log.info(JSON.toJSONString(request));
         baseRobotService.startTrack(request);
         return ResponseDataDTO.success();
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
new file mode 100644
index 0000000..709bcd3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+@Data
+public class GridDTO {
+    /**
+     * 当前栅格x
+     */
+    private Integer currGridX;
+    /**
+     * 当前栅格y
+     */
+    private Integer currGridY;
+    /**
+     * 规划栅格x
+     */
+    private Integer estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private Integer estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
new file mode 100644
index 0000000..7eae335
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+@Data
+public class GridPushDTO {
+    /**
+     * 当前栅格x
+     */
+    private BigDecimal currGridX;
+    /**
+     * 当前栅格y
+     */
+    private BigDecimal currGridY;
+
+    /**
+     * 规划栅格x
+     */
+    private BigDecimal estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private BigDecimal estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index acbeb93..b9ad7a3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -23,4 +23,8 @@
     private BigDecimal gridWidth;
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     private BigDecimal resolution;
+    @ApiModelProperty(value = "新设原点X", dataType = "BigDecimal")
+    private BigDecimal newX;
+    @ApiModelProperty(value = "新设原点Y", dataType = "BigDecimal")
+    private BigDecimal newY;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
new file mode 100644
index 0000000..acc38f3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
@@ -0,0 +1,15 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+@Data
+public class TaskEndMsg implements Serializable {
+    private String robotId;
+    private String message;
+    /**
+     * 1 正常 0 异常
+     */
+    private Integer code;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 90e4dcf..d5ae18a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -154,7 +154,46 @@
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     @TableField("resolution")
     private BigDecimal resolution;
+    /**
+     * 新设定栅格原点X
+     */
+    @TableField("new_origin_x")
+    private BigDecimal newOriginX;
+    /**
+     * 新设定栅格原点Y
+     */
+    @TableField("new_origin_y")
+    private BigDecimal newOriginY;
 
+    /**
+     * 新设定栅格X
+     */
+    @TableField("new_grid_x")
+    private Integer newGridX;
+    /**
+     * 新设定栅格Y
+     */
+    @TableField("new_grid_y")
+    private Integer newGridY;
+
+    /**
+     * 裁剪右顶点X
+     */
+    @TableField("right_grid_x")
+    private Integer rightGridX;
+    @TableField("is_open")
+    private Integer isOpen;
+    /**
+     * 裁剪右顶点Y
+     */
+    @TableField("right_grid_y")
+    private Integer rightGridY;
+    public BigDecimal getNewX(){
+        return newOriginX;
+    }
+    public BigDecimal getNewY(){
+        return newOriginY;
+    }
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
index 2cb752f..3e741d7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
@@ -24,7 +24,10 @@
      *
      * @see com.casic.missiles.modular.robot.service.impl.TaskInfoServiceImpl
      */
-    HEAT_MAP("heat_map" , "机器人热力图");
+    HEAT_MAP("heat_map" , "机器人热力图"),
+    GRID("grid" , "栅格推送"),
+    TASK_END("task_end" , "任务结束");
+
     /**
      * 请求地址
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
index 88c9f79..3c93145 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -32,7 +32,6 @@
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         statusInfoService.saveCostMap(robotId, message);
-
         CostMapResolutionRequest costMapSet = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
         if(costMapSet != null){
             CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
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 8a71e0b..06f8ae6 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
@@ -30,10 +30,9 @@
     public void process(String robotId, String topic, MqttMessage message) {
 
         index.put(index_key, index.get("index") + 1);
-        if (index.get(index_key)>30) {
+        if (index.get(index_key)>1) {
             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 a9d7914..755997e 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
@@ -39,10 +39,8 @@
         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);
@@ -74,10 +72,12 @@
                     robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
                 }
             }
+
             //读取缓存信息
             sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
         } catch (Exception e) {
             e.printStackTrace();
         }
+
     }
-}
+}
\ No newline at end of file

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
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 a849528..4f34669 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
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index bdfc2d0..d7736a5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -148,7 +148,7 @@
     public void insertPsdAlarms() {
         times++;
         //先查询正在巡检任务信息
-        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
+        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 2);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
 
         long currentTimes = System.currentTimeMillis();
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 92c8c8e..6e94193 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
@@ -5,10 +5,7 @@
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 
 /**
  * 机器人操作类
@@ -76,4 +73,11 @@
     void reloadPcd(RobotInfo info);
 
     void startTrack(StartTrackRequest request);
+
+    /**
+     * 栅格寻点指令
+     * @param request 请求
+     * @return
+     */
+    ResponseDataDTO<Integer> targetGrid(TargetPointRequest 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 3bb475f..d8b3363 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.lang.Assert;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
@@ -25,7 +26,6 @@
 import io.swagger.annotations.ApiParam;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.apache.ibatis.annotations.Param;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.web.bind.annotation.*;
 import org.springframework.web.multipart.MultipartFile;
@@ -76,6 +76,13 @@
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
+    /**
+     * /{robotId}
+     *
+     * @param file
+     * @param robotId
+     * @return
+     */
     @SneakyThrows
     @ApiOperation(value = "PCD上传接口")
     @PostMapping(value = "/uploadPcd")
@@ -109,7 +116,12 @@
         robotInfoService.updateSpeed(robotInfo);
         return ResponseDataDTO.success();
     }
-
+    @ApiOperation(value = "设置任务启动模式", notes = "返回 1成功 0失败")
+    @PostMapping(value = "/setTaskMode")
+    public ResponseDataDTO setTaskMode(@RequestBody TaskModeRequest request) {
+        robotInfoService.setTaskMode(request);
+        return ResponseDataDTO.success();
+    }
     @ApiOperation(value = "机器人数据更新", notes = "1.pcd重载 2.路线及关键点数据重载")
     @PostMapping(value = "/reload")
     public ResponseDataDTO reload(@RequestBody BaseRobotCmdDTO request) {
@@ -149,6 +161,8 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
     }
 
+
+
     /**
      * 机器人请求id
      *
@@ -161,6 +175,16 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
     }
 
+    @ApiOperation(value = "寻栅格指令")
+    @PostMapping(value = "/targetGrid")
+    public ResponseDataDTO<Integer> targetGrid(@RequestBody TargetGridRequest request) {
+        TargetPointRequest targetPointRequest = new TargetPointRequest();
+        targetPointRequest.setRobotId(request.getRobotId());
+        targetPointRequest.setX(request.getEstimateGridX());
+        targetPointRequest.setY(request.getEstimateGridY());
+        return baseRobotService.targetGrid(targetPointRequest);
+    }
+
     /**
      * 机器人请求id
      *
@@ -174,6 +198,7 @@
         if (request.getStepLen() == null) {
             request.setStepLen(2);
         }
+        log.info(JSON.toJSONString(request));
         baseRobotService.startTrack(request);
         return ResponseDataDTO.success();
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
new file mode 100644
index 0000000..709bcd3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+@Data
+public class GridDTO {
+    /**
+     * 当前栅格x
+     */
+    private Integer currGridX;
+    /**
+     * 当前栅格y
+     */
+    private Integer currGridY;
+    /**
+     * 规划栅格x
+     */
+    private Integer estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private Integer estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
new file mode 100644
index 0000000..7eae335
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+@Data
+public class GridPushDTO {
+    /**
+     * 当前栅格x
+     */
+    private BigDecimal currGridX;
+    /**
+     * 当前栅格y
+     */
+    private BigDecimal currGridY;
+
+    /**
+     * 规划栅格x
+     */
+    private BigDecimal estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private BigDecimal estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index acbeb93..b9ad7a3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -23,4 +23,8 @@
     private BigDecimal gridWidth;
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     private BigDecimal resolution;
+    @ApiModelProperty(value = "新设原点X", dataType = "BigDecimal")
+    private BigDecimal newX;
+    @ApiModelProperty(value = "新设原点Y", dataType = "BigDecimal")
+    private BigDecimal newY;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
new file mode 100644
index 0000000..acc38f3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
@@ -0,0 +1,15 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+@Data
+public class TaskEndMsg implements Serializable {
+    private String robotId;
+    private String message;
+    /**
+     * 1 正常 0 异常
+     */
+    private Integer code;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 90e4dcf..d5ae18a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -154,7 +154,46 @@
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     @TableField("resolution")
     private BigDecimal resolution;
+    /**
+     * 新设定栅格原点X
+     */
+    @TableField("new_origin_x")
+    private BigDecimal newOriginX;
+    /**
+     * 新设定栅格原点Y
+     */
+    @TableField("new_origin_y")
+    private BigDecimal newOriginY;
 
+    /**
+     * 新设定栅格X
+     */
+    @TableField("new_grid_x")
+    private Integer newGridX;
+    /**
+     * 新设定栅格Y
+     */
+    @TableField("new_grid_y")
+    private Integer newGridY;
+
+    /**
+     * 裁剪右顶点X
+     */
+    @TableField("right_grid_x")
+    private Integer rightGridX;
+    @TableField("is_open")
+    private Integer isOpen;
+    /**
+     * 裁剪右顶点Y
+     */
+    @TableField("right_grid_y")
+    private Integer rightGridY;
+    public BigDecimal getNewX(){
+        return newOriginX;
+    }
+    public BigDecimal getNewY(){
+        return newOriginY;
+    }
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
index 2cb752f..3e741d7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
@@ -24,7 +24,10 @@
      *
      * @see com.casic.missiles.modular.robot.service.impl.TaskInfoServiceImpl
      */
-    HEAT_MAP("heat_map" , "机器人热力图");
+    HEAT_MAP("heat_map" , "机器人热力图"),
+    GRID("grid" , "栅格推送"),
+    TASK_END("task_end" , "任务结束");
+
     /**
      * 请求地址
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
index 88c9f79..3c93145 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -32,7 +32,6 @@
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         statusInfoService.saveCostMap(robotId, message);
-
         CostMapResolutionRequest costMapSet = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
         if(costMapSet != null){
             CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
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 8a71e0b..06f8ae6 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
@@ -30,10 +30,9 @@
     public void process(String robotId, String topic, MqttMessage message) {
 
         index.put(index_key, index.get("index") + 1);
-        if (index.get(index_key)>30) {
+        if (index.get(index_key)>1) {
             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 a9d7914..755997e 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
@@ -39,10 +39,8 @@
         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);
@@ -74,10 +72,12 @@
                     robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
                 }
             }
+
             //读取缓存信息
             sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
         } catch (Exception e) {
             e.printStackTrace();
         }
+
     }
-}
+}
\ No newline at end of file
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 7940a24..40a60a1 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,9 +1,13 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.exception.ServiceException;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.IBaseRobotService;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
@@ -11,6 +15,7 @@
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
+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.mqtt.config.MqttClientConnection;
@@ -32,11 +37,13 @@
     private final IRobotRouteOptService robotRouteOptService;
     private final IRobotInfoService robotInfoService;
     private final ITaskInfoService taskInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService, @Lazy IAlgorithmService algorithmService) {
         this.robotRouteOptService = robotRouteOptService;
         this.robotInfoService = robotInfoService;
         this.taskInfoService = taskInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
@@ -117,7 +124,7 @@
             //线路关键点读取
             if (requestDTO.getData() != null) {
                 for (RouteInfo routeInfo : requestDTO.getData()) {
-                    if("11-1 79-1".equals(routeInfo.getRouteName())){
+                    if ("11-1 79-1".equals(routeInfo.getRouteName())) {
                         continue;
                     }
                     TrackPointListRequest request = new TrackPointListRequest();
@@ -141,6 +148,7 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+
     @Transactional
     @Override
     public void startTrack(StartTrackRequest request) {
@@ -149,6 +157,25 @@
 //        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
     }
 
+    @Override
+    public ResponseDataDTO<Integer> targetGrid(TargetPointRequest request) {
+        PoseMessageResponseDTO responseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + request.getRobotId());
+        if(responseDTO==null){
+            throw new ServiceException(500,"请优先开启导航");
+        }
+        RobotInfo robotInfo = robotInfoService.getById(request.getRobotId());
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        //获取栅格中心点
+        GridPointDTO pointDTO =  algorithmService.convertGridCenterPoint(gridPointDTO,robotInfo.getResolution(),robotInfo);
+        request.setX(pointDTO.getX().toString());
+        request.setY(pointDTO.getY().toString());
+        request.setZ(responseDTO.getZ().toString());
+        request.setTheta(responseDTO.getTheta().toString());
+        //执行巡点指令
+        ResponseDataDTO<Integer> responseDataDTO = this.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
+        return responseDataDTO;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
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 a849528..4f34669 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
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index bdfc2d0..d7736a5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -148,7 +148,7 @@
     public void insertPsdAlarms() {
         times++;
         //先查询正在巡检任务信息
-        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
+        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 2);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
 
         long currentTimes = System.currentTimeMillis();
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 92c8c8e..6e94193 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
@@ -5,10 +5,7 @@
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 
 /**
  * 机器人操作类
@@ -76,4 +73,11 @@
     void reloadPcd(RobotInfo info);
 
     void startTrack(StartTrackRequest request);
+
+    /**
+     * 栅格寻点指令
+     * @param request 请求
+     * @return
+     */
+    ResponseDataDTO<Integer> targetGrid(TargetPointRequest 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 3bb475f..d8b3363 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.lang.Assert;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
@@ -25,7 +26,6 @@
 import io.swagger.annotations.ApiParam;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.apache.ibatis.annotations.Param;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.web.bind.annotation.*;
 import org.springframework.web.multipart.MultipartFile;
@@ -76,6 +76,13 @@
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
+    /**
+     * /{robotId}
+     *
+     * @param file
+     * @param robotId
+     * @return
+     */
     @SneakyThrows
     @ApiOperation(value = "PCD上传接口")
     @PostMapping(value = "/uploadPcd")
@@ -109,7 +116,12 @@
         robotInfoService.updateSpeed(robotInfo);
         return ResponseDataDTO.success();
     }
-
+    @ApiOperation(value = "设置任务启动模式", notes = "返回 1成功 0失败")
+    @PostMapping(value = "/setTaskMode")
+    public ResponseDataDTO setTaskMode(@RequestBody TaskModeRequest request) {
+        robotInfoService.setTaskMode(request);
+        return ResponseDataDTO.success();
+    }
     @ApiOperation(value = "机器人数据更新", notes = "1.pcd重载 2.路线及关键点数据重载")
     @PostMapping(value = "/reload")
     public ResponseDataDTO reload(@RequestBody BaseRobotCmdDTO request) {
@@ -149,6 +161,8 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
     }
 
+
+
     /**
      * 机器人请求id
      *
@@ -161,6 +175,16 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
     }
 
+    @ApiOperation(value = "寻栅格指令")
+    @PostMapping(value = "/targetGrid")
+    public ResponseDataDTO<Integer> targetGrid(@RequestBody TargetGridRequest request) {
+        TargetPointRequest targetPointRequest = new TargetPointRequest();
+        targetPointRequest.setRobotId(request.getRobotId());
+        targetPointRequest.setX(request.getEstimateGridX());
+        targetPointRequest.setY(request.getEstimateGridY());
+        return baseRobotService.targetGrid(targetPointRequest);
+    }
+
     /**
      * 机器人请求id
      *
@@ -174,6 +198,7 @@
         if (request.getStepLen() == null) {
             request.setStepLen(2);
         }
+        log.info(JSON.toJSONString(request));
         baseRobotService.startTrack(request);
         return ResponseDataDTO.success();
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
new file mode 100644
index 0000000..709bcd3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+@Data
+public class GridDTO {
+    /**
+     * 当前栅格x
+     */
+    private Integer currGridX;
+    /**
+     * 当前栅格y
+     */
+    private Integer currGridY;
+    /**
+     * 规划栅格x
+     */
+    private Integer estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private Integer estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
new file mode 100644
index 0000000..7eae335
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+@Data
+public class GridPushDTO {
+    /**
+     * 当前栅格x
+     */
+    private BigDecimal currGridX;
+    /**
+     * 当前栅格y
+     */
+    private BigDecimal currGridY;
+
+    /**
+     * 规划栅格x
+     */
+    private BigDecimal estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private BigDecimal estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index acbeb93..b9ad7a3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -23,4 +23,8 @@
     private BigDecimal gridWidth;
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     private BigDecimal resolution;
+    @ApiModelProperty(value = "新设原点X", dataType = "BigDecimal")
+    private BigDecimal newX;
+    @ApiModelProperty(value = "新设原点Y", dataType = "BigDecimal")
+    private BigDecimal newY;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
new file mode 100644
index 0000000..acc38f3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
@@ -0,0 +1,15 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+@Data
+public class TaskEndMsg implements Serializable {
+    private String robotId;
+    private String message;
+    /**
+     * 1 正常 0 异常
+     */
+    private Integer code;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 90e4dcf..d5ae18a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -154,7 +154,46 @@
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     @TableField("resolution")
     private BigDecimal resolution;
+    /**
+     * 新设定栅格原点X
+     */
+    @TableField("new_origin_x")
+    private BigDecimal newOriginX;
+    /**
+     * 新设定栅格原点Y
+     */
+    @TableField("new_origin_y")
+    private BigDecimal newOriginY;
 
+    /**
+     * 新设定栅格X
+     */
+    @TableField("new_grid_x")
+    private Integer newGridX;
+    /**
+     * 新设定栅格Y
+     */
+    @TableField("new_grid_y")
+    private Integer newGridY;
+
+    /**
+     * 裁剪右顶点X
+     */
+    @TableField("right_grid_x")
+    private Integer rightGridX;
+    @TableField("is_open")
+    private Integer isOpen;
+    /**
+     * 裁剪右顶点Y
+     */
+    @TableField("right_grid_y")
+    private Integer rightGridY;
+    public BigDecimal getNewX(){
+        return newOriginX;
+    }
+    public BigDecimal getNewY(){
+        return newOriginY;
+    }
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
index 2cb752f..3e741d7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
@@ -24,7 +24,10 @@
      *
      * @see com.casic.missiles.modular.robot.service.impl.TaskInfoServiceImpl
      */
-    HEAT_MAP("heat_map" , "机器人热力图");
+    HEAT_MAP("heat_map" , "机器人热力图"),
+    GRID("grid" , "栅格推送"),
+    TASK_END("task_end" , "任务结束");
+
     /**
      * 请求地址
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
index 88c9f79..3c93145 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -32,7 +32,6 @@
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         statusInfoService.saveCostMap(robotId, message);
-
         CostMapResolutionRequest costMapSet = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
         if(costMapSet != null){
             CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
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 8a71e0b..06f8ae6 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
@@ -30,10 +30,9 @@
     public void process(String robotId, String topic, MqttMessage message) {
 
         index.put(index_key, index.get("index") + 1);
-        if (index.get(index_key)>30) {
+        if (index.get(index_key)>1) {
             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 a9d7914..755997e 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
@@ -39,10 +39,8 @@
         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);
@@ -74,10 +72,12 @@
                     robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
                 }
             }
+
             //读取缓存信息
             sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
         } catch (Exception e) {
             e.printStackTrace();
         }
+
     }
-}
+}
\ No newline at end of file
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 7940a24..40a60a1 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,9 +1,13 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.exception.ServiceException;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.IBaseRobotService;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
@@ -11,6 +15,7 @@
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
+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.mqtt.config.MqttClientConnection;
@@ -32,11 +37,13 @@
     private final IRobotRouteOptService robotRouteOptService;
     private final IRobotInfoService robotInfoService;
     private final ITaskInfoService taskInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService, @Lazy IAlgorithmService algorithmService) {
         this.robotRouteOptService = robotRouteOptService;
         this.robotInfoService = robotInfoService;
         this.taskInfoService = taskInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
@@ -117,7 +124,7 @@
             //线路关键点读取
             if (requestDTO.getData() != null) {
                 for (RouteInfo routeInfo : requestDTO.getData()) {
-                    if("11-1 79-1".equals(routeInfo.getRouteName())){
+                    if ("11-1 79-1".equals(routeInfo.getRouteName())) {
                         continue;
                     }
                     TrackPointListRequest request = new TrackPointListRequest();
@@ -141,6 +148,7 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+
     @Transactional
     @Override
     public void startTrack(StartTrackRequest request) {
@@ -149,6 +157,25 @@
 //        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
     }
 
+    @Override
+    public ResponseDataDTO<Integer> targetGrid(TargetPointRequest request) {
+        PoseMessageResponseDTO responseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + request.getRobotId());
+        if(responseDTO==null){
+            throw new ServiceException(500,"请优先开启导航");
+        }
+        RobotInfo robotInfo = robotInfoService.getById(request.getRobotId());
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        //获取栅格中心点
+        GridPointDTO pointDTO =  algorithmService.convertGridCenterPoint(gridPointDTO,robotInfo.getResolution(),robotInfo);
+        request.setX(pointDTO.getX().toString());
+        request.setY(pointDTO.getY().toString());
+        request.setZ(responseDTO.getZ().toString());
+        request.setTheta(responseDTO.getTheta().toString());
+        //执行巡点指令
+        ResponseDataDTO<Integer> responseDataDTO = this.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
+        return responseDataDTO;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
new file mode 100644
index 0000000..7d69964
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
@@ -0,0 +1,19 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 获取循迹路线下发指令
+ */
+@Data
+public class TargetGridRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "栅格x坐标", dataType = "String")
+    private String estimateGridX;
+    @ApiModelProperty(value = "栅格y坐标", dataType = "String")
+    private String estimateGridY;
+    @ApiModelProperty(value = "z坐标", dataType = "String")
+    private String z;
+    @ApiModelProperty(value = "theta", dataType = "String")
+    private String theta;
+}

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
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 a849528..4f34669 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
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index bdfc2d0..d7736a5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -148,7 +148,7 @@
     public void insertPsdAlarms() {
         times++;
         //先查询正在巡检任务信息
-        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
+        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 2);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
 
         long currentTimes = System.currentTimeMillis();
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 92c8c8e..6e94193 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
@@ -5,10 +5,7 @@
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 
 /**
  * 机器人操作类
@@ -76,4 +73,11 @@
     void reloadPcd(RobotInfo info);
 
     void startTrack(StartTrackRequest request);
+
+    /**
+     * 栅格寻点指令
+     * @param request 请求
+     * @return
+     */
+    ResponseDataDTO<Integer> targetGrid(TargetPointRequest 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 3bb475f..d8b3363 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.lang.Assert;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
@@ -25,7 +26,6 @@
 import io.swagger.annotations.ApiParam;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.apache.ibatis.annotations.Param;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.web.bind.annotation.*;
 import org.springframework.web.multipart.MultipartFile;
@@ -76,6 +76,13 @@
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
+    /**
+     * /{robotId}
+     *
+     * @param file
+     * @param robotId
+     * @return
+     */
     @SneakyThrows
     @ApiOperation(value = "PCD上传接口")
     @PostMapping(value = "/uploadPcd")
@@ -109,7 +116,12 @@
         robotInfoService.updateSpeed(robotInfo);
         return ResponseDataDTO.success();
     }
-
+    @ApiOperation(value = "设置任务启动模式", notes = "返回 1成功 0失败")
+    @PostMapping(value = "/setTaskMode")
+    public ResponseDataDTO setTaskMode(@RequestBody TaskModeRequest request) {
+        robotInfoService.setTaskMode(request);
+        return ResponseDataDTO.success();
+    }
     @ApiOperation(value = "机器人数据更新", notes = "1.pcd重载 2.路线及关键点数据重载")
     @PostMapping(value = "/reload")
     public ResponseDataDTO reload(@RequestBody BaseRobotCmdDTO request) {
@@ -149,6 +161,8 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
     }
 
+
+
     /**
      * 机器人请求id
      *
@@ -161,6 +175,16 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
     }
 
+    @ApiOperation(value = "寻栅格指令")
+    @PostMapping(value = "/targetGrid")
+    public ResponseDataDTO<Integer> targetGrid(@RequestBody TargetGridRequest request) {
+        TargetPointRequest targetPointRequest = new TargetPointRequest();
+        targetPointRequest.setRobotId(request.getRobotId());
+        targetPointRequest.setX(request.getEstimateGridX());
+        targetPointRequest.setY(request.getEstimateGridY());
+        return baseRobotService.targetGrid(targetPointRequest);
+    }
+
     /**
      * 机器人请求id
      *
@@ -174,6 +198,7 @@
         if (request.getStepLen() == null) {
             request.setStepLen(2);
         }
+        log.info(JSON.toJSONString(request));
         baseRobotService.startTrack(request);
         return ResponseDataDTO.success();
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
new file mode 100644
index 0000000..709bcd3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+@Data
+public class GridDTO {
+    /**
+     * 当前栅格x
+     */
+    private Integer currGridX;
+    /**
+     * 当前栅格y
+     */
+    private Integer currGridY;
+    /**
+     * 规划栅格x
+     */
+    private Integer estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private Integer estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
new file mode 100644
index 0000000..7eae335
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+@Data
+public class GridPushDTO {
+    /**
+     * 当前栅格x
+     */
+    private BigDecimal currGridX;
+    /**
+     * 当前栅格y
+     */
+    private BigDecimal currGridY;
+
+    /**
+     * 规划栅格x
+     */
+    private BigDecimal estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private BigDecimal estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index acbeb93..b9ad7a3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -23,4 +23,8 @@
     private BigDecimal gridWidth;
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     private BigDecimal resolution;
+    @ApiModelProperty(value = "新设原点X", dataType = "BigDecimal")
+    private BigDecimal newX;
+    @ApiModelProperty(value = "新设原点Y", dataType = "BigDecimal")
+    private BigDecimal newY;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
new file mode 100644
index 0000000..acc38f3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
@@ -0,0 +1,15 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+@Data
+public class TaskEndMsg implements Serializable {
+    private String robotId;
+    private String message;
+    /**
+     * 1 正常 0 异常
+     */
+    private Integer code;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 90e4dcf..d5ae18a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -154,7 +154,46 @@
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     @TableField("resolution")
     private BigDecimal resolution;
+    /**
+     * 新设定栅格原点X
+     */
+    @TableField("new_origin_x")
+    private BigDecimal newOriginX;
+    /**
+     * 新设定栅格原点Y
+     */
+    @TableField("new_origin_y")
+    private BigDecimal newOriginY;
 
+    /**
+     * 新设定栅格X
+     */
+    @TableField("new_grid_x")
+    private Integer newGridX;
+    /**
+     * 新设定栅格Y
+     */
+    @TableField("new_grid_y")
+    private Integer newGridY;
+
+    /**
+     * 裁剪右顶点X
+     */
+    @TableField("right_grid_x")
+    private Integer rightGridX;
+    @TableField("is_open")
+    private Integer isOpen;
+    /**
+     * 裁剪右顶点Y
+     */
+    @TableField("right_grid_y")
+    private Integer rightGridY;
+    public BigDecimal getNewX(){
+        return newOriginX;
+    }
+    public BigDecimal getNewY(){
+        return newOriginY;
+    }
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
index 2cb752f..3e741d7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
@@ -24,7 +24,10 @@
      *
      * @see com.casic.missiles.modular.robot.service.impl.TaskInfoServiceImpl
      */
-    HEAT_MAP("heat_map" , "机器人热力图");
+    HEAT_MAP("heat_map" , "机器人热力图"),
+    GRID("grid" , "栅格推送"),
+    TASK_END("task_end" , "任务结束");
+
     /**
      * 请求地址
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
index 88c9f79..3c93145 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -32,7 +32,6 @@
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         statusInfoService.saveCostMap(robotId, message);
-
         CostMapResolutionRequest costMapSet = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
         if(costMapSet != null){
             CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
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 8a71e0b..06f8ae6 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
@@ -30,10 +30,9 @@
     public void process(String robotId, String topic, MqttMessage message) {
 
         index.put(index_key, index.get("index") + 1);
-        if (index.get(index_key)>30) {
+        if (index.get(index_key)>1) {
             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 a9d7914..755997e 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
@@ -39,10 +39,8 @@
         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);
@@ -74,10 +72,12 @@
                     robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
                 }
             }
+
             //读取缓存信息
             sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
         } catch (Exception e) {
             e.printStackTrace();
         }
+
     }
-}
+}
\ No newline at end of file
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 7940a24..40a60a1 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,9 +1,13 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.exception.ServiceException;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.IBaseRobotService;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
@@ -11,6 +15,7 @@
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
+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.mqtt.config.MqttClientConnection;
@@ -32,11 +37,13 @@
     private final IRobotRouteOptService robotRouteOptService;
     private final IRobotInfoService robotInfoService;
     private final ITaskInfoService taskInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService, @Lazy IAlgorithmService algorithmService) {
         this.robotRouteOptService = robotRouteOptService;
         this.robotInfoService = robotInfoService;
         this.taskInfoService = taskInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
@@ -117,7 +124,7 @@
             //线路关键点读取
             if (requestDTO.getData() != null) {
                 for (RouteInfo routeInfo : requestDTO.getData()) {
-                    if("11-1 79-1".equals(routeInfo.getRouteName())){
+                    if ("11-1 79-1".equals(routeInfo.getRouteName())) {
                         continue;
                     }
                     TrackPointListRequest request = new TrackPointListRequest();
@@ -141,6 +148,7 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+
     @Transactional
     @Override
     public void startTrack(StartTrackRequest request) {
@@ -149,6 +157,25 @@
 //        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
     }
 
+    @Override
+    public ResponseDataDTO<Integer> targetGrid(TargetPointRequest request) {
+        PoseMessageResponseDTO responseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + request.getRobotId());
+        if(responseDTO==null){
+            throw new ServiceException(500,"请优先开启导航");
+        }
+        RobotInfo robotInfo = robotInfoService.getById(request.getRobotId());
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        //获取栅格中心点
+        GridPointDTO pointDTO =  algorithmService.convertGridCenterPoint(gridPointDTO,robotInfo.getResolution(),robotInfo);
+        request.setX(pointDTO.getX().toString());
+        request.setY(pointDTO.getY().toString());
+        request.setZ(responseDTO.getZ().toString());
+        request.setTheta(responseDTO.getTheta().toString());
+        //执行巡点指令
+        ResponseDataDTO<Integer> responseDataDTO = this.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
+        return responseDataDTO;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
new file mode 100644
index 0000000..7d69964
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
@@ -0,0 +1,19 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 获取循迹路线下发指令
+ */
+@Data
+public class TargetGridRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "栅格x坐标", dataType = "String")
+    private String estimateGridX;
+    @ApiModelProperty(value = "栅格y坐标", dataType = "String")
+    private String estimateGridY;
+    @ApiModelProperty(value = "z坐标", dataType = "String")
+    private String z;
+    @ApiModelProperty(value = "theta", dataType = "String")
+    private String theta;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
new file mode 100644
index 0000000..763656b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 导航下发指令
+ */
+@Data
+public class TaskModeRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "控制模式 1:手动 0:自动", dataType = "String")
+    private Integer isOpen;
+}

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
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 a849528..4f34669 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
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index bdfc2d0..d7736a5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -148,7 +148,7 @@
     public void insertPsdAlarms() {
         times++;
         //先查询正在巡检任务信息
-        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
+        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 2);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
 
         long currentTimes = System.currentTimeMillis();
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 92c8c8e..6e94193 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
@@ -5,10 +5,7 @@
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 
 /**
  * 机器人操作类
@@ -76,4 +73,11 @@
     void reloadPcd(RobotInfo info);
 
     void startTrack(StartTrackRequest request);
+
+    /**
+     * 栅格寻点指令
+     * @param request 请求
+     * @return
+     */
+    ResponseDataDTO<Integer> targetGrid(TargetPointRequest 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 3bb475f..d8b3363 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.lang.Assert;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
@@ -25,7 +26,6 @@
 import io.swagger.annotations.ApiParam;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.apache.ibatis.annotations.Param;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.web.bind.annotation.*;
 import org.springframework.web.multipart.MultipartFile;
@@ -76,6 +76,13 @@
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
+    /**
+     * /{robotId}
+     *
+     * @param file
+     * @param robotId
+     * @return
+     */
     @SneakyThrows
     @ApiOperation(value = "PCD上传接口")
     @PostMapping(value = "/uploadPcd")
@@ -109,7 +116,12 @@
         robotInfoService.updateSpeed(robotInfo);
         return ResponseDataDTO.success();
     }
-
+    @ApiOperation(value = "设置任务启动模式", notes = "返回 1成功 0失败")
+    @PostMapping(value = "/setTaskMode")
+    public ResponseDataDTO setTaskMode(@RequestBody TaskModeRequest request) {
+        robotInfoService.setTaskMode(request);
+        return ResponseDataDTO.success();
+    }
     @ApiOperation(value = "机器人数据更新", notes = "1.pcd重载 2.路线及关键点数据重载")
     @PostMapping(value = "/reload")
     public ResponseDataDTO reload(@RequestBody BaseRobotCmdDTO request) {
@@ -149,6 +161,8 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
     }
 
+
+
     /**
      * 机器人请求id
      *
@@ -161,6 +175,16 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
     }
 
+    @ApiOperation(value = "寻栅格指令")
+    @PostMapping(value = "/targetGrid")
+    public ResponseDataDTO<Integer> targetGrid(@RequestBody TargetGridRequest request) {
+        TargetPointRequest targetPointRequest = new TargetPointRequest();
+        targetPointRequest.setRobotId(request.getRobotId());
+        targetPointRequest.setX(request.getEstimateGridX());
+        targetPointRequest.setY(request.getEstimateGridY());
+        return baseRobotService.targetGrid(targetPointRequest);
+    }
+
     /**
      * 机器人请求id
      *
@@ -174,6 +198,7 @@
         if (request.getStepLen() == null) {
             request.setStepLen(2);
         }
+        log.info(JSON.toJSONString(request));
         baseRobotService.startTrack(request);
         return ResponseDataDTO.success();
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
new file mode 100644
index 0000000..709bcd3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+@Data
+public class GridDTO {
+    /**
+     * 当前栅格x
+     */
+    private Integer currGridX;
+    /**
+     * 当前栅格y
+     */
+    private Integer currGridY;
+    /**
+     * 规划栅格x
+     */
+    private Integer estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private Integer estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
new file mode 100644
index 0000000..7eae335
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+@Data
+public class GridPushDTO {
+    /**
+     * 当前栅格x
+     */
+    private BigDecimal currGridX;
+    /**
+     * 当前栅格y
+     */
+    private BigDecimal currGridY;
+
+    /**
+     * 规划栅格x
+     */
+    private BigDecimal estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private BigDecimal estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index acbeb93..b9ad7a3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -23,4 +23,8 @@
     private BigDecimal gridWidth;
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     private BigDecimal resolution;
+    @ApiModelProperty(value = "新设原点X", dataType = "BigDecimal")
+    private BigDecimal newX;
+    @ApiModelProperty(value = "新设原点Y", dataType = "BigDecimal")
+    private BigDecimal newY;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
new file mode 100644
index 0000000..acc38f3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
@@ -0,0 +1,15 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+@Data
+public class TaskEndMsg implements Serializable {
+    private String robotId;
+    private String message;
+    /**
+     * 1 正常 0 异常
+     */
+    private Integer code;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 90e4dcf..d5ae18a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -154,7 +154,46 @@
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     @TableField("resolution")
     private BigDecimal resolution;
+    /**
+     * 新设定栅格原点X
+     */
+    @TableField("new_origin_x")
+    private BigDecimal newOriginX;
+    /**
+     * 新设定栅格原点Y
+     */
+    @TableField("new_origin_y")
+    private BigDecimal newOriginY;
 
+    /**
+     * 新设定栅格X
+     */
+    @TableField("new_grid_x")
+    private Integer newGridX;
+    /**
+     * 新设定栅格Y
+     */
+    @TableField("new_grid_y")
+    private Integer newGridY;
+
+    /**
+     * 裁剪右顶点X
+     */
+    @TableField("right_grid_x")
+    private Integer rightGridX;
+    @TableField("is_open")
+    private Integer isOpen;
+    /**
+     * 裁剪右顶点Y
+     */
+    @TableField("right_grid_y")
+    private Integer rightGridY;
+    public BigDecimal getNewX(){
+        return newOriginX;
+    }
+    public BigDecimal getNewY(){
+        return newOriginY;
+    }
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
index 2cb752f..3e741d7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
@@ -24,7 +24,10 @@
      *
      * @see com.casic.missiles.modular.robot.service.impl.TaskInfoServiceImpl
      */
-    HEAT_MAP("heat_map" , "机器人热力图");
+    HEAT_MAP("heat_map" , "机器人热力图"),
+    GRID("grid" , "栅格推送"),
+    TASK_END("task_end" , "任务结束");
+
     /**
      * 请求地址
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
index 88c9f79..3c93145 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -32,7 +32,6 @@
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         statusInfoService.saveCostMap(robotId, message);
-
         CostMapResolutionRequest costMapSet = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
         if(costMapSet != null){
             CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
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 8a71e0b..06f8ae6 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
@@ -30,10 +30,9 @@
     public void process(String robotId, String topic, MqttMessage message) {
 
         index.put(index_key, index.get("index") + 1);
-        if (index.get(index_key)>30) {
+        if (index.get(index_key)>1) {
             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 a9d7914..755997e 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
@@ -39,10 +39,8 @@
         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);
@@ -74,10 +72,12 @@
                     robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
                 }
             }
+
             //读取缓存信息
             sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
         } catch (Exception e) {
             e.printStackTrace();
         }
+
     }
-}
+}
\ No newline at end of file
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 7940a24..40a60a1 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,9 +1,13 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.exception.ServiceException;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.IBaseRobotService;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
@@ -11,6 +15,7 @@
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
+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.mqtt.config.MqttClientConnection;
@@ -32,11 +37,13 @@
     private final IRobotRouteOptService robotRouteOptService;
     private final IRobotInfoService robotInfoService;
     private final ITaskInfoService taskInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService, @Lazy IAlgorithmService algorithmService) {
         this.robotRouteOptService = robotRouteOptService;
         this.robotInfoService = robotInfoService;
         this.taskInfoService = taskInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
@@ -117,7 +124,7 @@
             //线路关键点读取
             if (requestDTO.getData() != null) {
                 for (RouteInfo routeInfo : requestDTO.getData()) {
-                    if("11-1 79-1".equals(routeInfo.getRouteName())){
+                    if ("11-1 79-1".equals(routeInfo.getRouteName())) {
                         continue;
                     }
                     TrackPointListRequest request = new TrackPointListRequest();
@@ -141,6 +148,7 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+
     @Transactional
     @Override
     public void startTrack(StartTrackRequest request) {
@@ -149,6 +157,25 @@
 //        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
     }
 
+    @Override
+    public ResponseDataDTO<Integer> targetGrid(TargetPointRequest request) {
+        PoseMessageResponseDTO responseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + request.getRobotId());
+        if(responseDTO==null){
+            throw new ServiceException(500,"请优先开启导航");
+        }
+        RobotInfo robotInfo = robotInfoService.getById(request.getRobotId());
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        //获取栅格中心点
+        GridPointDTO pointDTO =  algorithmService.convertGridCenterPoint(gridPointDTO,robotInfo.getResolution(),robotInfo);
+        request.setX(pointDTO.getX().toString());
+        request.setY(pointDTO.getY().toString());
+        request.setZ(responseDTO.getZ().toString());
+        request.setTheta(responseDTO.getTheta().toString());
+        //执行巡点指令
+        ResponseDataDTO<Integer> responseDataDTO = this.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
+        return responseDataDTO;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
new file mode 100644
index 0000000..7d69964
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
@@ -0,0 +1,19 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 获取循迹路线下发指令
+ */
+@Data
+public class TargetGridRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "栅格x坐标", dataType = "String")
+    private String estimateGridX;
+    @ApiModelProperty(value = "栅格y坐标", dataType = "String")
+    private String estimateGridY;
+    @ApiModelProperty(value = "z坐标", dataType = "String")
+    private String z;
+    @ApiModelProperty(value = "theta", dataType = "String")
+    private String theta;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
new file mode 100644
index 0000000..763656b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 导航下发指令
+ */
+@Data
+public class TaskModeRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "控制模式 1:手动 0:自动", dataType = "String")
+    private Integer isOpen;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index 8c95459..89697b8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -6,6 +6,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TaskModeRequest;
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 
 import java.util.List;
@@ -52,4 +53,6 @@
      * @param dto 栅格信息
      */
     void updateRobotGrid(String robotId, AppCostmapResponseDTO dto);
+
+    void setTaskMode(TaskModeRequest request);
 }

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
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 a849528..4f34669 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
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index bdfc2d0..d7736a5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -148,7 +148,7 @@
     public void insertPsdAlarms() {
         times++;
         //先查询正在巡检任务信息
-        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
+        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 2);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
 
         long currentTimes = System.currentTimeMillis();
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 92c8c8e..6e94193 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
@@ -5,10 +5,7 @@
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 
 /**
  * 机器人操作类
@@ -76,4 +73,11 @@
     void reloadPcd(RobotInfo info);
 
     void startTrack(StartTrackRequest request);
+
+    /**
+     * 栅格寻点指令
+     * @param request 请求
+     * @return
+     */
+    ResponseDataDTO<Integer> targetGrid(TargetPointRequest 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 3bb475f..d8b3363 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.lang.Assert;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
@@ -25,7 +26,6 @@
 import io.swagger.annotations.ApiParam;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.apache.ibatis.annotations.Param;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.web.bind.annotation.*;
 import org.springframework.web.multipart.MultipartFile;
@@ -76,6 +76,13 @@
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
+    /**
+     * /{robotId}
+     *
+     * @param file
+     * @param robotId
+     * @return
+     */
     @SneakyThrows
     @ApiOperation(value = "PCD上传接口")
     @PostMapping(value = "/uploadPcd")
@@ -109,7 +116,12 @@
         robotInfoService.updateSpeed(robotInfo);
         return ResponseDataDTO.success();
     }
-
+    @ApiOperation(value = "设置任务启动模式", notes = "返回 1成功 0失败")
+    @PostMapping(value = "/setTaskMode")
+    public ResponseDataDTO setTaskMode(@RequestBody TaskModeRequest request) {
+        robotInfoService.setTaskMode(request);
+        return ResponseDataDTO.success();
+    }
     @ApiOperation(value = "机器人数据更新", notes = "1.pcd重载 2.路线及关键点数据重载")
     @PostMapping(value = "/reload")
     public ResponseDataDTO reload(@RequestBody BaseRobotCmdDTO request) {
@@ -149,6 +161,8 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
     }
 
+
+
     /**
      * 机器人请求id
      *
@@ -161,6 +175,16 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
     }
 
+    @ApiOperation(value = "寻栅格指令")
+    @PostMapping(value = "/targetGrid")
+    public ResponseDataDTO<Integer> targetGrid(@RequestBody TargetGridRequest request) {
+        TargetPointRequest targetPointRequest = new TargetPointRequest();
+        targetPointRequest.setRobotId(request.getRobotId());
+        targetPointRequest.setX(request.getEstimateGridX());
+        targetPointRequest.setY(request.getEstimateGridY());
+        return baseRobotService.targetGrid(targetPointRequest);
+    }
+
     /**
      * 机器人请求id
      *
@@ -174,6 +198,7 @@
         if (request.getStepLen() == null) {
             request.setStepLen(2);
         }
+        log.info(JSON.toJSONString(request));
         baseRobotService.startTrack(request);
         return ResponseDataDTO.success();
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
new file mode 100644
index 0000000..709bcd3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+@Data
+public class GridDTO {
+    /**
+     * 当前栅格x
+     */
+    private Integer currGridX;
+    /**
+     * 当前栅格y
+     */
+    private Integer currGridY;
+    /**
+     * 规划栅格x
+     */
+    private Integer estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private Integer estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
new file mode 100644
index 0000000..7eae335
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+@Data
+public class GridPushDTO {
+    /**
+     * 当前栅格x
+     */
+    private BigDecimal currGridX;
+    /**
+     * 当前栅格y
+     */
+    private BigDecimal currGridY;
+
+    /**
+     * 规划栅格x
+     */
+    private BigDecimal estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private BigDecimal estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index acbeb93..b9ad7a3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -23,4 +23,8 @@
     private BigDecimal gridWidth;
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     private BigDecimal resolution;
+    @ApiModelProperty(value = "新设原点X", dataType = "BigDecimal")
+    private BigDecimal newX;
+    @ApiModelProperty(value = "新设原点Y", dataType = "BigDecimal")
+    private BigDecimal newY;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
new file mode 100644
index 0000000..acc38f3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
@@ -0,0 +1,15 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+@Data
+public class TaskEndMsg implements Serializable {
+    private String robotId;
+    private String message;
+    /**
+     * 1 正常 0 异常
+     */
+    private Integer code;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 90e4dcf..d5ae18a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -154,7 +154,46 @@
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     @TableField("resolution")
     private BigDecimal resolution;
+    /**
+     * 新设定栅格原点X
+     */
+    @TableField("new_origin_x")
+    private BigDecimal newOriginX;
+    /**
+     * 新设定栅格原点Y
+     */
+    @TableField("new_origin_y")
+    private BigDecimal newOriginY;
 
+    /**
+     * 新设定栅格X
+     */
+    @TableField("new_grid_x")
+    private Integer newGridX;
+    /**
+     * 新设定栅格Y
+     */
+    @TableField("new_grid_y")
+    private Integer newGridY;
+
+    /**
+     * 裁剪右顶点X
+     */
+    @TableField("right_grid_x")
+    private Integer rightGridX;
+    @TableField("is_open")
+    private Integer isOpen;
+    /**
+     * 裁剪右顶点Y
+     */
+    @TableField("right_grid_y")
+    private Integer rightGridY;
+    public BigDecimal getNewX(){
+        return newOriginX;
+    }
+    public BigDecimal getNewY(){
+        return newOriginY;
+    }
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
index 2cb752f..3e741d7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
@@ -24,7 +24,10 @@
      *
      * @see com.casic.missiles.modular.robot.service.impl.TaskInfoServiceImpl
      */
-    HEAT_MAP("heat_map" , "机器人热力图");
+    HEAT_MAP("heat_map" , "机器人热力图"),
+    GRID("grid" , "栅格推送"),
+    TASK_END("task_end" , "任务结束");
+
     /**
      * 请求地址
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
index 88c9f79..3c93145 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -32,7 +32,6 @@
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         statusInfoService.saveCostMap(robotId, message);
-
         CostMapResolutionRequest costMapSet = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
         if(costMapSet != null){
             CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
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 8a71e0b..06f8ae6 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
@@ -30,10 +30,9 @@
     public void process(String robotId, String topic, MqttMessage message) {
 
         index.put(index_key, index.get("index") + 1);
-        if (index.get(index_key)>30) {
+        if (index.get(index_key)>1) {
             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 a9d7914..755997e 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
@@ -39,10 +39,8 @@
         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);
@@ -74,10 +72,12 @@
                     robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
                 }
             }
+
             //读取缓存信息
             sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
         } catch (Exception e) {
             e.printStackTrace();
         }
+
     }
-}
+}
\ No newline at end of file
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 7940a24..40a60a1 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,9 +1,13 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.exception.ServiceException;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.IBaseRobotService;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
@@ -11,6 +15,7 @@
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
+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.mqtt.config.MqttClientConnection;
@@ -32,11 +37,13 @@
     private final IRobotRouteOptService robotRouteOptService;
     private final IRobotInfoService robotInfoService;
     private final ITaskInfoService taskInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService, @Lazy IAlgorithmService algorithmService) {
         this.robotRouteOptService = robotRouteOptService;
         this.robotInfoService = robotInfoService;
         this.taskInfoService = taskInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
@@ -117,7 +124,7 @@
             //线路关键点读取
             if (requestDTO.getData() != null) {
                 for (RouteInfo routeInfo : requestDTO.getData()) {
-                    if("11-1 79-1".equals(routeInfo.getRouteName())){
+                    if ("11-1 79-1".equals(routeInfo.getRouteName())) {
                         continue;
                     }
                     TrackPointListRequest request = new TrackPointListRequest();
@@ -141,6 +148,7 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+
     @Transactional
     @Override
     public void startTrack(StartTrackRequest request) {
@@ -149,6 +157,25 @@
 //        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
     }
 
+    @Override
+    public ResponseDataDTO<Integer> targetGrid(TargetPointRequest request) {
+        PoseMessageResponseDTO responseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + request.getRobotId());
+        if(responseDTO==null){
+            throw new ServiceException(500,"请优先开启导航");
+        }
+        RobotInfo robotInfo = robotInfoService.getById(request.getRobotId());
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        //获取栅格中心点
+        GridPointDTO pointDTO =  algorithmService.convertGridCenterPoint(gridPointDTO,robotInfo.getResolution(),robotInfo);
+        request.setX(pointDTO.getX().toString());
+        request.setY(pointDTO.getY().toString());
+        request.setZ(responseDTO.getZ().toString());
+        request.setTheta(responseDTO.getTheta().toString());
+        //执行巡点指令
+        ResponseDataDTO<Integer> responseDataDTO = this.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
+        return responseDataDTO;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
new file mode 100644
index 0000000..7d69964
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
@@ -0,0 +1,19 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 获取循迹路线下发指令
+ */
+@Data
+public class TargetGridRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "栅格x坐标", dataType = "String")
+    private String estimateGridX;
+    @ApiModelProperty(value = "栅格y坐标", dataType = "String")
+    private String estimateGridY;
+    @ApiModelProperty(value = "z坐标", dataType = "String")
+    private String z;
+    @ApiModelProperty(value = "theta", dataType = "String")
+    private String theta;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
new file mode 100644
index 0000000..763656b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 导航下发指令
+ */
+@Data
+public class TaskModeRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "控制模式 1:手动 0:自动", dataType = "String")
+    private Integer isOpen;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index 8c95459..89697b8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -6,6 +6,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TaskModeRequest;
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 
 import java.util.List;
@@ -52,4 +53,6 @@
      * @param dto 栅格信息
      */
     void updateRobotGrid(String robotId, AppCostmapResponseDTO dto);
+
+    void setTaskMode(TaskModeRequest request);
 }
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 a4dbe0b..a6f5116 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
@@ -167,24 +167,35 @@
         y = y.subtract(robotInfo.getOriginY());
         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));
+
+        //todo  原点栅格转换,减去相对原点值
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewGridY())));
         return pointDTO;
     }
 
     /**
+     * do栅格转xy
      * 根据栅格读取栅格中心点位信息
      *
      * @param pointDTO 栅格信息
      * @return
      */
     public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo) {
+
+        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewGridY())));
+
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = resolution;
         //点位转换 转换后栅格－1 从1开始计算
         BigDecimal slamX = (pointDTO.getX().subtract(new BigDecimal(1))).multiply(scale);
         BigDecimal slamY = (pointDTO.getY().subtract(new BigDecimal(1))).multiply(scale);
+
         //中心栅格点位中心添加
         centerPoint.setX(slamX.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
         centerPoint.setY(slamY.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
+
         //加上栅格原点坐标
         centerPoint.setX(centerPoint.getX().add(robotInfo.getOriginX()));
         centerPoint.setY(centerPoint.getY().add(robotInfo.getOriginY()));

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
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 a849528..4f34669 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
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index bdfc2d0..d7736a5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -148,7 +148,7 @@
     public void insertPsdAlarms() {
         times++;
         //先查询正在巡检任务信息
-        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
+        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 2);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
 
         long currentTimes = System.currentTimeMillis();
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 92c8c8e..6e94193 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
@@ -5,10 +5,7 @@
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 
 /**
  * 机器人操作类
@@ -76,4 +73,11 @@
     void reloadPcd(RobotInfo info);
 
     void startTrack(StartTrackRequest request);
+
+    /**
+     * 栅格寻点指令
+     * @param request 请求
+     * @return
+     */
+    ResponseDataDTO<Integer> targetGrid(TargetPointRequest 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 3bb475f..d8b3363 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.lang.Assert;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
@@ -25,7 +26,6 @@
 import io.swagger.annotations.ApiParam;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.apache.ibatis.annotations.Param;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.web.bind.annotation.*;
 import org.springframework.web.multipart.MultipartFile;
@@ -76,6 +76,13 @@
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
+    /**
+     * /{robotId}
+     *
+     * @param file
+     * @param robotId
+     * @return
+     */
     @SneakyThrows
     @ApiOperation(value = "PCD上传接口")
     @PostMapping(value = "/uploadPcd")
@@ -109,7 +116,12 @@
         robotInfoService.updateSpeed(robotInfo);
         return ResponseDataDTO.success();
     }
-
+    @ApiOperation(value = "设置任务启动模式", notes = "返回 1成功 0失败")
+    @PostMapping(value = "/setTaskMode")
+    public ResponseDataDTO setTaskMode(@RequestBody TaskModeRequest request) {
+        robotInfoService.setTaskMode(request);
+        return ResponseDataDTO.success();
+    }
     @ApiOperation(value = "机器人数据更新", notes = "1.pcd重载 2.路线及关键点数据重载")
     @PostMapping(value = "/reload")
     public ResponseDataDTO reload(@RequestBody BaseRobotCmdDTO request) {
@@ -149,6 +161,8 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
     }
 
+
+
     /**
      * 机器人请求id
      *
@@ -161,6 +175,16 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
     }
 
+    @ApiOperation(value = "寻栅格指令")
+    @PostMapping(value = "/targetGrid")
+    public ResponseDataDTO<Integer> targetGrid(@RequestBody TargetGridRequest request) {
+        TargetPointRequest targetPointRequest = new TargetPointRequest();
+        targetPointRequest.setRobotId(request.getRobotId());
+        targetPointRequest.setX(request.getEstimateGridX());
+        targetPointRequest.setY(request.getEstimateGridY());
+        return baseRobotService.targetGrid(targetPointRequest);
+    }
+
     /**
      * 机器人请求id
      *
@@ -174,6 +198,7 @@
         if (request.getStepLen() == null) {
             request.setStepLen(2);
         }
+        log.info(JSON.toJSONString(request));
         baseRobotService.startTrack(request);
         return ResponseDataDTO.success();
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
new file mode 100644
index 0000000..709bcd3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+@Data
+public class GridDTO {
+    /**
+     * 当前栅格x
+     */
+    private Integer currGridX;
+    /**
+     * 当前栅格y
+     */
+    private Integer currGridY;
+    /**
+     * 规划栅格x
+     */
+    private Integer estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private Integer estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
new file mode 100644
index 0000000..7eae335
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+@Data
+public class GridPushDTO {
+    /**
+     * 当前栅格x
+     */
+    private BigDecimal currGridX;
+    /**
+     * 当前栅格y
+     */
+    private BigDecimal currGridY;
+
+    /**
+     * 规划栅格x
+     */
+    private BigDecimal estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private BigDecimal estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index acbeb93..b9ad7a3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -23,4 +23,8 @@
     private BigDecimal gridWidth;
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     private BigDecimal resolution;
+    @ApiModelProperty(value = "新设原点X", dataType = "BigDecimal")
+    private BigDecimal newX;
+    @ApiModelProperty(value = "新设原点Y", dataType = "BigDecimal")
+    private BigDecimal newY;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
new file mode 100644
index 0000000..acc38f3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
@@ -0,0 +1,15 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+@Data
+public class TaskEndMsg implements Serializable {
+    private String robotId;
+    private String message;
+    /**
+     * 1 正常 0 异常
+     */
+    private Integer code;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 90e4dcf..d5ae18a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -154,7 +154,46 @@
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     @TableField("resolution")
     private BigDecimal resolution;
+    /**
+     * 新设定栅格原点X
+     */
+    @TableField("new_origin_x")
+    private BigDecimal newOriginX;
+    /**
+     * 新设定栅格原点Y
+     */
+    @TableField("new_origin_y")
+    private BigDecimal newOriginY;
 
+    /**
+     * 新设定栅格X
+     */
+    @TableField("new_grid_x")
+    private Integer newGridX;
+    /**
+     * 新设定栅格Y
+     */
+    @TableField("new_grid_y")
+    private Integer newGridY;
+
+    /**
+     * 裁剪右顶点X
+     */
+    @TableField("right_grid_x")
+    private Integer rightGridX;
+    @TableField("is_open")
+    private Integer isOpen;
+    /**
+     * 裁剪右顶点Y
+     */
+    @TableField("right_grid_y")
+    private Integer rightGridY;
+    public BigDecimal getNewX(){
+        return newOriginX;
+    }
+    public BigDecimal getNewY(){
+        return newOriginY;
+    }
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
index 2cb752f..3e741d7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
@@ -24,7 +24,10 @@
      *
      * @see com.casic.missiles.modular.robot.service.impl.TaskInfoServiceImpl
      */
-    HEAT_MAP("heat_map" , "机器人热力图");
+    HEAT_MAP("heat_map" , "机器人热力图"),
+    GRID("grid" , "栅格推送"),
+    TASK_END("task_end" , "任务结束");
+
     /**
      * 请求地址
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
index 88c9f79..3c93145 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -32,7 +32,6 @@
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         statusInfoService.saveCostMap(robotId, message);
-
         CostMapResolutionRequest costMapSet = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
         if(costMapSet != null){
             CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
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 8a71e0b..06f8ae6 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
@@ -30,10 +30,9 @@
     public void process(String robotId, String topic, MqttMessage message) {
 
         index.put(index_key, index.get("index") + 1);
-        if (index.get(index_key)>30) {
+        if (index.get(index_key)>1) {
             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 a9d7914..755997e 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
@@ -39,10 +39,8 @@
         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);
@@ -74,10 +72,12 @@
                     robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
                 }
             }
+
             //读取缓存信息
             sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
         } catch (Exception e) {
             e.printStackTrace();
         }
+
     }
-}
+}
\ No newline at end of file
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 7940a24..40a60a1 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,9 +1,13 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.exception.ServiceException;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.IBaseRobotService;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
@@ -11,6 +15,7 @@
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
+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.mqtt.config.MqttClientConnection;
@@ -32,11 +37,13 @@
     private final IRobotRouteOptService robotRouteOptService;
     private final IRobotInfoService robotInfoService;
     private final ITaskInfoService taskInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService, @Lazy IAlgorithmService algorithmService) {
         this.robotRouteOptService = robotRouteOptService;
         this.robotInfoService = robotInfoService;
         this.taskInfoService = taskInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
@@ -117,7 +124,7 @@
             //线路关键点读取
             if (requestDTO.getData() != null) {
                 for (RouteInfo routeInfo : requestDTO.getData()) {
-                    if("11-1 79-1".equals(routeInfo.getRouteName())){
+                    if ("11-1 79-1".equals(routeInfo.getRouteName())) {
                         continue;
                     }
                     TrackPointListRequest request = new TrackPointListRequest();
@@ -141,6 +148,7 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+
     @Transactional
     @Override
     public void startTrack(StartTrackRequest request) {
@@ -149,6 +157,25 @@
 //        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
     }
 
+    @Override
+    public ResponseDataDTO<Integer> targetGrid(TargetPointRequest request) {
+        PoseMessageResponseDTO responseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + request.getRobotId());
+        if(responseDTO==null){
+            throw new ServiceException(500,"请优先开启导航");
+        }
+        RobotInfo robotInfo = robotInfoService.getById(request.getRobotId());
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        //获取栅格中心点
+        GridPointDTO pointDTO =  algorithmService.convertGridCenterPoint(gridPointDTO,robotInfo.getResolution(),robotInfo);
+        request.setX(pointDTO.getX().toString());
+        request.setY(pointDTO.getY().toString());
+        request.setZ(responseDTO.getZ().toString());
+        request.setTheta(responseDTO.getTheta().toString());
+        //执行巡点指令
+        ResponseDataDTO<Integer> responseDataDTO = this.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
+        return responseDataDTO;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
new file mode 100644
index 0000000..7d69964
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
@@ -0,0 +1,19 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 获取循迹路线下发指令
+ */
+@Data
+public class TargetGridRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "栅格x坐标", dataType = "String")
+    private String estimateGridX;
+    @ApiModelProperty(value = "栅格y坐标", dataType = "String")
+    private String estimateGridY;
+    @ApiModelProperty(value = "z坐标", dataType = "String")
+    private String z;
+    @ApiModelProperty(value = "theta", dataType = "String")
+    private String theta;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
new file mode 100644
index 0000000..763656b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 导航下发指令
+ */
+@Data
+public class TaskModeRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "控制模式 1:手动 0:自动", dataType = "String")
+    private Integer isOpen;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index 8c95459..89697b8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -6,6 +6,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TaskModeRequest;
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 
 import java.util.List;
@@ -52,4 +53,6 @@
      * @param dto 栅格信息
      */
     void updateRobotGrid(String robotId, AppCostmapResponseDTO dto);
+
+    void setTaskMode(TaskModeRequest request);
 }
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 a4dbe0b..a6f5116 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
@@ -167,24 +167,35 @@
         y = y.subtract(robotInfo.getOriginY());
         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));
+
+        //todo  原点栅格转换,减去相对原点值
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewGridY())));
         return pointDTO;
     }
 
     /**
+     * do栅格转xy
      * 根据栅格读取栅格中心点位信息
      *
      * @param pointDTO 栅格信息
      * @return
      */
     public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo) {
+
+        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewGridY())));
+
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = resolution;
         //点位转换 转换后栅格－1 从1开始计算
         BigDecimal slamX = (pointDTO.getX().subtract(new BigDecimal(1))).multiply(scale);
         BigDecimal slamY = (pointDTO.getY().subtract(new BigDecimal(1))).multiply(scale);
+
         //中心栅格点位中心添加
         centerPoint.setX(slamX.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
         centerPoint.setY(slamY.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
+
         //加上栅格原点坐标
         centerPoint.setX(centerPoint.getX().add(robotInfo.getOriginX()));
         centerPoint.setY(centerPoint.getY().add(robotInfo.getOriginY()));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
index e2879ce..f825e84 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
@@ -9,6 +9,8 @@
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.data.redis.core.RedisTemplate;
 import org.springframework.stereotype.Service;
 
 @Service
@@ -18,7 +20,8 @@
     public RobotCacheServiceImpl(IRobotInfoService robotInfoService) {
         this.robotInfoService = robotInfoService;
     }
-
+    @Autowired
+    private RedisTemplate<String, Object> redisTemplate;
     @Override
     public synchronized boolean updateTaskId(Long robotId, Long taskId) {
         //读取当前机器人任务信息
@@ -83,12 +86,14 @@
 
     @Override
     public void updateCostMap(String robotId, AppCostmapResponseDTO msg) {
-        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
+        redisTemplate.opsForValue().set(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId,msg);
+//        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
     }
 
     @Override
     public AppCostmapResponseDTO getCostMap(String robotId) {
-        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+       return (AppCostmapResponseDTO) redisTemplate.opsForValue().get(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+//        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
     }
 
     @Override

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
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 a849528..4f34669 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
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index bdfc2d0..d7736a5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -148,7 +148,7 @@
     public void insertPsdAlarms() {
         times++;
         //先查询正在巡检任务信息
-        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
+        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 2);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
 
         long currentTimes = System.currentTimeMillis();
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 92c8c8e..6e94193 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
@@ -5,10 +5,7 @@
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 
 /**
  * 机器人操作类
@@ -76,4 +73,11 @@
     void reloadPcd(RobotInfo info);
 
     void startTrack(StartTrackRequest request);
+
+    /**
+     * 栅格寻点指令
+     * @param request 请求
+     * @return
+     */
+    ResponseDataDTO<Integer> targetGrid(TargetPointRequest 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 3bb475f..d8b3363 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.lang.Assert;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
@@ -25,7 +26,6 @@
 import io.swagger.annotations.ApiParam;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.apache.ibatis.annotations.Param;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.web.bind.annotation.*;
 import org.springframework.web.multipart.MultipartFile;
@@ -76,6 +76,13 @@
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
+    /**
+     * /{robotId}
+     *
+     * @param file
+     * @param robotId
+     * @return
+     */
     @SneakyThrows
     @ApiOperation(value = "PCD上传接口")
     @PostMapping(value = "/uploadPcd")
@@ -109,7 +116,12 @@
         robotInfoService.updateSpeed(robotInfo);
         return ResponseDataDTO.success();
     }
-
+    @ApiOperation(value = "设置任务启动模式", notes = "返回 1成功 0失败")
+    @PostMapping(value = "/setTaskMode")
+    public ResponseDataDTO setTaskMode(@RequestBody TaskModeRequest request) {
+        robotInfoService.setTaskMode(request);
+        return ResponseDataDTO.success();
+    }
     @ApiOperation(value = "机器人数据更新", notes = "1.pcd重载 2.路线及关键点数据重载")
     @PostMapping(value = "/reload")
     public ResponseDataDTO reload(@RequestBody BaseRobotCmdDTO request) {
@@ -149,6 +161,8 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
     }
 
+
+
     /**
      * 机器人请求id
      *
@@ -161,6 +175,16 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
     }
 
+    @ApiOperation(value = "寻栅格指令")
+    @PostMapping(value = "/targetGrid")
+    public ResponseDataDTO<Integer> targetGrid(@RequestBody TargetGridRequest request) {
+        TargetPointRequest targetPointRequest = new TargetPointRequest();
+        targetPointRequest.setRobotId(request.getRobotId());
+        targetPointRequest.setX(request.getEstimateGridX());
+        targetPointRequest.setY(request.getEstimateGridY());
+        return baseRobotService.targetGrid(targetPointRequest);
+    }
+
     /**
      * 机器人请求id
      *
@@ -174,6 +198,7 @@
         if (request.getStepLen() == null) {
             request.setStepLen(2);
         }
+        log.info(JSON.toJSONString(request));
         baseRobotService.startTrack(request);
         return ResponseDataDTO.success();
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
new file mode 100644
index 0000000..709bcd3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+@Data
+public class GridDTO {
+    /**
+     * 当前栅格x
+     */
+    private Integer currGridX;
+    /**
+     * 当前栅格y
+     */
+    private Integer currGridY;
+    /**
+     * 规划栅格x
+     */
+    private Integer estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private Integer estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
new file mode 100644
index 0000000..7eae335
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+@Data
+public class GridPushDTO {
+    /**
+     * 当前栅格x
+     */
+    private BigDecimal currGridX;
+    /**
+     * 当前栅格y
+     */
+    private BigDecimal currGridY;
+
+    /**
+     * 规划栅格x
+     */
+    private BigDecimal estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private BigDecimal estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index acbeb93..b9ad7a3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -23,4 +23,8 @@
     private BigDecimal gridWidth;
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     private BigDecimal resolution;
+    @ApiModelProperty(value = "新设原点X", dataType = "BigDecimal")
+    private BigDecimal newX;
+    @ApiModelProperty(value = "新设原点Y", dataType = "BigDecimal")
+    private BigDecimal newY;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
new file mode 100644
index 0000000..acc38f3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
@@ -0,0 +1,15 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+@Data
+public class TaskEndMsg implements Serializable {
+    private String robotId;
+    private String message;
+    /**
+     * 1 正常 0 异常
+     */
+    private Integer code;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 90e4dcf..d5ae18a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -154,7 +154,46 @@
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     @TableField("resolution")
     private BigDecimal resolution;
+    /**
+     * 新设定栅格原点X
+     */
+    @TableField("new_origin_x")
+    private BigDecimal newOriginX;
+    /**
+     * 新设定栅格原点Y
+     */
+    @TableField("new_origin_y")
+    private BigDecimal newOriginY;
 
+    /**
+     * 新设定栅格X
+     */
+    @TableField("new_grid_x")
+    private Integer newGridX;
+    /**
+     * 新设定栅格Y
+     */
+    @TableField("new_grid_y")
+    private Integer newGridY;
+
+    /**
+     * 裁剪右顶点X
+     */
+    @TableField("right_grid_x")
+    private Integer rightGridX;
+    @TableField("is_open")
+    private Integer isOpen;
+    /**
+     * 裁剪右顶点Y
+     */
+    @TableField("right_grid_y")
+    private Integer rightGridY;
+    public BigDecimal getNewX(){
+        return newOriginX;
+    }
+    public BigDecimal getNewY(){
+        return newOriginY;
+    }
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
index 2cb752f..3e741d7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
@@ -24,7 +24,10 @@
      *
      * @see com.casic.missiles.modular.robot.service.impl.TaskInfoServiceImpl
      */
-    HEAT_MAP("heat_map" , "机器人热力图");
+    HEAT_MAP("heat_map" , "机器人热力图"),
+    GRID("grid" , "栅格推送"),
+    TASK_END("task_end" , "任务结束");
+
     /**
      * 请求地址
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
index 88c9f79..3c93145 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -32,7 +32,6 @@
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         statusInfoService.saveCostMap(robotId, message);
-
         CostMapResolutionRequest costMapSet = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
         if(costMapSet != null){
             CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
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 8a71e0b..06f8ae6 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
@@ -30,10 +30,9 @@
     public void process(String robotId, String topic, MqttMessage message) {
 
         index.put(index_key, index.get("index") + 1);
-        if (index.get(index_key)>30) {
+        if (index.get(index_key)>1) {
             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 a9d7914..755997e 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
@@ -39,10 +39,8 @@
         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);
@@ -74,10 +72,12 @@
                     robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
                 }
             }
+
             //读取缓存信息
             sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
         } catch (Exception e) {
             e.printStackTrace();
         }
+
     }
-}
+}
\ No newline at end of file
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 7940a24..40a60a1 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,9 +1,13 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.exception.ServiceException;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.IBaseRobotService;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
@@ -11,6 +15,7 @@
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
+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.mqtt.config.MqttClientConnection;
@@ -32,11 +37,13 @@
     private final IRobotRouteOptService robotRouteOptService;
     private final IRobotInfoService robotInfoService;
     private final ITaskInfoService taskInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService, @Lazy IAlgorithmService algorithmService) {
         this.robotRouteOptService = robotRouteOptService;
         this.robotInfoService = robotInfoService;
         this.taskInfoService = taskInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
@@ -117,7 +124,7 @@
             //线路关键点读取
             if (requestDTO.getData() != null) {
                 for (RouteInfo routeInfo : requestDTO.getData()) {
-                    if("11-1 79-1".equals(routeInfo.getRouteName())){
+                    if ("11-1 79-1".equals(routeInfo.getRouteName())) {
                         continue;
                     }
                     TrackPointListRequest request = new TrackPointListRequest();
@@ -141,6 +148,7 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+
     @Transactional
     @Override
     public void startTrack(StartTrackRequest request) {
@@ -149,6 +157,25 @@
 //        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
     }
 
+    @Override
+    public ResponseDataDTO<Integer> targetGrid(TargetPointRequest request) {
+        PoseMessageResponseDTO responseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + request.getRobotId());
+        if(responseDTO==null){
+            throw new ServiceException(500,"请优先开启导航");
+        }
+        RobotInfo robotInfo = robotInfoService.getById(request.getRobotId());
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        //获取栅格中心点
+        GridPointDTO pointDTO =  algorithmService.convertGridCenterPoint(gridPointDTO,robotInfo.getResolution(),robotInfo);
+        request.setX(pointDTO.getX().toString());
+        request.setY(pointDTO.getY().toString());
+        request.setZ(responseDTO.getZ().toString());
+        request.setTheta(responseDTO.getTheta().toString());
+        //执行巡点指令
+        ResponseDataDTO<Integer> responseDataDTO = this.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
+        return responseDataDTO;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
new file mode 100644
index 0000000..7d69964
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
@@ -0,0 +1,19 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 获取循迹路线下发指令
+ */
+@Data
+public class TargetGridRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "栅格x坐标", dataType = "String")
+    private String estimateGridX;
+    @ApiModelProperty(value = "栅格y坐标", dataType = "String")
+    private String estimateGridY;
+    @ApiModelProperty(value = "z坐标", dataType = "String")
+    private String z;
+    @ApiModelProperty(value = "theta", dataType = "String")
+    private String theta;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
new file mode 100644
index 0000000..763656b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 导航下发指令
+ */
+@Data
+public class TaskModeRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "控制模式 1:手动 0:自动", dataType = "String")
+    private Integer isOpen;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index 8c95459..89697b8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -6,6 +6,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TaskModeRequest;
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 
 import java.util.List;
@@ -52,4 +53,6 @@
      * @param dto 栅格信息
      */
     void updateRobotGrid(String robotId, AppCostmapResponseDTO dto);
+
+    void setTaskMode(TaskModeRequest request);
 }
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 a4dbe0b..a6f5116 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
@@ -167,24 +167,35 @@
         y = y.subtract(robotInfo.getOriginY());
         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));
+
+        //todo  原点栅格转换,减去相对原点值
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewGridY())));
         return pointDTO;
     }
 
     /**
+     * do栅格转xy
      * 根据栅格读取栅格中心点位信息
      *
      * @param pointDTO 栅格信息
      * @return
      */
     public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo) {
+
+        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewGridY())));
+
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = resolution;
         //点位转换 转换后栅格－1 从1开始计算
         BigDecimal slamX = (pointDTO.getX().subtract(new BigDecimal(1))).multiply(scale);
         BigDecimal slamY = (pointDTO.getY().subtract(new BigDecimal(1))).multiply(scale);
+
         //中心栅格点位中心添加
         centerPoint.setX(slamX.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
         centerPoint.setY(slamY.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
+
         //加上栅格原点坐标
         centerPoint.setX(centerPoint.getX().add(robotInfo.getOriginX()));
         centerPoint.setY(centerPoint.getY().add(robotInfo.getOriginY()));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
index e2879ce..f825e84 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
@@ -9,6 +9,8 @@
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.data.redis.core.RedisTemplate;
 import org.springframework.stereotype.Service;
 
 @Service
@@ -18,7 +20,8 @@
     public RobotCacheServiceImpl(IRobotInfoService robotInfoService) {
         this.robotInfoService = robotInfoService;
     }
-
+    @Autowired
+    private RedisTemplate<String, Object> redisTemplate;
     @Override
     public synchronized boolean updateTaskId(Long robotId, Long taskId) {
         //读取当前机器人任务信息
@@ -83,12 +86,14 @@
 
     @Override
     public void updateCostMap(String robotId, AppCostmapResponseDTO msg) {
-        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
+        redisTemplate.opsForValue().set(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId,msg);
+//        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
     }
 
     @Override
     public AppCostmapResponseDTO getCostMap(String robotId) {
-        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+       return (AppCostmapResponseDTO) redisTemplate.opsForValue().get(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+//        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
     }
 
     @Override
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index fdded64..cdbbe89 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -12,11 +12,13 @@
 import com.casic.missiles.core.application.service.AbstractDictService;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dao.RobotInfoMapper;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.*;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.DataRecordRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TaskModeRequest;
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.*;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -51,16 +53,18 @@
     private final IDeviceInfoService deviceInfoService;
     private final IRobotPointInfoService pointInfoService;
     private final IBaseRobotService baseRobotService;
+    private final IAlgorithmService algorithmService;
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
-    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService, @Lazy IBaseRobotService baseRobotService) {
+    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService, @Lazy IBaseRobotService baseRobotService, @Lazy IAlgorithmService algorithmService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.dictService = dictService;
         this.routeInfoService = routeInfoService;
         this.deviceInfoService = deviceInfoService;
         this.pointInfoService = pointInfoService;
         this.baseRobotService = baseRobotService;
+        this.algorithmService = algorithmService;
     }
 
     @Transactional
@@ -96,15 +100,30 @@
         }
         if (robotInfo.getAlarmThreshold() != null) {
             update.set(RobotInfo::getAlarmThreshold, robotInfo.getAlarmThreshold());
+            update.set(RobotInfo::getMaxThreshold, robotInfo.getAlarmThreshold());
         }
         if (robotInfo.getGridHeight() != null && robotInfo.getGridWidth() != null) {
+            RobotInfo oldRobotInfo = getById(robotInfo.getId());
             update.set(RobotInfo::getGridHeight, robotInfo.getGridHeight());
             update.set(RobotInfo::getGridWidth, robotInfo.getGridWidth());
             update.set(RobotInfo::getResolution, robotInfo.getResolution());
+            update.set(RobotInfo::getNewOriginX, robotInfo.getNewX());
+            update.set(RobotInfo::getNewOriginY, robotInfo.getNewY());
+            //计算左下原点
+            oldRobotInfo.setNewGridX(0);
+            oldRobotInfo.setNewGridY(0);
+            GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(robotInfo.getNewX(), robotInfo.getNewY(), robotInfo.getResolution(), oldRobotInfo);
+            update.set(RobotInfo::getNewGridX, gridPointDTO.getX().intValue());
+            update.set(RobotInfo::getNewGridY, gridPointDTO.getY().intValue());
+            //计算右顶点
+            Integer rightX = robotInfo.getGridWidth().divide(robotInfo.getResolution(), 0, BigDecimal.ROUND_HALF_UP).intValue();
+            Integer rightY = robotInfo.getGridHeight().divide(robotInfo.getResolution(), 0, BigDecimal.ROUND_HALF_UP).intValue();
+            update.set(RobotInfo::getRightGridX, rightX);
+            update.set(RobotInfo::getRightGridY, rightY);
+
             //下发障碍物栅格
             sendCostMapResolution(robotInfo.getResolution(), robotInfo.getId());
-            //重新生成栅格地图
-            //sendChangePcd(robotInfo.getId());
+
         }
         update.eq(RobotInfo::getId, robotInfo.getId());
         update(update);
@@ -162,6 +181,16 @@
         update(lambdaUpdateWrapper);
     }
 
+    @Override
+    public void setTaskMode(TaskModeRequest request) {
+        if (request.getRobotId() != null) {
+            LambdaUpdateWrapper<RobotInfo> lambdaUpdateWrapper = new LambdaUpdateWrapper<>();
+            lambdaUpdateWrapper.set(RobotInfo::getIsOpen, request.getIsOpen());
+            lambdaUpdateWrapper.eq(RobotInfo::getId, request.getRobotId());
+            update(lambdaUpdateWrapper);
+        }
+    }
+
     @Transactional
     @Override
     public List<RobotInfo> list(Wrapper<RobotInfo> queryWrapper) {

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
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 a849528..4f34669 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
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index bdfc2d0..d7736a5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -148,7 +148,7 @@
     public void insertPsdAlarms() {
         times++;
         //先查询正在巡检任务信息
-        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
+        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 2);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
 
         long currentTimes = System.currentTimeMillis();
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 92c8c8e..6e94193 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
@@ -5,10 +5,7 @@
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 
 /**
  * 机器人操作类
@@ -76,4 +73,11 @@
     void reloadPcd(RobotInfo info);
 
     void startTrack(StartTrackRequest request);
+
+    /**
+     * 栅格寻点指令
+     * @param request 请求
+     * @return
+     */
+    ResponseDataDTO<Integer> targetGrid(TargetPointRequest 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 3bb475f..d8b3363 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.lang.Assert;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
@@ -25,7 +26,6 @@
 import io.swagger.annotations.ApiParam;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.apache.ibatis.annotations.Param;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.web.bind.annotation.*;
 import org.springframework.web.multipart.MultipartFile;
@@ -76,6 +76,13 @@
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
+    /**
+     * /{robotId}
+     *
+     * @param file
+     * @param robotId
+     * @return
+     */
     @SneakyThrows
     @ApiOperation(value = "PCD上传接口")
     @PostMapping(value = "/uploadPcd")
@@ -109,7 +116,12 @@
         robotInfoService.updateSpeed(robotInfo);
         return ResponseDataDTO.success();
     }
-
+    @ApiOperation(value = "设置任务启动模式", notes = "返回 1成功 0失败")
+    @PostMapping(value = "/setTaskMode")
+    public ResponseDataDTO setTaskMode(@RequestBody TaskModeRequest request) {
+        robotInfoService.setTaskMode(request);
+        return ResponseDataDTO.success();
+    }
     @ApiOperation(value = "机器人数据更新", notes = "1.pcd重载 2.路线及关键点数据重载")
     @PostMapping(value = "/reload")
     public ResponseDataDTO reload(@RequestBody BaseRobotCmdDTO request) {
@@ -149,6 +161,8 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
     }
 
+
+
     /**
      * 机器人请求id
      *
@@ -161,6 +175,16 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
     }
 
+    @ApiOperation(value = "寻栅格指令")
+    @PostMapping(value = "/targetGrid")
+    public ResponseDataDTO<Integer> targetGrid(@RequestBody TargetGridRequest request) {
+        TargetPointRequest targetPointRequest = new TargetPointRequest();
+        targetPointRequest.setRobotId(request.getRobotId());
+        targetPointRequest.setX(request.getEstimateGridX());
+        targetPointRequest.setY(request.getEstimateGridY());
+        return baseRobotService.targetGrid(targetPointRequest);
+    }
+
     /**
      * 机器人请求id
      *
@@ -174,6 +198,7 @@
         if (request.getStepLen() == null) {
             request.setStepLen(2);
         }
+        log.info(JSON.toJSONString(request));
         baseRobotService.startTrack(request);
         return ResponseDataDTO.success();
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
new file mode 100644
index 0000000..709bcd3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+@Data
+public class GridDTO {
+    /**
+     * 当前栅格x
+     */
+    private Integer currGridX;
+    /**
+     * 当前栅格y
+     */
+    private Integer currGridY;
+    /**
+     * 规划栅格x
+     */
+    private Integer estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private Integer estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
new file mode 100644
index 0000000..7eae335
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+@Data
+public class GridPushDTO {
+    /**
+     * 当前栅格x
+     */
+    private BigDecimal currGridX;
+    /**
+     * 当前栅格y
+     */
+    private BigDecimal currGridY;
+
+    /**
+     * 规划栅格x
+     */
+    private BigDecimal estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private BigDecimal estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index acbeb93..b9ad7a3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -23,4 +23,8 @@
     private BigDecimal gridWidth;
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     private BigDecimal resolution;
+    @ApiModelProperty(value = "新设原点X", dataType = "BigDecimal")
+    private BigDecimal newX;
+    @ApiModelProperty(value = "新设原点Y", dataType = "BigDecimal")
+    private BigDecimal newY;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
new file mode 100644
index 0000000..acc38f3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
@@ -0,0 +1,15 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+@Data
+public class TaskEndMsg implements Serializable {
+    private String robotId;
+    private String message;
+    /**
+     * 1 正常 0 异常
+     */
+    private Integer code;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 90e4dcf..d5ae18a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -154,7 +154,46 @@
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     @TableField("resolution")
     private BigDecimal resolution;
+    /**
+     * 新设定栅格原点X
+     */
+    @TableField("new_origin_x")
+    private BigDecimal newOriginX;
+    /**
+     * 新设定栅格原点Y
+     */
+    @TableField("new_origin_y")
+    private BigDecimal newOriginY;
 
+    /**
+     * 新设定栅格X
+     */
+    @TableField("new_grid_x")
+    private Integer newGridX;
+    /**
+     * 新设定栅格Y
+     */
+    @TableField("new_grid_y")
+    private Integer newGridY;
+
+    /**
+     * 裁剪右顶点X
+     */
+    @TableField("right_grid_x")
+    private Integer rightGridX;
+    @TableField("is_open")
+    private Integer isOpen;
+    /**
+     * 裁剪右顶点Y
+     */
+    @TableField("right_grid_y")
+    private Integer rightGridY;
+    public BigDecimal getNewX(){
+        return newOriginX;
+    }
+    public BigDecimal getNewY(){
+        return newOriginY;
+    }
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
index 2cb752f..3e741d7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
@@ -24,7 +24,10 @@
      *
      * @see com.casic.missiles.modular.robot.service.impl.TaskInfoServiceImpl
      */
-    HEAT_MAP("heat_map" , "机器人热力图");
+    HEAT_MAP("heat_map" , "机器人热力图"),
+    GRID("grid" , "栅格推送"),
+    TASK_END("task_end" , "任务结束");
+
     /**
      * 请求地址
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
index 88c9f79..3c93145 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -32,7 +32,6 @@
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         statusInfoService.saveCostMap(robotId, message);
-
         CostMapResolutionRequest costMapSet = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
         if(costMapSet != null){
             CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
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 8a71e0b..06f8ae6 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
@@ -30,10 +30,9 @@
     public void process(String robotId, String topic, MqttMessage message) {
 
         index.put(index_key, index.get("index") + 1);
-        if (index.get(index_key)>30) {
+        if (index.get(index_key)>1) {
             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 a9d7914..755997e 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
@@ -39,10 +39,8 @@
         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);
@@ -74,10 +72,12 @@
                     robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
                 }
             }
+
             //读取缓存信息
             sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
         } catch (Exception e) {
             e.printStackTrace();
         }
+
     }
-}
+}
\ No newline at end of file
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 7940a24..40a60a1 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,9 +1,13 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.exception.ServiceException;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.IBaseRobotService;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
@@ -11,6 +15,7 @@
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
+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.mqtt.config.MqttClientConnection;
@@ -32,11 +37,13 @@
     private final IRobotRouteOptService robotRouteOptService;
     private final IRobotInfoService robotInfoService;
     private final ITaskInfoService taskInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService, @Lazy IAlgorithmService algorithmService) {
         this.robotRouteOptService = robotRouteOptService;
         this.robotInfoService = robotInfoService;
         this.taskInfoService = taskInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
@@ -117,7 +124,7 @@
             //线路关键点读取
             if (requestDTO.getData() != null) {
                 for (RouteInfo routeInfo : requestDTO.getData()) {
-                    if("11-1 79-1".equals(routeInfo.getRouteName())){
+                    if ("11-1 79-1".equals(routeInfo.getRouteName())) {
                         continue;
                     }
                     TrackPointListRequest request = new TrackPointListRequest();
@@ -141,6 +148,7 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+
     @Transactional
     @Override
     public void startTrack(StartTrackRequest request) {
@@ -149,6 +157,25 @@
 //        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
     }
 
+    @Override
+    public ResponseDataDTO<Integer> targetGrid(TargetPointRequest request) {
+        PoseMessageResponseDTO responseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + request.getRobotId());
+        if(responseDTO==null){
+            throw new ServiceException(500,"请优先开启导航");
+        }
+        RobotInfo robotInfo = robotInfoService.getById(request.getRobotId());
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        //获取栅格中心点
+        GridPointDTO pointDTO =  algorithmService.convertGridCenterPoint(gridPointDTO,robotInfo.getResolution(),robotInfo);
+        request.setX(pointDTO.getX().toString());
+        request.setY(pointDTO.getY().toString());
+        request.setZ(responseDTO.getZ().toString());
+        request.setTheta(responseDTO.getTheta().toString());
+        //执行巡点指令
+        ResponseDataDTO<Integer> responseDataDTO = this.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
+        return responseDataDTO;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
new file mode 100644
index 0000000..7d69964
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
@@ -0,0 +1,19 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 获取循迹路线下发指令
+ */
+@Data
+public class TargetGridRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "栅格x坐标", dataType = "String")
+    private String estimateGridX;
+    @ApiModelProperty(value = "栅格y坐标", dataType = "String")
+    private String estimateGridY;
+    @ApiModelProperty(value = "z坐标", dataType = "String")
+    private String z;
+    @ApiModelProperty(value = "theta", dataType = "String")
+    private String theta;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
new file mode 100644
index 0000000..763656b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 导航下发指令
+ */
+@Data
+public class TaskModeRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "控制模式 1:手动 0:自动", dataType = "String")
+    private Integer isOpen;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index 8c95459..89697b8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -6,6 +6,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TaskModeRequest;
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 
 import java.util.List;
@@ -52,4 +53,6 @@
      * @param dto 栅格信息
      */
     void updateRobotGrid(String robotId, AppCostmapResponseDTO dto);
+
+    void setTaskMode(TaskModeRequest request);
 }
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 a4dbe0b..a6f5116 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
@@ -167,24 +167,35 @@
         y = y.subtract(robotInfo.getOriginY());
         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));
+
+        //todo  原点栅格转换,减去相对原点值
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewGridY())));
         return pointDTO;
     }
 
     /**
+     * do栅格转xy
      * 根据栅格读取栅格中心点位信息
      *
      * @param pointDTO 栅格信息
      * @return
      */
     public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo) {
+
+        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewGridY())));
+
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = resolution;
         //点位转换 转换后栅格－1 从1开始计算
         BigDecimal slamX = (pointDTO.getX().subtract(new BigDecimal(1))).multiply(scale);
         BigDecimal slamY = (pointDTO.getY().subtract(new BigDecimal(1))).multiply(scale);
+
         //中心栅格点位中心添加
         centerPoint.setX(slamX.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
         centerPoint.setY(slamY.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
+
         //加上栅格原点坐标
         centerPoint.setX(centerPoint.getX().add(robotInfo.getOriginX()));
         centerPoint.setY(centerPoint.getY().add(robotInfo.getOriginY()));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
index e2879ce..f825e84 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
@@ -9,6 +9,8 @@
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.data.redis.core.RedisTemplate;
 import org.springframework.stereotype.Service;
 
 @Service
@@ -18,7 +20,8 @@
     public RobotCacheServiceImpl(IRobotInfoService robotInfoService) {
         this.robotInfoService = robotInfoService;
     }
-
+    @Autowired
+    private RedisTemplate<String, Object> redisTemplate;
     @Override
     public synchronized boolean updateTaskId(Long robotId, Long taskId) {
         //读取当前机器人任务信息
@@ -83,12 +86,14 @@
 
     @Override
     public void updateCostMap(String robotId, AppCostmapResponseDTO msg) {
-        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
+        redisTemplate.opsForValue().set(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId,msg);
+//        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
     }
 
     @Override
     public AppCostmapResponseDTO getCostMap(String robotId) {
-        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+       return (AppCostmapResponseDTO) redisTemplate.opsForValue().get(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+//        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
     }
 
     @Override
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index fdded64..cdbbe89 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -12,11 +12,13 @@
 import com.casic.missiles.core.application.service.AbstractDictService;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dao.RobotInfoMapper;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.*;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.DataRecordRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TaskModeRequest;
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.*;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -51,16 +53,18 @@
     private final IDeviceInfoService deviceInfoService;
     private final IRobotPointInfoService pointInfoService;
     private final IBaseRobotService baseRobotService;
+    private final IAlgorithmService algorithmService;
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
-    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService, @Lazy IBaseRobotService baseRobotService) {
+    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService, @Lazy IBaseRobotService baseRobotService, @Lazy IAlgorithmService algorithmService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.dictService = dictService;
         this.routeInfoService = routeInfoService;
         this.deviceInfoService = deviceInfoService;
         this.pointInfoService = pointInfoService;
         this.baseRobotService = baseRobotService;
+        this.algorithmService = algorithmService;
     }
 
     @Transactional
@@ -96,15 +100,30 @@
         }
         if (robotInfo.getAlarmThreshold() != null) {
             update.set(RobotInfo::getAlarmThreshold, robotInfo.getAlarmThreshold());
+            update.set(RobotInfo::getMaxThreshold, robotInfo.getAlarmThreshold());
         }
         if (robotInfo.getGridHeight() != null && robotInfo.getGridWidth() != null) {
+            RobotInfo oldRobotInfo = getById(robotInfo.getId());
             update.set(RobotInfo::getGridHeight, robotInfo.getGridHeight());
             update.set(RobotInfo::getGridWidth, robotInfo.getGridWidth());
             update.set(RobotInfo::getResolution, robotInfo.getResolution());
+            update.set(RobotInfo::getNewOriginX, robotInfo.getNewX());
+            update.set(RobotInfo::getNewOriginY, robotInfo.getNewY());
+            //计算左下原点
+            oldRobotInfo.setNewGridX(0);
+            oldRobotInfo.setNewGridY(0);
+            GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(robotInfo.getNewX(), robotInfo.getNewY(), robotInfo.getResolution(), oldRobotInfo);
+            update.set(RobotInfo::getNewGridX, gridPointDTO.getX().intValue());
+            update.set(RobotInfo::getNewGridY, gridPointDTO.getY().intValue());
+            //计算右顶点
+            Integer rightX = robotInfo.getGridWidth().divide(robotInfo.getResolution(), 0, BigDecimal.ROUND_HALF_UP).intValue();
+            Integer rightY = robotInfo.getGridHeight().divide(robotInfo.getResolution(), 0, BigDecimal.ROUND_HALF_UP).intValue();
+            update.set(RobotInfo::getRightGridX, rightX);
+            update.set(RobotInfo::getRightGridY, rightY);
+
             //下发障碍物栅格
             sendCostMapResolution(robotInfo.getResolution(), robotInfo.getId());
-            //重新生成栅格地图
-            //sendChangePcd(robotInfo.getId());
+
         }
         update.eq(RobotInfo::getId, robotInfo.getId());
         update(update);
@@ -162,6 +181,16 @@
         update(lambdaUpdateWrapper);
     }
 
+    @Override
+    public void setTaskMode(TaskModeRequest request) {
+        if (request.getRobotId() != null) {
+            LambdaUpdateWrapper<RobotInfo> lambdaUpdateWrapper = new LambdaUpdateWrapper<>();
+            lambdaUpdateWrapper.set(RobotInfo::getIsOpen, request.getIsOpen());
+            lambdaUpdateWrapper.eq(RobotInfo::getId, request.getRobotId());
+            update(lambdaUpdateWrapper);
+        }
+    }
+
     @Transactional
     @Override
     public List<RobotInfo> list(Wrapper<RobotInfo> queryWrapper) {
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 46b5c3b..f52940c 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.collection.CollectionUtil;
 import cn.hutool.core.convert.Convert;
+import cn.hutool.core.io.FileUtil;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
@@ -13,9 +14,9 @@
 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.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO;
@@ -27,7 +28,6 @@
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
-import org.aspectj.util.FileUtil;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.context.annotation.Lazy;
@@ -38,8 +38,8 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.ArrayList;
-import java.util.Arrays;
 import java.util.List;
+import java.util.stream.Collectors;
 
 
 /**
@@ -81,6 +81,11 @@
     }
 
     private void wrapInfo(RobotStatusInfo statusInfo) {
+        // todo 报错
+        StopStateResponseDTO stopStateResponseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + statusInfo.getRobotId());
+        if (stopStateResponseDTO != null) {
+            statusInfo.setSoft(stopStateResponseDTO.getSoft());
+        }
         statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getDiscernType()));
 
         //暂停状态
@@ -262,6 +267,8 @@
      */
     @Value("${casic.algorithm.num:30}")
     private Integer num;
+    @Value("${casic.obstacle:60}")
+    private Integer obstacle;
 
     /**
      * 机器人栅格数据
@@ -276,7 +283,6 @@
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             //发送栅格分辨率设定
-
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
             robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
             //log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
@@ -290,24 +296,102 @@
                         } else {
                             dataNums.add(1);
                         }
+                    } else {
+                        dataNums.add(-1);
                     }
                 }
-                writeCache(dataNums,responseDTO.getMsg().getWidth(),responseDTO.getMsg().getHeight(),robotId);
+                writeCache(dataNums, responseDTO.getMsg().getWidth(), responseDTO.getMsg().getHeight(), robotId);
             }
         }
     }
 
-    private void writeCache(ArrayList<Integer> integers,Integer width,Integer height,String robotId) {
-        List<List<Integer>> arrays = CollectionUtil.split(integers,width);
+    private void writeCache(ArrayList<Integer> integers, Integer width, Integer height, String robotId) {
+        List<List<Integer>> arrays = CollectionUtil.split(integers, width);
         ArrayList<ArrayList<Integer>> arrayList = new ArrayList<>();
         for (List<Integer> array : arrays) {
-            arrayList.add((ArrayList)array);
+            ArrayList list =(ArrayList)array.stream().filter(integer -> integer>=0).collect(Collectors.toList());
+            arrayList.add(list);
         }
         CollectionUtil.reverse(arrayList);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId, arrayList);
-//        FileUtil.writeAsString(new File(path + "map.txt"), CollectionUtil.join(integers, " ").replaceAll("\\[", "").replaceAll("]", ""));
+        //写入栅格宽度
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId, height);
+
+        writeCost(arrayList,width,height,robotId);
+    }
+    /**
+     * slam经纬度转换为栅格
+     *
+     * @param x slam x
+     * @param y slam y
+     */
+    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, BigDecimal resolution, RobotInfo robotInfo) {
+        GridPointDTO pointDTO = new GridPointDTO();
+        BigDecimal scale = resolution;
+        //减去栅格原点坐标
+        x = x.subtract(robotInfo.getOriginX());
+        y = y.subtract(robotInfo.getOriginY());
+        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));
+
+        //todo  原点栅格转换,减去相对原点值
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewGridY())));
+        return pointDTO;
     }
 
+    private void writeCost(ArrayList<ArrayList<Integer>> costList,Integer width, Integer height,String robotId){
+        List<String> strs = new ArrayList<>();
+        List<String> strs2 = new ArrayList<>();
+        RobotInfo robotInfo = cacheService.getRobotInfo(Long.valueOf(robotId));
+        if(robotInfo==null||robotInfo.getGridWidth()==null||robotInfo.getResolution() ==null){
+            log.info("robot gridHeight is not found....");
+            return;
+        }
+
+        //计算左下角位置
+        Integer newX = robotInfo.getNewGridX();
+        Integer newY = height-robotInfo.getNewGridY();
+//        log.info("left point:({},{})",robotInfo.getNewGridX(),robotInfo.getNewGridY());
+        //计算右上角位置
+        Integer rightX = robotInfo.getRightGridX();
+        Integer rightY = height-robotInfo.getRightGridY();
+//        log.info("right point:({},{})",rightX,rightY);
+
+        //裁剪栅格
+        List<List<Integer>> newCostList = new ArrayList<>();
+        for (int i = 0; i < costList.size(); i++) {
+            if(i<=newY&&i>=rightY){
+                List<Integer> newList = new ArrayList<>();
+                List<Integer> sourceList= costList.get(i);
+                for (int j = 0; j < sourceList.size(); j++) {
+                    if(j>=newX&&j<=rightX){
+                        newList.add(sourceList.get(j));
+                    }
+                }
+                newCostList.add(newList);
+            }
+        }
+
+        for (List<Integer> list : newCostList) {
+            strs2.add(CollectionUtil.join(list, " "));
+        }
+
+        FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+        //行转列 为算法输入数据
+        if(CollectionUtil.isNotEmpty(newCostList)){
+            CollectionUtil.reverse(newCostList);
+            for (int i = 0; i < newCostList.get(0).size(); i++) {
+                ArrayList<Integer> ints = new ArrayList<>();
+                for (List<Integer> list : newCostList) {
+                    ints.add(list.get(i));
+                }
+                strs.add(CollectionUtil.join(ints, " "));
+            }
+        }
+
+        FileUtil.writeLines(strs, new File(path + "map3.txt"), "utf-8");
+    }
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
@@ -327,7 +411,6 @@
             json = json.substring(0, json.length() - 1);
         }
         json = json.replaceAll("\\\\", "");
-//        log.info(json);
         RobotResponseDTO<R> responseDTO = JSON.parseObject(json, cls);
         return responseDTO;
     }

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
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 a849528..4f34669 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
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index bdfc2d0..d7736a5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -148,7 +148,7 @@
     public void insertPsdAlarms() {
         times++;
         //先查询正在巡检任务信息
-        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
+        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 2);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
 
         long currentTimes = System.currentTimeMillis();
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 92c8c8e..6e94193 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
@@ -5,10 +5,7 @@
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 
 /**
  * 机器人操作类
@@ -76,4 +73,11 @@
     void reloadPcd(RobotInfo info);
 
     void startTrack(StartTrackRequest request);
+
+    /**
+     * 栅格寻点指令
+     * @param request 请求
+     * @return
+     */
+    ResponseDataDTO<Integer> targetGrid(TargetPointRequest 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 3bb475f..d8b3363 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.lang.Assert;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
@@ -25,7 +26,6 @@
 import io.swagger.annotations.ApiParam;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.apache.ibatis.annotations.Param;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.web.bind.annotation.*;
 import org.springframework.web.multipart.MultipartFile;
@@ -76,6 +76,13 @@
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
+    /**
+     * /{robotId}
+     *
+     * @param file
+     * @param robotId
+     * @return
+     */
     @SneakyThrows
     @ApiOperation(value = "PCD上传接口")
     @PostMapping(value = "/uploadPcd")
@@ -109,7 +116,12 @@
         robotInfoService.updateSpeed(robotInfo);
         return ResponseDataDTO.success();
     }
-
+    @ApiOperation(value = "设置任务启动模式", notes = "返回 1成功 0失败")
+    @PostMapping(value = "/setTaskMode")
+    public ResponseDataDTO setTaskMode(@RequestBody TaskModeRequest request) {
+        robotInfoService.setTaskMode(request);
+        return ResponseDataDTO.success();
+    }
     @ApiOperation(value = "机器人数据更新", notes = "1.pcd重载 2.路线及关键点数据重载")
     @PostMapping(value = "/reload")
     public ResponseDataDTO reload(@RequestBody BaseRobotCmdDTO request) {
@@ -149,6 +161,8 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
     }
 
+
+
     /**
      * 机器人请求id
      *
@@ -161,6 +175,16 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
     }
 
+    @ApiOperation(value = "寻栅格指令")
+    @PostMapping(value = "/targetGrid")
+    public ResponseDataDTO<Integer> targetGrid(@RequestBody TargetGridRequest request) {
+        TargetPointRequest targetPointRequest = new TargetPointRequest();
+        targetPointRequest.setRobotId(request.getRobotId());
+        targetPointRequest.setX(request.getEstimateGridX());
+        targetPointRequest.setY(request.getEstimateGridY());
+        return baseRobotService.targetGrid(targetPointRequest);
+    }
+
     /**
      * 机器人请求id
      *
@@ -174,6 +198,7 @@
         if (request.getStepLen() == null) {
             request.setStepLen(2);
         }
+        log.info(JSON.toJSONString(request));
         baseRobotService.startTrack(request);
         return ResponseDataDTO.success();
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
new file mode 100644
index 0000000..709bcd3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+@Data
+public class GridDTO {
+    /**
+     * 当前栅格x
+     */
+    private Integer currGridX;
+    /**
+     * 当前栅格y
+     */
+    private Integer currGridY;
+    /**
+     * 规划栅格x
+     */
+    private Integer estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private Integer estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
new file mode 100644
index 0000000..7eae335
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+@Data
+public class GridPushDTO {
+    /**
+     * 当前栅格x
+     */
+    private BigDecimal currGridX;
+    /**
+     * 当前栅格y
+     */
+    private BigDecimal currGridY;
+
+    /**
+     * 规划栅格x
+     */
+    private BigDecimal estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private BigDecimal estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index acbeb93..b9ad7a3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -23,4 +23,8 @@
     private BigDecimal gridWidth;
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     private BigDecimal resolution;
+    @ApiModelProperty(value = "新设原点X", dataType = "BigDecimal")
+    private BigDecimal newX;
+    @ApiModelProperty(value = "新设原点Y", dataType = "BigDecimal")
+    private BigDecimal newY;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
new file mode 100644
index 0000000..acc38f3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
@@ -0,0 +1,15 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+@Data
+public class TaskEndMsg implements Serializable {
+    private String robotId;
+    private String message;
+    /**
+     * 1 正常 0 异常
+     */
+    private Integer code;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 90e4dcf..d5ae18a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -154,7 +154,46 @@
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     @TableField("resolution")
     private BigDecimal resolution;
+    /**
+     * 新设定栅格原点X
+     */
+    @TableField("new_origin_x")
+    private BigDecimal newOriginX;
+    /**
+     * 新设定栅格原点Y
+     */
+    @TableField("new_origin_y")
+    private BigDecimal newOriginY;
 
+    /**
+     * 新设定栅格X
+     */
+    @TableField("new_grid_x")
+    private Integer newGridX;
+    /**
+     * 新设定栅格Y
+     */
+    @TableField("new_grid_y")
+    private Integer newGridY;
+
+    /**
+     * 裁剪右顶点X
+     */
+    @TableField("right_grid_x")
+    private Integer rightGridX;
+    @TableField("is_open")
+    private Integer isOpen;
+    /**
+     * 裁剪右顶点Y
+     */
+    @TableField("right_grid_y")
+    private Integer rightGridY;
+    public BigDecimal getNewX(){
+        return newOriginX;
+    }
+    public BigDecimal getNewY(){
+        return newOriginY;
+    }
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
index 2cb752f..3e741d7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
@@ -24,7 +24,10 @@
      *
      * @see com.casic.missiles.modular.robot.service.impl.TaskInfoServiceImpl
      */
-    HEAT_MAP("heat_map" , "机器人热力图");
+    HEAT_MAP("heat_map" , "机器人热力图"),
+    GRID("grid" , "栅格推送"),
+    TASK_END("task_end" , "任务结束");
+
     /**
      * 请求地址
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
index 88c9f79..3c93145 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -32,7 +32,6 @@
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         statusInfoService.saveCostMap(robotId, message);
-
         CostMapResolutionRequest costMapSet = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
         if(costMapSet != null){
             CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
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 8a71e0b..06f8ae6 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
@@ -30,10 +30,9 @@
     public void process(String robotId, String topic, MqttMessage message) {
 
         index.put(index_key, index.get("index") + 1);
-        if (index.get(index_key)>30) {
+        if (index.get(index_key)>1) {
             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 a9d7914..755997e 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
@@ -39,10 +39,8 @@
         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);
@@ -74,10 +72,12 @@
                     robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
                 }
             }
+
             //读取缓存信息
             sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
         } catch (Exception e) {
             e.printStackTrace();
         }
+
     }
-}
+}
\ No newline at end of file
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 7940a24..40a60a1 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,9 +1,13 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.exception.ServiceException;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.IBaseRobotService;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
@@ -11,6 +15,7 @@
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
+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.mqtt.config.MqttClientConnection;
@@ -32,11 +37,13 @@
     private final IRobotRouteOptService robotRouteOptService;
     private final IRobotInfoService robotInfoService;
     private final ITaskInfoService taskInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService, @Lazy IAlgorithmService algorithmService) {
         this.robotRouteOptService = robotRouteOptService;
         this.robotInfoService = robotInfoService;
         this.taskInfoService = taskInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
@@ -117,7 +124,7 @@
             //线路关键点读取
             if (requestDTO.getData() != null) {
                 for (RouteInfo routeInfo : requestDTO.getData()) {
-                    if("11-1 79-1".equals(routeInfo.getRouteName())){
+                    if ("11-1 79-1".equals(routeInfo.getRouteName())) {
                         continue;
                     }
                     TrackPointListRequest request = new TrackPointListRequest();
@@ -141,6 +148,7 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+
     @Transactional
     @Override
     public void startTrack(StartTrackRequest request) {
@@ -149,6 +157,25 @@
 //        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
     }
 
+    @Override
+    public ResponseDataDTO<Integer> targetGrid(TargetPointRequest request) {
+        PoseMessageResponseDTO responseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + request.getRobotId());
+        if(responseDTO==null){
+            throw new ServiceException(500,"请优先开启导航");
+        }
+        RobotInfo robotInfo = robotInfoService.getById(request.getRobotId());
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        //获取栅格中心点
+        GridPointDTO pointDTO =  algorithmService.convertGridCenterPoint(gridPointDTO,robotInfo.getResolution(),robotInfo);
+        request.setX(pointDTO.getX().toString());
+        request.setY(pointDTO.getY().toString());
+        request.setZ(responseDTO.getZ().toString());
+        request.setTheta(responseDTO.getTheta().toString());
+        //执行巡点指令
+        ResponseDataDTO<Integer> responseDataDTO = this.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
+        return responseDataDTO;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
new file mode 100644
index 0000000..7d69964
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
@@ -0,0 +1,19 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 获取循迹路线下发指令
+ */
+@Data
+public class TargetGridRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "栅格x坐标", dataType = "String")
+    private String estimateGridX;
+    @ApiModelProperty(value = "栅格y坐标", dataType = "String")
+    private String estimateGridY;
+    @ApiModelProperty(value = "z坐标", dataType = "String")
+    private String z;
+    @ApiModelProperty(value = "theta", dataType = "String")
+    private String theta;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
new file mode 100644
index 0000000..763656b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 导航下发指令
+ */
+@Data
+public class TaskModeRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "控制模式 1:手动 0:自动", dataType = "String")
+    private Integer isOpen;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index 8c95459..89697b8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -6,6 +6,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TaskModeRequest;
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 
 import java.util.List;
@@ -52,4 +53,6 @@
      * @param dto 栅格信息
      */
     void updateRobotGrid(String robotId, AppCostmapResponseDTO dto);
+
+    void setTaskMode(TaskModeRequest request);
 }
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 a4dbe0b..a6f5116 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
@@ -167,24 +167,35 @@
         y = y.subtract(robotInfo.getOriginY());
         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));
+
+        //todo  原点栅格转换,减去相对原点值
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewGridY())));
         return pointDTO;
     }
 
     /**
+     * do栅格转xy
      * 根据栅格读取栅格中心点位信息
      *
      * @param pointDTO 栅格信息
      * @return
      */
     public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo) {
+
+        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewGridY())));
+
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = resolution;
         //点位转换 转换后栅格－1 从1开始计算
         BigDecimal slamX = (pointDTO.getX().subtract(new BigDecimal(1))).multiply(scale);
         BigDecimal slamY = (pointDTO.getY().subtract(new BigDecimal(1))).multiply(scale);
+
         //中心栅格点位中心添加
         centerPoint.setX(slamX.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
         centerPoint.setY(slamY.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
+
         //加上栅格原点坐标
         centerPoint.setX(centerPoint.getX().add(robotInfo.getOriginX()));
         centerPoint.setY(centerPoint.getY().add(robotInfo.getOriginY()));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
index e2879ce..f825e84 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
@@ -9,6 +9,8 @@
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.data.redis.core.RedisTemplate;
 import org.springframework.stereotype.Service;
 
 @Service
@@ -18,7 +20,8 @@
     public RobotCacheServiceImpl(IRobotInfoService robotInfoService) {
         this.robotInfoService = robotInfoService;
     }
-
+    @Autowired
+    private RedisTemplate<String, Object> redisTemplate;
     @Override
     public synchronized boolean updateTaskId(Long robotId, Long taskId) {
         //读取当前机器人任务信息
@@ -83,12 +86,14 @@
 
     @Override
     public void updateCostMap(String robotId, AppCostmapResponseDTO msg) {
-        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
+        redisTemplate.opsForValue().set(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId,msg);
+//        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
     }
 
     @Override
     public AppCostmapResponseDTO getCostMap(String robotId) {
-        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+       return (AppCostmapResponseDTO) redisTemplate.opsForValue().get(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+//        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
     }
 
     @Override
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index fdded64..cdbbe89 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -12,11 +12,13 @@
 import com.casic.missiles.core.application.service.AbstractDictService;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dao.RobotInfoMapper;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.*;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.DataRecordRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TaskModeRequest;
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.*;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -51,16 +53,18 @@
     private final IDeviceInfoService deviceInfoService;
     private final IRobotPointInfoService pointInfoService;
     private final IBaseRobotService baseRobotService;
+    private final IAlgorithmService algorithmService;
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
-    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService, @Lazy IBaseRobotService baseRobotService) {
+    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService, @Lazy IBaseRobotService baseRobotService, @Lazy IAlgorithmService algorithmService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.dictService = dictService;
         this.routeInfoService = routeInfoService;
         this.deviceInfoService = deviceInfoService;
         this.pointInfoService = pointInfoService;
         this.baseRobotService = baseRobotService;
+        this.algorithmService = algorithmService;
     }
 
     @Transactional
@@ -96,15 +100,30 @@
         }
         if (robotInfo.getAlarmThreshold() != null) {
             update.set(RobotInfo::getAlarmThreshold, robotInfo.getAlarmThreshold());
+            update.set(RobotInfo::getMaxThreshold, robotInfo.getAlarmThreshold());
         }
         if (robotInfo.getGridHeight() != null && robotInfo.getGridWidth() != null) {
+            RobotInfo oldRobotInfo = getById(robotInfo.getId());
             update.set(RobotInfo::getGridHeight, robotInfo.getGridHeight());
             update.set(RobotInfo::getGridWidth, robotInfo.getGridWidth());
             update.set(RobotInfo::getResolution, robotInfo.getResolution());
+            update.set(RobotInfo::getNewOriginX, robotInfo.getNewX());
+            update.set(RobotInfo::getNewOriginY, robotInfo.getNewY());
+            //计算左下原点
+            oldRobotInfo.setNewGridX(0);
+            oldRobotInfo.setNewGridY(0);
+            GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(robotInfo.getNewX(), robotInfo.getNewY(), robotInfo.getResolution(), oldRobotInfo);
+            update.set(RobotInfo::getNewGridX, gridPointDTO.getX().intValue());
+            update.set(RobotInfo::getNewGridY, gridPointDTO.getY().intValue());
+            //计算右顶点
+            Integer rightX = robotInfo.getGridWidth().divide(robotInfo.getResolution(), 0, BigDecimal.ROUND_HALF_UP).intValue();
+            Integer rightY = robotInfo.getGridHeight().divide(robotInfo.getResolution(), 0, BigDecimal.ROUND_HALF_UP).intValue();
+            update.set(RobotInfo::getRightGridX, rightX);
+            update.set(RobotInfo::getRightGridY, rightY);
+
             //下发障碍物栅格
             sendCostMapResolution(robotInfo.getResolution(), robotInfo.getId());
-            //重新生成栅格地图
-            //sendChangePcd(robotInfo.getId());
+
         }
         update.eq(RobotInfo::getId, robotInfo.getId());
         update(update);
@@ -162,6 +181,16 @@
         update(lambdaUpdateWrapper);
     }
 
+    @Override
+    public void setTaskMode(TaskModeRequest request) {
+        if (request.getRobotId() != null) {
+            LambdaUpdateWrapper<RobotInfo> lambdaUpdateWrapper = new LambdaUpdateWrapper<>();
+            lambdaUpdateWrapper.set(RobotInfo::getIsOpen, request.getIsOpen());
+            lambdaUpdateWrapper.eq(RobotInfo::getId, request.getRobotId());
+            update(lambdaUpdateWrapper);
+        }
+    }
+
     @Transactional
     @Override
     public List<RobotInfo> list(Wrapper<RobotInfo> queryWrapper) {
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 46b5c3b..f52940c 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.collection.CollectionUtil;
 import cn.hutool.core.convert.Convert;
+import cn.hutool.core.io.FileUtil;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
@@ -13,9 +14,9 @@
 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.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO;
@@ -27,7 +28,6 @@
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
-import org.aspectj.util.FileUtil;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.context.annotation.Lazy;
@@ -38,8 +38,8 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.ArrayList;
-import java.util.Arrays;
 import java.util.List;
+import java.util.stream.Collectors;
 
 
 /**
@@ -81,6 +81,11 @@
     }
 
     private void wrapInfo(RobotStatusInfo statusInfo) {
+        // todo 报错
+        StopStateResponseDTO stopStateResponseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + statusInfo.getRobotId());
+        if (stopStateResponseDTO != null) {
+            statusInfo.setSoft(stopStateResponseDTO.getSoft());
+        }
         statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getDiscernType()));
 
         //暂停状态
@@ -262,6 +267,8 @@
      */
     @Value("${casic.algorithm.num:30}")
     private Integer num;
+    @Value("${casic.obstacle:60}")
+    private Integer obstacle;
 
     /**
      * 机器人栅格数据
@@ -276,7 +283,6 @@
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             //发送栅格分辨率设定
-
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
             robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
             //log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
@@ -290,24 +296,102 @@
                         } else {
                             dataNums.add(1);
                         }
+                    } else {
+                        dataNums.add(-1);
                     }
                 }
-                writeCache(dataNums,responseDTO.getMsg().getWidth(),responseDTO.getMsg().getHeight(),robotId);
+                writeCache(dataNums, responseDTO.getMsg().getWidth(), responseDTO.getMsg().getHeight(), robotId);
             }
         }
     }
 
-    private void writeCache(ArrayList<Integer> integers,Integer width,Integer height,String robotId) {
-        List<List<Integer>> arrays = CollectionUtil.split(integers,width);
+    private void writeCache(ArrayList<Integer> integers, Integer width, Integer height, String robotId) {
+        List<List<Integer>> arrays = CollectionUtil.split(integers, width);
         ArrayList<ArrayList<Integer>> arrayList = new ArrayList<>();
         for (List<Integer> array : arrays) {
-            arrayList.add((ArrayList)array);
+            ArrayList list =(ArrayList)array.stream().filter(integer -> integer>=0).collect(Collectors.toList());
+            arrayList.add(list);
         }
         CollectionUtil.reverse(arrayList);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId, arrayList);
-//        FileUtil.writeAsString(new File(path + "map.txt"), CollectionUtil.join(integers, " ").replaceAll("\\[", "").replaceAll("]", ""));
+        //写入栅格宽度
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId, height);
+
+        writeCost(arrayList,width,height,robotId);
+    }
+    /**
+     * slam经纬度转换为栅格
+     *
+     * @param x slam x
+     * @param y slam y
+     */
+    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, BigDecimal resolution, RobotInfo robotInfo) {
+        GridPointDTO pointDTO = new GridPointDTO();
+        BigDecimal scale = resolution;
+        //减去栅格原点坐标
+        x = x.subtract(robotInfo.getOriginX());
+        y = y.subtract(robotInfo.getOriginY());
+        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));
+
+        //todo  原点栅格转换,减去相对原点值
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewGridY())));
+        return pointDTO;
     }
 
+    private void writeCost(ArrayList<ArrayList<Integer>> costList,Integer width, Integer height,String robotId){
+        List<String> strs = new ArrayList<>();
+        List<String> strs2 = new ArrayList<>();
+        RobotInfo robotInfo = cacheService.getRobotInfo(Long.valueOf(robotId));
+        if(robotInfo==null||robotInfo.getGridWidth()==null||robotInfo.getResolution() ==null){
+            log.info("robot gridHeight is not found....");
+            return;
+        }
+
+        //计算左下角位置
+        Integer newX = robotInfo.getNewGridX();
+        Integer newY = height-robotInfo.getNewGridY();
+//        log.info("left point:({},{})",robotInfo.getNewGridX(),robotInfo.getNewGridY());
+        //计算右上角位置
+        Integer rightX = robotInfo.getRightGridX();
+        Integer rightY = height-robotInfo.getRightGridY();
+//        log.info("right point:({},{})",rightX,rightY);
+
+        //裁剪栅格
+        List<List<Integer>> newCostList = new ArrayList<>();
+        for (int i = 0; i < costList.size(); i++) {
+            if(i<=newY&&i>=rightY){
+                List<Integer> newList = new ArrayList<>();
+                List<Integer> sourceList= costList.get(i);
+                for (int j = 0; j < sourceList.size(); j++) {
+                    if(j>=newX&&j<=rightX){
+                        newList.add(sourceList.get(j));
+                    }
+                }
+                newCostList.add(newList);
+            }
+        }
+
+        for (List<Integer> list : newCostList) {
+            strs2.add(CollectionUtil.join(list, " "));
+        }
+
+        FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+        //行转列 为算法输入数据
+        if(CollectionUtil.isNotEmpty(newCostList)){
+            CollectionUtil.reverse(newCostList);
+            for (int i = 0; i < newCostList.get(0).size(); i++) {
+                ArrayList<Integer> ints = new ArrayList<>();
+                for (List<Integer> list : newCostList) {
+                    ints.add(list.get(i));
+                }
+                strs.add(CollectionUtil.join(ints, " "));
+            }
+        }
+
+        FileUtil.writeLines(strs, new File(path + "map3.txt"), "utf-8");
+    }
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
@@ -327,7 +411,6 @@
             json = json.substring(0, json.length() - 1);
         }
         json = json.replaceAll("\\\\", "");
-//        log.info(json);
         RobotResponseDTO<R> responseDTO = JSON.parseObject(json, cls);
         return responseDTO;
     }
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 f1262a2..cb7aa09 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
@@ -69,17 +69,6 @@
             } catch (Exception e) {
                 log.error("task error", e);
             }
-//            if (routeId != null) {
-//                RobotTrajectoryInfo info = new RobotTrajectoryInfo();
-//                info.setRobotId(Long.valueOf(robotId));
-//                info.setCreateTime(new Date());
-//                info.setPostionX(dto.getX());
-//                info.setPostionY(dto.getY());
-//                info.setPostionZ(dto.getZ());
-//                info.setTheta(dto.getTheta());
-//                save(info);
-
-//            }
         }
     }
 

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
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 a849528..4f34669 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
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index bdfc2d0..d7736a5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -148,7 +148,7 @@
     public void insertPsdAlarms() {
         times++;
         //先查询正在巡检任务信息
-        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
+        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 2);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
 
         long currentTimes = System.currentTimeMillis();
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 92c8c8e..6e94193 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
@@ -5,10 +5,7 @@
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 
 /**
  * 机器人操作类
@@ -76,4 +73,11 @@
     void reloadPcd(RobotInfo info);
 
     void startTrack(StartTrackRequest request);
+
+    /**
+     * 栅格寻点指令
+     * @param request 请求
+     * @return
+     */
+    ResponseDataDTO<Integer> targetGrid(TargetPointRequest 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 3bb475f..d8b3363 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.lang.Assert;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
@@ -25,7 +26,6 @@
 import io.swagger.annotations.ApiParam;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.apache.ibatis.annotations.Param;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.web.bind.annotation.*;
 import org.springframework.web.multipart.MultipartFile;
@@ -76,6 +76,13 @@
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
+    /**
+     * /{robotId}
+     *
+     * @param file
+     * @param robotId
+     * @return
+     */
     @SneakyThrows
     @ApiOperation(value = "PCD上传接口")
     @PostMapping(value = "/uploadPcd")
@@ -109,7 +116,12 @@
         robotInfoService.updateSpeed(robotInfo);
         return ResponseDataDTO.success();
     }
-
+    @ApiOperation(value = "设置任务启动模式", notes = "返回 1成功 0失败")
+    @PostMapping(value = "/setTaskMode")
+    public ResponseDataDTO setTaskMode(@RequestBody TaskModeRequest request) {
+        robotInfoService.setTaskMode(request);
+        return ResponseDataDTO.success();
+    }
     @ApiOperation(value = "机器人数据更新", notes = "1.pcd重载 2.路线及关键点数据重载")
     @PostMapping(value = "/reload")
     public ResponseDataDTO reload(@RequestBody BaseRobotCmdDTO request) {
@@ -149,6 +161,8 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
     }
 
+
+
     /**
      * 机器人请求id
      *
@@ -161,6 +175,16 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
     }
 
+    @ApiOperation(value = "寻栅格指令")
+    @PostMapping(value = "/targetGrid")
+    public ResponseDataDTO<Integer> targetGrid(@RequestBody TargetGridRequest request) {
+        TargetPointRequest targetPointRequest = new TargetPointRequest();
+        targetPointRequest.setRobotId(request.getRobotId());
+        targetPointRequest.setX(request.getEstimateGridX());
+        targetPointRequest.setY(request.getEstimateGridY());
+        return baseRobotService.targetGrid(targetPointRequest);
+    }
+
     /**
      * 机器人请求id
      *
@@ -174,6 +198,7 @@
         if (request.getStepLen() == null) {
             request.setStepLen(2);
         }
+        log.info(JSON.toJSONString(request));
         baseRobotService.startTrack(request);
         return ResponseDataDTO.success();
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
new file mode 100644
index 0000000..709bcd3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+@Data
+public class GridDTO {
+    /**
+     * 当前栅格x
+     */
+    private Integer currGridX;
+    /**
+     * 当前栅格y
+     */
+    private Integer currGridY;
+    /**
+     * 规划栅格x
+     */
+    private Integer estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private Integer estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
new file mode 100644
index 0000000..7eae335
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+@Data
+public class GridPushDTO {
+    /**
+     * 当前栅格x
+     */
+    private BigDecimal currGridX;
+    /**
+     * 当前栅格y
+     */
+    private BigDecimal currGridY;
+
+    /**
+     * 规划栅格x
+     */
+    private BigDecimal estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private BigDecimal estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index acbeb93..b9ad7a3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -23,4 +23,8 @@
     private BigDecimal gridWidth;
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     private BigDecimal resolution;
+    @ApiModelProperty(value = "新设原点X", dataType = "BigDecimal")
+    private BigDecimal newX;
+    @ApiModelProperty(value = "新设原点Y", dataType = "BigDecimal")
+    private BigDecimal newY;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
new file mode 100644
index 0000000..acc38f3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
@@ -0,0 +1,15 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+@Data
+public class TaskEndMsg implements Serializable {
+    private String robotId;
+    private String message;
+    /**
+     * 1 正常 0 异常
+     */
+    private Integer code;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 90e4dcf..d5ae18a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -154,7 +154,46 @@
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     @TableField("resolution")
     private BigDecimal resolution;
+    /**
+     * 新设定栅格原点X
+     */
+    @TableField("new_origin_x")
+    private BigDecimal newOriginX;
+    /**
+     * 新设定栅格原点Y
+     */
+    @TableField("new_origin_y")
+    private BigDecimal newOriginY;
 
+    /**
+     * 新设定栅格X
+     */
+    @TableField("new_grid_x")
+    private Integer newGridX;
+    /**
+     * 新设定栅格Y
+     */
+    @TableField("new_grid_y")
+    private Integer newGridY;
+
+    /**
+     * 裁剪右顶点X
+     */
+    @TableField("right_grid_x")
+    private Integer rightGridX;
+    @TableField("is_open")
+    private Integer isOpen;
+    /**
+     * 裁剪右顶点Y
+     */
+    @TableField("right_grid_y")
+    private Integer rightGridY;
+    public BigDecimal getNewX(){
+        return newOriginX;
+    }
+    public BigDecimal getNewY(){
+        return newOriginY;
+    }
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
index 2cb752f..3e741d7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
@@ -24,7 +24,10 @@
      *
      * @see com.casic.missiles.modular.robot.service.impl.TaskInfoServiceImpl
      */
-    HEAT_MAP("heat_map" , "机器人热力图");
+    HEAT_MAP("heat_map" , "机器人热力图"),
+    GRID("grid" , "栅格推送"),
+    TASK_END("task_end" , "任务结束");
+
     /**
      * 请求地址
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
index 88c9f79..3c93145 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -32,7 +32,6 @@
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         statusInfoService.saveCostMap(robotId, message);
-
         CostMapResolutionRequest costMapSet = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
         if(costMapSet != null){
             CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
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 8a71e0b..06f8ae6 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
@@ -30,10 +30,9 @@
     public void process(String robotId, String topic, MqttMessage message) {
 
         index.put(index_key, index.get("index") + 1);
-        if (index.get(index_key)>30) {
+        if (index.get(index_key)>1) {
             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 a9d7914..755997e 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
@@ -39,10 +39,8 @@
         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);
@@ -74,10 +72,12 @@
                     robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
                 }
             }
+
             //读取缓存信息
             sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
         } catch (Exception e) {
             e.printStackTrace();
         }
+
     }
-}
+}
\ No newline at end of file
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 7940a24..40a60a1 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,9 +1,13 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.exception.ServiceException;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.IBaseRobotService;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
@@ -11,6 +15,7 @@
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
+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.mqtt.config.MqttClientConnection;
@@ -32,11 +37,13 @@
     private final IRobotRouteOptService robotRouteOptService;
     private final IRobotInfoService robotInfoService;
     private final ITaskInfoService taskInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService, @Lazy IAlgorithmService algorithmService) {
         this.robotRouteOptService = robotRouteOptService;
         this.robotInfoService = robotInfoService;
         this.taskInfoService = taskInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
@@ -117,7 +124,7 @@
             //线路关键点读取
             if (requestDTO.getData() != null) {
                 for (RouteInfo routeInfo : requestDTO.getData()) {
-                    if("11-1 79-1".equals(routeInfo.getRouteName())){
+                    if ("11-1 79-1".equals(routeInfo.getRouteName())) {
                         continue;
                     }
                     TrackPointListRequest request = new TrackPointListRequest();
@@ -141,6 +148,7 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+
     @Transactional
     @Override
     public void startTrack(StartTrackRequest request) {
@@ -149,6 +157,25 @@
 //        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
     }
 
+    @Override
+    public ResponseDataDTO<Integer> targetGrid(TargetPointRequest request) {
+        PoseMessageResponseDTO responseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + request.getRobotId());
+        if(responseDTO==null){
+            throw new ServiceException(500,"请优先开启导航");
+        }
+        RobotInfo robotInfo = robotInfoService.getById(request.getRobotId());
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        //获取栅格中心点
+        GridPointDTO pointDTO =  algorithmService.convertGridCenterPoint(gridPointDTO,robotInfo.getResolution(),robotInfo);
+        request.setX(pointDTO.getX().toString());
+        request.setY(pointDTO.getY().toString());
+        request.setZ(responseDTO.getZ().toString());
+        request.setTheta(responseDTO.getTheta().toString());
+        //执行巡点指令
+        ResponseDataDTO<Integer> responseDataDTO = this.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
+        return responseDataDTO;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
new file mode 100644
index 0000000..7d69964
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
@@ -0,0 +1,19 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 获取循迹路线下发指令
+ */
+@Data
+public class TargetGridRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "栅格x坐标", dataType = "String")
+    private String estimateGridX;
+    @ApiModelProperty(value = "栅格y坐标", dataType = "String")
+    private String estimateGridY;
+    @ApiModelProperty(value = "z坐标", dataType = "String")
+    private String z;
+    @ApiModelProperty(value = "theta", dataType = "String")
+    private String theta;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
new file mode 100644
index 0000000..763656b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 导航下发指令
+ */
+@Data
+public class TaskModeRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "控制模式 1:手动 0:自动", dataType = "String")
+    private Integer isOpen;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index 8c95459..89697b8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -6,6 +6,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TaskModeRequest;
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 
 import java.util.List;
@@ -52,4 +53,6 @@
      * @param dto 栅格信息
      */
     void updateRobotGrid(String robotId, AppCostmapResponseDTO dto);
+
+    void setTaskMode(TaskModeRequest request);
 }
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 a4dbe0b..a6f5116 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
@@ -167,24 +167,35 @@
         y = y.subtract(robotInfo.getOriginY());
         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));
+
+        //todo  原点栅格转换,减去相对原点值
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewGridY())));
         return pointDTO;
     }
 
     /**
+     * do栅格转xy
      * 根据栅格读取栅格中心点位信息
      *
      * @param pointDTO 栅格信息
      * @return
      */
     public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo) {
+
+        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewGridY())));
+
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = resolution;
         //点位转换 转换后栅格－1 从1开始计算
         BigDecimal slamX = (pointDTO.getX().subtract(new BigDecimal(1))).multiply(scale);
         BigDecimal slamY = (pointDTO.getY().subtract(new BigDecimal(1))).multiply(scale);
+
         //中心栅格点位中心添加
         centerPoint.setX(slamX.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
         centerPoint.setY(slamY.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
+
         //加上栅格原点坐标
         centerPoint.setX(centerPoint.getX().add(robotInfo.getOriginX()));
         centerPoint.setY(centerPoint.getY().add(robotInfo.getOriginY()));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
index e2879ce..f825e84 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
@@ -9,6 +9,8 @@
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.data.redis.core.RedisTemplate;
 import org.springframework.stereotype.Service;
 
 @Service
@@ -18,7 +20,8 @@
     public RobotCacheServiceImpl(IRobotInfoService robotInfoService) {
         this.robotInfoService = robotInfoService;
     }
-
+    @Autowired
+    private RedisTemplate<String, Object> redisTemplate;
     @Override
     public synchronized boolean updateTaskId(Long robotId, Long taskId) {
         //读取当前机器人任务信息
@@ -83,12 +86,14 @@
 
     @Override
     public void updateCostMap(String robotId, AppCostmapResponseDTO msg) {
-        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
+        redisTemplate.opsForValue().set(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId,msg);
+//        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
     }
 
     @Override
     public AppCostmapResponseDTO getCostMap(String robotId) {
-        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+       return (AppCostmapResponseDTO) redisTemplate.opsForValue().get(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+//        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
     }
 
     @Override
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index fdded64..cdbbe89 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -12,11 +12,13 @@
 import com.casic.missiles.core.application.service.AbstractDictService;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dao.RobotInfoMapper;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.*;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.DataRecordRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TaskModeRequest;
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.*;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -51,16 +53,18 @@
     private final IDeviceInfoService deviceInfoService;
     private final IRobotPointInfoService pointInfoService;
     private final IBaseRobotService baseRobotService;
+    private final IAlgorithmService algorithmService;
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
-    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService, @Lazy IBaseRobotService baseRobotService) {
+    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService, @Lazy IBaseRobotService baseRobotService, @Lazy IAlgorithmService algorithmService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.dictService = dictService;
         this.routeInfoService = routeInfoService;
         this.deviceInfoService = deviceInfoService;
         this.pointInfoService = pointInfoService;
         this.baseRobotService = baseRobotService;
+        this.algorithmService = algorithmService;
     }
 
     @Transactional
@@ -96,15 +100,30 @@
         }
         if (robotInfo.getAlarmThreshold() != null) {
             update.set(RobotInfo::getAlarmThreshold, robotInfo.getAlarmThreshold());
+            update.set(RobotInfo::getMaxThreshold, robotInfo.getAlarmThreshold());
         }
         if (robotInfo.getGridHeight() != null && robotInfo.getGridWidth() != null) {
+            RobotInfo oldRobotInfo = getById(robotInfo.getId());
             update.set(RobotInfo::getGridHeight, robotInfo.getGridHeight());
             update.set(RobotInfo::getGridWidth, robotInfo.getGridWidth());
             update.set(RobotInfo::getResolution, robotInfo.getResolution());
+            update.set(RobotInfo::getNewOriginX, robotInfo.getNewX());
+            update.set(RobotInfo::getNewOriginY, robotInfo.getNewY());
+            //计算左下原点
+            oldRobotInfo.setNewGridX(0);
+            oldRobotInfo.setNewGridY(0);
+            GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(robotInfo.getNewX(), robotInfo.getNewY(), robotInfo.getResolution(), oldRobotInfo);
+            update.set(RobotInfo::getNewGridX, gridPointDTO.getX().intValue());
+            update.set(RobotInfo::getNewGridY, gridPointDTO.getY().intValue());
+            //计算右顶点
+            Integer rightX = robotInfo.getGridWidth().divide(robotInfo.getResolution(), 0, BigDecimal.ROUND_HALF_UP).intValue();
+            Integer rightY = robotInfo.getGridHeight().divide(robotInfo.getResolution(), 0, BigDecimal.ROUND_HALF_UP).intValue();
+            update.set(RobotInfo::getRightGridX, rightX);
+            update.set(RobotInfo::getRightGridY, rightY);
+
             //下发障碍物栅格
             sendCostMapResolution(robotInfo.getResolution(), robotInfo.getId());
-            //重新生成栅格地图
-            //sendChangePcd(robotInfo.getId());
+
         }
         update.eq(RobotInfo::getId, robotInfo.getId());
         update(update);
@@ -162,6 +181,16 @@
         update(lambdaUpdateWrapper);
     }
 
+    @Override
+    public void setTaskMode(TaskModeRequest request) {
+        if (request.getRobotId() != null) {
+            LambdaUpdateWrapper<RobotInfo> lambdaUpdateWrapper = new LambdaUpdateWrapper<>();
+            lambdaUpdateWrapper.set(RobotInfo::getIsOpen, request.getIsOpen());
+            lambdaUpdateWrapper.eq(RobotInfo::getId, request.getRobotId());
+            update(lambdaUpdateWrapper);
+        }
+    }
+
     @Transactional
     @Override
     public List<RobotInfo> list(Wrapper<RobotInfo> queryWrapper) {
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 46b5c3b..f52940c 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.collection.CollectionUtil;
 import cn.hutool.core.convert.Convert;
+import cn.hutool.core.io.FileUtil;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
@@ -13,9 +14,9 @@
 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.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO;
@@ -27,7 +28,6 @@
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
-import org.aspectj.util.FileUtil;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.context.annotation.Lazy;
@@ -38,8 +38,8 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.ArrayList;
-import java.util.Arrays;
 import java.util.List;
+import java.util.stream.Collectors;
 
 
 /**
@@ -81,6 +81,11 @@
     }
 
     private void wrapInfo(RobotStatusInfo statusInfo) {
+        // todo 报错
+        StopStateResponseDTO stopStateResponseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + statusInfo.getRobotId());
+        if (stopStateResponseDTO != null) {
+            statusInfo.setSoft(stopStateResponseDTO.getSoft());
+        }
         statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getDiscernType()));
 
         //暂停状态
@@ -262,6 +267,8 @@
      */
     @Value("${casic.algorithm.num:30}")
     private Integer num;
+    @Value("${casic.obstacle:60}")
+    private Integer obstacle;
 
     /**
      * 机器人栅格数据
@@ -276,7 +283,6 @@
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             //发送栅格分辨率设定
-
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
             robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
             //log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
@@ -290,24 +296,102 @@
                         } else {
                             dataNums.add(1);
                         }
+                    } else {
+                        dataNums.add(-1);
                     }
                 }
-                writeCache(dataNums,responseDTO.getMsg().getWidth(),responseDTO.getMsg().getHeight(),robotId);
+                writeCache(dataNums, responseDTO.getMsg().getWidth(), responseDTO.getMsg().getHeight(), robotId);
             }
         }
     }
 
-    private void writeCache(ArrayList<Integer> integers,Integer width,Integer height,String robotId) {
-        List<List<Integer>> arrays = CollectionUtil.split(integers,width);
+    private void writeCache(ArrayList<Integer> integers, Integer width, Integer height, String robotId) {
+        List<List<Integer>> arrays = CollectionUtil.split(integers, width);
         ArrayList<ArrayList<Integer>> arrayList = new ArrayList<>();
         for (List<Integer> array : arrays) {
-            arrayList.add((ArrayList)array);
+            ArrayList list =(ArrayList)array.stream().filter(integer -> integer>=0).collect(Collectors.toList());
+            arrayList.add(list);
         }
         CollectionUtil.reverse(arrayList);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId, arrayList);
-//        FileUtil.writeAsString(new File(path + "map.txt"), CollectionUtil.join(integers, " ").replaceAll("\\[", "").replaceAll("]", ""));
+        //写入栅格宽度
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId, height);
+
+        writeCost(arrayList,width,height,robotId);
+    }
+    /**
+     * slam经纬度转换为栅格
+     *
+     * @param x slam x
+     * @param y slam y
+     */
+    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, BigDecimal resolution, RobotInfo robotInfo) {
+        GridPointDTO pointDTO = new GridPointDTO();
+        BigDecimal scale = resolution;
+        //减去栅格原点坐标
+        x = x.subtract(robotInfo.getOriginX());
+        y = y.subtract(robotInfo.getOriginY());
+        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));
+
+        //todo  原点栅格转换,减去相对原点值
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewGridY())));
+        return pointDTO;
     }
 
+    private void writeCost(ArrayList<ArrayList<Integer>> costList,Integer width, Integer height,String robotId){
+        List<String> strs = new ArrayList<>();
+        List<String> strs2 = new ArrayList<>();
+        RobotInfo robotInfo = cacheService.getRobotInfo(Long.valueOf(robotId));
+        if(robotInfo==null||robotInfo.getGridWidth()==null||robotInfo.getResolution() ==null){
+            log.info("robot gridHeight is not found....");
+            return;
+        }
+
+        //计算左下角位置
+        Integer newX = robotInfo.getNewGridX();
+        Integer newY = height-robotInfo.getNewGridY();
+//        log.info("left point:({},{})",robotInfo.getNewGridX(),robotInfo.getNewGridY());
+        //计算右上角位置
+        Integer rightX = robotInfo.getRightGridX();
+        Integer rightY = height-robotInfo.getRightGridY();
+//        log.info("right point:({},{})",rightX,rightY);
+
+        //裁剪栅格
+        List<List<Integer>> newCostList = new ArrayList<>();
+        for (int i = 0; i < costList.size(); i++) {
+            if(i<=newY&&i>=rightY){
+                List<Integer> newList = new ArrayList<>();
+                List<Integer> sourceList= costList.get(i);
+                for (int j = 0; j < sourceList.size(); j++) {
+                    if(j>=newX&&j<=rightX){
+                        newList.add(sourceList.get(j));
+                    }
+                }
+                newCostList.add(newList);
+            }
+        }
+
+        for (List<Integer> list : newCostList) {
+            strs2.add(CollectionUtil.join(list, " "));
+        }
+
+        FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+        //行转列 为算法输入数据
+        if(CollectionUtil.isNotEmpty(newCostList)){
+            CollectionUtil.reverse(newCostList);
+            for (int i = 0; i < newCostList.get(0).size(); i++) {
+                ArrayList<Integer> ints = new ArrayList<>();
+                for (List<Integer> list : newCostList) {
+                    ints.add(list.get(i));
+                }
+                strs.add(CollectionUtil.join(ints, " "));
+            }
+        }
+
+        FileUtil.writeLines(strs, new File(path + "map3.txt"), "utf-8");
+    }
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
@@ -327,7 +411,6 @@
             json = json.substring(0, json.length() - 1);
         }
         json = json.replaceAll("\\\\", "");
-//        log.info(json);
         RobotResponseDTO<R> responseDTO = JSON.parseObject(json, cls);
         return responseDTO;
     }
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 f1262a2..cb7aa09 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
@@ -69,17 +69,6 @@
             } catch (Exception e) {
                 log.error("task error", e);
             }
-//            if (routeId != null) {
-//                RobotTrajectoryInfo info = new RobotTrajectoryInfo();
-//                info.setRobotId(Long.valueOf(robotId));
-//                info.setCreateTime(new Date());
-//                info.setPostionX(dto.getX());
-//                info.setPostionY(dto.getY());
-//                info.setPostionZ(dto.getZ());
-//                info.setTheta(dto.getTheta());
-//                save(info);
-
-//            }
         }
     }
 
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 fd49e2e..6a0e719 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
@@ -47,6 +47,7 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.*;
+import java.util.concurrent.atomic.AtomicInteger;
 
 
 /**
@@ -81,15 +82,16 @@
     /**
      * 5000 ms
      */
-    @Value("${casic.task.duration:3000}")
+    @Value("${casic.task.duration:2000}")
     private Integer stayDuration;
     @Value("${casic.algorithm.path:-1}")
     private String path;
     /**
      * 障碍物精度
      */
-    @Value("${casic.obstacle:10}")
+    @Value("${casic.obstacle:60}")
     private Integer obstacle;
+    private volatile AtomicInteger atomicInteger = new AtomicInteger();
 
     public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService, ITaskInfoImgService imgService, ITaskGridInfoService taskGridInfoService) {
         this.routeInfoService = routeInfoService;
@@ -128,7 +130,30 @@
         } catch (Exception e) {
             log.error(e.getMessage());
         }
-
+    }
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, GridPushDTO gridPushDTO) {
+        try {
+            WsMsgBaseDTO<GridPushDTO> wsMsgBaseDTO = new WsMsgBaseDTO<GridPushDTO>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(gridPushDTO);
+            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());
+        }
+    }
+    protected void sendTaskMsg(InstructStatusMsgEnums enums, String robotId, TaskEndMsg heatMap) {
+        try {
+            WsMsgBaseDTO<TaskEndMsg> wsMsgBaseDTO = new WsMsgBaseDTO<TaskEndMsg>();
+            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());
+        }
     }
 
     @Override
@@ -187,11 +212,11 @@
 
     private void openTask(StartTrackRequest request, String robotId) {
         QueryWrapper<RouteInfo> query = new QueryWrapper<>();
-        query.eq("target_id", request.getTrack_name());
-        List<RouteInfo> routeInfos = routeInfoService.list(query);
-        if (CollectionUtil.isEmpty(routeInfos)) {
-            throw new ServiceException(500, "路线不存在,请及时更新");
-        }
+//        query.eq("target_id", request.getTrack_name());
+//        List<RouteInfo> routeInfos = routeInfoService.list(query);
+//        if (CollectionUtil.isEmpty(routeInfos)) {
+//            throw new ServiceException(500, "路线不存在,请及时更新");
+//        }
 //        RouteInfo routeInfo = routeInfos.get(0);
         Integer isTask = 0;
         //开启寻源任务
@@ -201,12 +226,12 @@
         RobotInfo robotInfo = cacheService.getRobotInfo(Convert.toLong(robotId));
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_IS_TASK + robotId, isTask);
         //添加任务记录
-        TaskInfo taskInfo = addTaskByStartTrack( robotInfo, request);
+        TaskInfo taskInfo = addTaskByStartTrack(robotInfo, request);
         //No.3 更新器人执行任务信息
 //        Long currRouteId = routeInfo.getId();
         Long currTaskId = taskInfo.getId();
 
-        statusInfoService.updateCurrTask(robotId,  currTaskId);
+        statusInfoService.updateCurrTask(robotId, currTaskId);
         //算法初始化标志创建
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId, currTaskId);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_INIT + robotId, 0);
@@ -230,7 +255,7 @@
         robotCacheClean(robotId);
         //清楚规划任务锁
         CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_PLANING_FLAG + robotId);
-        CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID+ robotId);
+        CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId);
         //清空机器当前任务
         statusInfoService.updateCurrTask(robotId, null);
     }
@@ -304,7 +329,7 @@
         //No.1 任务初始化
         pathInit(longId, robotInfo, pointDTO, taskId, robotId, taskInfo.getStepLen());
         //No.2 路线规划
-        pathPlaning(longId, robotInfo, pointDTO, taskId, robotId, taskInfo,dto);
+        pathPlaning(longId, robotInfo, pointDTO, taskId, robotId, taskInfo, dto);
     }
 
     /**
@@ -329,7 +354,7 @@
      * @param taskId    任务ID
      * @param robotId   机器人ID
      */
-    private void pathPlaning(Long longId, RobotInfo robotInfo, GridPointDTO pointDTO, Long taskId, String robotId, TaskInfo taskInfo,PoseMessageResponseDTO curPoint) {
+    private void pathPlaning(Long longId, RobotInfo robotInfo, GridPointDTO pointDTO, Long taskId, String robotId, TaskInfo taskInfo, PoseMessageResponseDTO curPoint) {
         if (taskId != null) {
             //规划节点
             PointNextDTO pointNextDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId);
@@ -337,12 +362,24 @@
             Boolean flag = lockPlanIngFlag(robotId);
             //是否到达预期栅格
             if (!flag) {
-                log.info("未获取到规划任务,直接结束：{}",pointDTO);
                 return;
             }
+            log.info("curr point:{}", curPoint);
+            log.debug("curr pointGrid:{}", pointDTO);
+            log.debug("oldEstimateGrid:{}", oldEstimateGrid);
+
+            GridPushDTO gridPushDTO = new GridPushDTO();
+            gridPushDTO.setCurrGridX(pointDTO.getX());
+            gridPushDTO.setCurrGridY(pointDTO.getY());
+            if(oldEstimateGrid!=null){
+                gridPushDTO.setEstimateGridX(oldEstimateGrid.getX());
+                gridPushDTO.setEstimateGridY(oldEstimateGrid.getY());
+            }
+            sendWebSocket(InstructStatusMsgEnums.GRID, robotId, gridPushDTO);
+
             try {
-                log.debug("oldEstimateGrid:{}", oldEstimateGrid);
-                if (pointNextDTO == null || isEquals(pointDTO, oldEstimateGrid)) {
+                if (pointNextDTO == null || oldEstimateGrid == null || isEquals(pointDTO, oldEstimateGrid, robotInfo)) {
+                    atomicInteger = new AtomicInteger(0);
                     log.info("当前栅格变更......", pointDTO);
                     CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_POINT + robotId, pointDTO);
                     //算法调用获取热力图
@@ -358,19 +395,24 @@
                     //存储算法输出栅格信息
                     AlgorithmResponse response = algorithmService.pathPlanning(pathPlanDTO);
                     CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId, response.getPointNextDTO());
-                    sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
 
-                    //存储循迹任务信息
-                    TaskGridInfo taskGridInfo = new TaskGridInfo();
-                    taskGridInfo.setCreateTime(new Date());
-                    taskGridInfo.setUpdateTime(new Date());
-                    taskGridInfo.setCurGridX(pointDTO.getX().intValue());
-                    taskGridInfo.setCurGridY(pointDTO.getY().intValue());
-                    taskGridInfo.setNeutronCount(new BigDecimal(pathPlanDTO.getZNow()));
-                    taskGridInfo.setEstimateGridX(response.getPointNextDTO().getX());
-                    taskGridInfo.setEstimateGridY(response.getPointNextDTO().getY());
-                    taskGridInfo.setTaskId(taskId);
-                    taskGridInfoService.save(taskGridInfo);
+                    new Thread() {
+                        @Override
+                        public void run() {
+                            //存储循迹任务信息
+                            TaskGridInfo taskGridInfo = new TaskGridInfo();
+                            taskGridInfo.setCreateTime(new Date());
+                            taskGridInfo.setUpdateTime(new Date());
+                            taskGridInfo.setCurGridX(pointDTO.getX().intValue());
+                            taskGridInfo.setCurGridY(pointDTO.getY().intValue());
+                            taskGridInfo.setNeutronCount(new BigDecimal(pathPlanDTO.getZNow()));
+                            taskGridInfo.setEstimateGridX(response.getPointNextDTO().getX());
+                            taskGridInfo.setEstimateGridY(response.getPointNextDTO().getY());
+                            taskGridInfo.setTaskId(taskId);
+                            taskGridInfoService.save(taskGridInfo);
+                            sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
+                        }
+                    }.start();
 
                     try {
                         //停留时间阈值
@@ -381,11 +423,13 @@
 
                     //是否触发停止状态
                     if (!response.isEnd()) {
-                        log.debug("task planning-- xun dian robotId:{},taskId:{}", robotId, taskId);
                         //机器人寻点指令下发
-                        sendTargetPoint(robotInfo, response,curPoint);
+                        if (robotInfo.getIsOpen() == null || robotInfo.getIsOpen() == 0) {
+                            sendTargetPoint(robotInfo, response, curPoint);
+                        } else {
+                            log.debug("task mode isOpen:{}", robotInfo.getIsOpen());
+                        }
                     } else {
-                        log.debug("task stop-- robotId:{},taskId:{}", robotId, taskId);
                         //机器人停止指令下发
                         SoftwareStopRequest request = new SoftwareStopRequest();
                         request.setRobotId(robotInfo.getId());
@@ -394,6 +438,15 @@
 //                        baseRobotService.execCmdHandler(request, InstructCodeEnums.SOFTWARE_STOP);
                         //循迹任务结束
                         closeTask(null, robotId);
+                        TaskEndMsg endMsg = new TaskEndMsg();
+                        endMsg.setCode(1);
+                        endMsg.setRobotId(robotId);
+                        endMsg.setMessage("寻源结束");
+                        sendTaskMsg(InstructStatusMsgEnums.TASK_END, robotId, endMsg);
+                    }
+                } else {
+                    if (!isChange(pointDTO, oldEstimateGrid)) {
+                        atomicInteger.incrementAndGet();
                     }
                 }
             } catch (Exception e) {
@@ -429,37 +482,56 @@
         Integer initValue = cacheService.readTaskInit(longId);
         //No.1 任务初始化
         if (initValue != 1) {
-
             //执行初始化操作
             if (cacheService.updateTaskInit(longId, 1)) {
-
                 List<List<Integer>> costList = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId);
                 List<String> strs = new ArrayList<>();
                 List<String> strs2 = new ArrayList<>();
-                for (List<Integer> list : costList) {
+                Integer height = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId);
+                if (height == null) {
+                    throw new ServiceException(500, "未获取到栅格宽度信息");
+                }
+                Integer newX = robotInfo.getNewGridX();
+                Integer newY = height - robotInfo.getNewGridY();
+
+                //裁剪栅格
+                List<List<Integer>> newCostList = new ArrayList<>();
+                for (int i = 0; i < costList.size(); i++) {
+                    if (i <= newY) {
+                        List<Integer> newList = new ArrayList<>();
+                        List<Integer> sourceList = costList.get(i);
+                        for (int j = 0; j < sourceList.size(); j++) {
+                            if (j >= newX) {
+                                newList.add(sourceList.get(j));
+                            }
+                        }
+                        newCostList.add(newList);
+                    }
+                }
+                //数组转换
+                for (List<Integer> list : newCostList) {
                     strs2.add(CollectionUtil.join(list, " "));
                 }
                 FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+
                 //行转列 为算法输入数据
-                if(CollectionUtil.isNotEmpty(costList)){
-                    CollectionUtil.reverse(costList);
-                    for (int i = 0; i < costList.get(0).size(); i++) {
+                if (CollectionUtil.isNotEmpty(newCostList)) {
+                    CollectionUtil.reverse(newCostList);
+                    for (int i = 0; i < newCostList.get(0).size(); i++) {
                         ArrayList<Integer> ints = new ArrayList<>();
-                        for (List<Integer> list : costList) {
+                        for (List<Integer> list : newCostList) {
                             ints.add(list.get(i));
                         }
                         strs.add(CollectionUtil.join(ints, " "));
                     }
-//                    CollectionUtil.reverse(strs);
                 }
-
-
                 FileUtil.writeLines(strs, new File(path + "map.txt"), "utf-8");
 
-                PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId, stepLen);
                 //中子源计数率读取
+                PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId, stepLen);
                 pathInitDTO.setZNow(cacheService.getNeutronCount(longId));
                 log.info("init params:{}", JSON.toJSONString(pathInitDTO));
+
                 //执行1次算法 初始化操作
                 algorithmService.pathPlanningInit(pathInitDTO);
             }
@@ -551,7 +623,7 @@
      * @param robotInfo 机器人信息
      * @param response  算法输出数据
      */
-    private void sendTargetPoint(RobotInfo robotInfo, AlgorithmResponse response,PoseMessageResponseDTO curPoint) {
+    private void sendTargetPoint(RobotInfo robotInfo, AlgorithmResponse response, PoseMessageResponseDTO curPoint) {
         //读取已设置巡点目标信息
         PointNextDTO nextDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TARGET_POINT_ID + robotInfo.getId());
         //巡点
@@ -565,6 +637,7 @@
             request.setZ(curPoint.getZ().toString());
             request.setTheta(curPoint.getTheta().toString());
             request.setRobotId(robotInfo.getId());
+            log.info("下发寻源点位:{}", request);
             //执行巡点指令
             baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
             //重设寻点点位
@@ -632,7 +705,7 @@
         //读取
         Integer index = 1;
         LambdaQueryWrapper<TaskGridInfo> taskGridQuery = new LambdaQueryWrapper<>();
-        taskGridQuery.eq(TaskGridInfo::getTaskId,info.getId());
+        taskGridQuery.eq(TaskGridInfo::getTaskId, info.getId());
         taskGridQuery.orderByAsc(TaskGridInfo::getCreateTime);
         List<TaskGridInfo> taskGridInfos = taskGridInfoService.list(taskGridQuery);
         if (CollectionUtil.isNotEmpty(taskGridInfos)) {
@@ -735,12 +808,29 @@
         return true;
     }
 
-    private boolean isEquals(GridPointDTO pointDTO, GridPointDTO oldPointDTO) {
-        if(oldPointDTO==null||oldPointDTO.getX()==null){
+    /**
+     * 栅格判定方法
+     *
+     * @param pointDTO    当前栅格
+     * @param oldPointDTO 预期栅格
+     * @param robotInfo   机器信息
+     * @return
+     */
+    private boolean isEquals(GridPointDTO pointDTO, GridPointDTO oldPointDTO, RobotInfo robotInfo) {
+        if (oldPointDTO == null || oldPointDTO.getX() == null) {
             return false;
         }
-        if (pointDTO.getX().compareTo(oldPointDTO.getX()) == 0 && pointDTO.getY().compareTo(oldPointDTO.getY()) == 0) {
-            return true;
+        if (robotInfo.getResolution().compareTo(new BigDecimal(0.21)) > 0) {
+            //大于0.2则默认该点
+            if (pointDTO.getX().compareTo(oldPointDTO.getX()) == 0 && pointDTO.getY().compareTo(oldPointDTO.getY()) == 0) {
+                return true;
+            }
+        } else {
+            //小于0.2则可判定相邻栅格
+            if (pointDTO.getX().subtract(oldPointDTO.getX()).abs().intValue() <= 1 && pointDTO.getY().subtract(oldPointDTO.getY()).abs().intValue() <= 1) {
+                return true;
+            }
+
         }
         return false;
     }
@@ -756,7 +846,7 @@
         return pathInitDTO;
     }
 
-    private TaskInfo addTaskByStartTrack( RobotInfo robotInfo, StartTrackRequest request) {
+    private TaskInfo addTaskByStartTrack(RobotInfo robotInfo, StartTrackRequest request) {
         //No.2 新增任务信息
         TaskInfo taskInfo = new TaskInfo();
         String currDate = DateUtil.format(new Date(), "yyyyMMdd");

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
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 a849528..4f34669 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
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index bdfc2d0..d7736a5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -148,7 +148,7 @@
     public void insertPsdAlarms() {
         times++;
         //先查询正在巡检任务信息
-        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
+        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 2);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
 
         long currentTimes = System.currentTimeMillis();
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 92c8c8e..6e94193 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
@@ -5,10 +5,7 @@
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 
 /**
  * 机器人操作类
@@ -76,4 +73,11 @@
     void reloadPcd(RobotInfo info);
 
     void startTrack(StartTrackRequest request);
+
+    /**
+     * 栅格寻点指令
+     * @param request 请求
+     * @return
+     */
+    ResponseDataDTO<Integer> targetGrid(TargetPointRequest 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 3bb475f..d8b3363 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.lang.Assert;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
@@ -25,7 +26,6 @@
 import io.swagger.annotations.ApiParam;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.apache.ibatis.annotations.Param;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.web.bind.annotation.*;
 import org.springframework.web.multipart.MultipartFile;
@@ -76,6 +76,13 @@
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
+    /**
+     * /{robotId}
+     *
+     * @param file
+     * @param robotId
+     * @return
+     */
     @SneakyThrows
     @ApiOperation(value = "PCD上传接口")
     @PostMapping(value = "/uploadPcd")
@@ -109,7 +116,12 @@
         robotInfoService.updateSpeed(robotInfo);
         return ResponseDataDTO.success();
     }
-
+    @ApiOperation(value = "设置任务启动模式", notes = "返回 1成功 0失败")
+    @PostMapping(value = "/setTaskMode")
+    public ResponseDataDTO setTaskMode(@RequestBody TaskModeRequest request) {
+        robotInfoService.setTaskMode(request);
+        return ResponseDataDTO.success();
+    }
     @ApiOperation(value = "机器人数据更新", notes = "1.pcd重载 2.路线及关键点数据重载")
     @PostMapping(value = "/reload")
     public ResponseDataDTO reload(@RequestBody BaseRobotCmdDTO request) {
@@ -149,6 +161,8 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
     }
 
+
+
     /**
      * 机器人请求id
      *
@@ -161,6 +175,16 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
     }
 
+    @ApiOperation(value = "寻栅格指令")
+    @PostMapping(value = "/targetGrid")
+    public ResponseDataDTO<Integer> targetGrid(@RequestBody TargetGridRequest request) {
+        TargetPointRequest targetPointRequest = new TargetPointRequest();
+        targetPointRequest.setRobotId(request.getRobotId());
+        targetPointRequest.setX(request.getEstimateGridX());
+        targetPointRequest.setY(request.getEstimateGridY());
+        return baseRobotService.targetGrid(targetPointRequest);
+    }
+
     /**
      * 机器人请求id
      *
@@ -174,6 +198,7 @@
         if (request.getStepLen() == null) {
             request.setStepLen(2);
         }
+        log.info(JSON.toJSONString(request));
         baseRobotService.startTrack(request);
         return ResponseDataDTO.success();
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
new file mode 100644
index 0000000..709bcd3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+@Data
+public class GridDTO {
+    /**
+     * 当前栅格x
+     */
+    private Integer currGridX;
+    /**
+     * 当前栅格y
+     */
+    private Integer currGridY;
+    /**
+     * 规划栅格x
+     */
+    private Integer estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private Integer estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
new file mode 100644
index 0000000..7eae335
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+@Data
+public class GridPushDTO {
+    /**
+     * 当前栅格x
+     */
+    private BigDecimal currGridX;
+    /**
+     * 当前栅格y
+     */
+    private BigDecimal currGridY;
+
+    /**
+     * 规划栅格x
+     */
+    private BigDecimal estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private BigDecimal estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index acbeb93..b9ad7a3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -23,4 +23,8 @@
     private BigDecimal gridWidth;
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     private BigDecimal resolution;
+    @ApiModelProperty(value = "新设原点X", dataType = "BigDecimal")
+    private BigDecimal newX;
+    @ApiModelProperty(value = "新设原点Y", dataType = "BigDecimal")
+    private BigDecimal newY;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
new file mode 100644
index 0000000..acc38f3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
@@ -0,0 +1,15 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+@Data
+public class TaskEndMsg implements Serializable {
+    private String robotId;
+    private String message;
+    /**
+     * 1 正常 0 异常
+     */
+    private Integer code;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 90e4dcf..d5ae18a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -154,7 +154,46 @@
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     @TableField("resolution")
     private BigDecimal resolution;
+    /**
+     * 新设定栅格原点X
+     */
+    @TableField("new_origin_x")
+    private BigDecimal newOriginX;
+    /**
+     * 新设定栅格原点Y
+     */
+    @TableField("new_origin_y")
+    private BigDecimal newOriginY;
 
+    /**
+     * 新设定栅格X
+     */
+    @TableField("new_grid_x")
+    private Integer newGridX;
+    /**
+     * 新设定栅格Y
+     */
+    @TableField("new_grid_y")
+    private Integer newGridY;
+
+    /**
+     * 裁剪右顶点X
+     */
+    @TableField("right_grid_x")
+    private Integer rightGridX;
+    @TableField("is_open")
+    private Integer isOpen;
+    /**
+     * 裁剪右顶点Y
+     */
+    @TableField("right_grid_y")
+    private Integer rightGridY;
+    public BigDecimal getNewX(){
+        return newOriginX;
+    }
+    public BigDecimal getNewY(){
+        return newOriginY;
+    }
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
index 2cb752f..3e741d7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
@@ -24,7 +24,10 @@
      *
      * @see com.casic.missiles.modular.robot.service.impl.TaskInfoServiceImpl
      */
-    HEAT_MAP("heat_map" , "机器人热力图");
+    HEAT_MAP("heat_map" , "机器人热力图"),
+    GRID("grid" , "栅格推送"),
+    TASK_END("task_end" , "任务结束");
+
     /**
      * 请求地址
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
index 88c9f79..3c93145 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -32,7 +32,6 @@
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         statusInfoService.saveCostMap(robotId, message);
-
         CostMapResolutionRequest costMapSet = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
         if(costMapSet != null){
             CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
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 8a71e0b..06f8ae6 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
@@ -30,10 +30,9 @@
     public void process(String robotId, String topic, MqttMessage message) {
 
         index.put(index_key, index.get("index") + 1);
-        if (index.get(index_key)>30) {
+        if (index.get(index_key)>1) {
             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 a9d7914..755997e 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
@@ -39,10 +39,8 @@
         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);
@@ -74,10 +72,12 @@
                     robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
                 }
             }
+
             //读取缓存信息
             sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
         } catch (Exception e) {
             e.printStackTrace();
         }
+
     }
-}
+}
\ No newline at end of file
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 7940a24..40a60a1 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,9 +1,13 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.exception.ServiceException;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.IBaseRobotService;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
@@ -11,6 +15,7 @@
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
+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.mqtt.config.MqttClientConnection;
@@ -32,11 +37,13 @@
     private final IRobotRouteOptService robotRouteOptService;
     private final IRobotInfoService robotInfoService;
     private final ITaskInfoService taskInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService, @Lazy IAlgorithmService algorithmService) {
         this.robotRouteOptService = robotRouteOptService;
         this.robotInfoService = robotInfoService;
         this.taskInfoService = taskInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
@@ -117,7 +124,7 @@
             //线路关键点读取
             if (requestDTO.getData() != null) {
                 for (RouteInfo routeInfo : requestDTO.getData()) {
-                    if("11-1 79-1".equals(routeInfo.getRouteName())){
+                    if ("11-1 79-1".equals(routeInfo.getRouteName())) {
                         continue;
                     }
                     TrackPointListRequest request = new TrackPointListRequest();
@@ -141,6 +148,7 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+
     @Transactional
     @Override
     public void startTrack(StartTrackRequest request) {
@@ -149,6 +157,25 @@
 //        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
     }
 
+    @Override
+    public ResponseDataDTO<Integer> targetGrid(TargetPointRequest request) {
+        PoseMessageResponseDTO responseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + request.getRobotId());
+        if(responseDTO==null){
+            throw new ServiceException(500,"请优先开启导航");
+        }
+        RobotInfo robotInfo = robotInfoService.getById(request.getRobotId());
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        //获取栅格中心点
+        GridPointDTO pointDTO =  algorithmService.convertGridCenterPoint(gridPointDTO,robotInfo.getResolution(),robotInfo);
+        request.setX(pointDTO.getX().toString());
+        request.setY(pointDTO.getY().toString());
+        request.setZ(responseDTO.getZ().toString());
+        request.setTheta(responseDTO.getTheta().toString());
+        //执行巡点指令
+        ResponseDataDTO<Integer> responseDataDTO = this.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
+        return responseDataDTO;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
new file mode 100644
index 0000000..7d69964
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
@@ -0,0 +1,19 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 获取循迹路线下发指令
+ */
+@Data
+public class TargetGridRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "栅格x坐标", dataType = "String")
+    private String estimateGridX;
+    @ApiModelProperty(value = "栅格y坐标", dataType = "String")
+    private String estimateGridY;
+    @ApiModelProperty(value = "z坐标", dataType = "String")
+    private String z;
+    @ApiModelProperty(value = "theta", dataType = "String")
+    private String theta;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
new file mode 100644
index 0000000..763656b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 导航下发指令
+ */
+@Data
+public class TaskModeRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "控制模式 1:手动 0:自动", dataType = "String")
+    private Integer isOpen;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index 8c95459..89697b8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -6,6 +6,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TaskModeRequest;
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 
 import java.util.List;
@@ -52,4 +53,6 @@
      * @param dto 栅格信息
      */
     void updateRobotGrid(String robotId, AppCostmapResponseDTO dto);
+
+    void setTaskMode(TaskModeRequest request);
 }
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 a4dbe0b..a6f5116 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
@@ -167,24 +167,35 @@
         y = y.subtract(robotInfo.getOriginY());
         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));
+
+        //todo  原点栅格转换,减去相对原点值
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewGridY())));
         return pointDTO;
     }
 
     /**
+     * do栅格转xy
      * 根据栅格读取栅格中心点位信息
      *
      * @param pointDTO 栅格信息
      * @return
      */
     public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo) {
+
+        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewGridY())));
+
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = resolution;
         //点位转换 转换后栅格－1 从1开始计算
         BigDecimal slamX = (pointDTO.getX().subtract(new BigDecimal(1))).multiply(scale);
         BigDecimal slamY = (pointDTO.getY().subtract(new BigDecimal(1))).multiply(scale);
+
         //中心栅格点位中心添加
         centerPoint.setX(slamX.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
         centerPoint.setY(slamY.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
+
         //加上栅格原点坐标
         centerPoint.setX(centerPoint.getX().add(robotInfo.getOriginX()));
         centerPoint.setY(centerPoint.getY().add(robotInfo.getOriginY()));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
index e2879ce..f825e84 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
@@ -9,6 +9,8 @@
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.data.redis.core.RedisTemplate;
 import org.springframework.stereotype.Service;
 
 @Service
@@ -18,7 +20,8 @@
     public RobotCacheServiceImpl(IRobotInfoService robotInfoService) {
         this.robotInfoService = robotInfoService;
     }
-
+    @Autowired
+    private RedisTemplate<String, Object> redisTemplate;
     @Override
     public synchronized boolean updateTaskId(Long robotId, Long taskId) {
         //读取当前机器人任务信息
@@ -83,12 +86,14 @@
 
     @Override
     public void updateCostMap(String robotId, AppCostmapResponseDTO msg) {
-        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
+        redisTemplate.opsForValue().set(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId,msg);
+//        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
     }
 
     @Override
     public AppCostmapResponseDTO getCostMap(String robotId) {
-        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+       return (AppCostmapResponseDTO) redisTemplate.opsForValue().get(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+//        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
     }
 
     @Override
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index fdded64..cdbbe89 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -12,11 +12,13 @@
 import com.casic.missiles.core.application.service.AbstractDictService;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dao.RobotInfoMapper;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.*;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.DataRecordRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TaskModeRequest;
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.*;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -51,16 +53,18 @@
     private final IDeviceInfoService deviceInfoService;
     private final IRobotPointInfoService pointInfoService;
     private final IBaseRobotService baseRobotService;
+    private final IAlgorithmService algorithmService;
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
-    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService, @Lazy IBaseRobotService baseRobotService) {
+    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService, @Lazy IBaseRobotService baseRobotService, @Lazy IAlgorithmService algorithmService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.dictService = dictService;
         this.routeInfoService = routeInfoService;
         this.deviceInfoService = deviceInfoService;
         this.pointInfoService = pointInfoService;
         this.baseRobotService = baseRobotService;
+        this.algorithmService = algorithmService;
     }
 
     @Transactional
@@ -96,15 +100,30 @@
         }
         if (robotInfo.getAlarmThreshold() != null) {
             update.set(RobotInfo::getAlarmThreshold, robotInfo.getAlarmThreshold());
+            update.set(RobotInfo::getMaxThreshold, robotInfo.getAlarmThreshold());
         }
         if (robotInfo.getGridHeight() != null && robotInfo.getGridWidth() != null) {
+            RobotInfo oldRobotInfo = getById(robotInfo.getId());
             update.set(RobotInfo::getGridHeight, robotInfo.getGridHeight());
             update.set(RobotInfo::getGridWidth, robotInfo.getGridWidth());
             update.set(RobotInfo::getResolution, robotInfo.getResolution());
+            update.set(RobotInfo::getNewOriginX, robotInfo.getNewX());
+            update.set(RobotInfo::getNewOriginY, robotInfo.getNewY());
+            //计算左下原点
+            oldRobotInfo.setNewGridX(0);
+            oldRobotInfo.setNewGridY(0);
+            GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(robotInfo.getNewX(), robotInfo.getNewY(), robotInfo.getResolution(), oldRobotInfo);
+            update.set(RobotInfo::getNewGridX, gridPointDTO.getX().intValue());
+            update.set(RobotInfo::getNewGridY, gridPointDTO.getY().intValue());
+            //计算右顶点
+            Integer rightX = robotInfo.getGridWidth().divide(robotInfo.getResolution(), 0, BigDecimal.ROUND_HALF_UP).intValue();
+            Integer rightY = robotInfo.getGridHeight().divide(robotInfo.getResolution(), 0, BigDecimal.ROUND_HALF_UP).intValue();
+            update.set(RobotInfo::getRightGridX, rightX);
+            update.set(RobotInfo::getRightGridY, rightY);
+
             //下发障碍物栅格
             sendCostMapResolution(robotInfo.getResolution(), robotInfo.getId());
-            //重新生成栅格地图
-            //sendChangePcd(robotInfo.getId());
+
         }
         update.eq(RobotInfo::getId, robotInfo.getId());
         update(update);
@@ -162,6 +181,16 @@
         update(lambdaUpdateWrapper);
     }
 
+    @Override
+    public void setTaskMode(TaskModeRequest request) {
+        if (request.getRobotId() != null) {
+            LambdaUpdateWrapper<RobotInfo> lambdaUpdateWrapper = new LambdaUpdateWrapper<>();
+            lambdaUpdateWrapper.set(RobotInfo::getIsOpen, request.getIsOpen());
+            lambdaUpdateWrapper.eq(RobotInfo::getId, request.getRobotId());
+            update(lambdaUpdateWrapper);
+        }
+    }
+
     @Transactional
     @Override
     public List<RobotInfo> list(Wrapper<RobotInfo> queryWrapper) {
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 46b5c3b..f52940c 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.collection.CollectionUtil;
 import cn.hutool.core.convert.Convert;
+import cn.hutool.core.io.FileUtil;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
@@ -13,9 +14,9 @@
 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.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO;
@@ -27,7 +28,6 @@
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
-import org.aspectj.util.FileUtil;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.context.annotation.Lazy;
@@ -38,8 +38,8 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.ArrayList;
-import java.util.Arrays;
 import java.util.List;
+import java.util.stream.Collectors;
 
 
 /**
@@ -81,6 +81,11 @@
     }
 
     private void wrapInfo(RobotStatusInfo statusInfo) {
+        // todo 报错
+        StopStateResponseDTO stopStateResponseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + statusInfo.getRobotId());
+        if (stopStateResponseDTO != null) {
+            statusInfo.setSoft(stopStateResponseDTO.getSoft());
+        }
         statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getDiscernType()));
 
         //暂停状态
@@ -262,6 +267,8 @@
      */
     @Value("${casic.algorithm.num:30}")
     private Integer num;
+    @Value("${casic.obstacle:60}")
+    private Integer obstacle;
 
     /**
      * 机器人栅格数据
@@ -276,7 +283,6 @@
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             //发送栅格分辨率设定
-
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
             robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
             //log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
@@ -290,24 +296,102 @@
                         } else {
                             dataNums.add(1);
                         }
+                    } else {
+                        dataNums.add(-1);
                     }
                 }
-                writeCache(dataNums,responseDTO.getMsg().getWidth(),responseDTO.getMsg().getHeight(),robotId);
+                writeCache(dataNums, responseDTO.getMsg().getWidth(), responseDTO.getMsg().getHeight(), robotId);
             }
         }
     }
 
-    private void writeCache(ArrayList<Integer> integers,Integer width,Integer height,String robotId) {
-        List<List<Integer>> arrays = CollectionUtil.split(integers,width);
+    private void writeCache(ArrayList<Integer> integers, Integer width, Integer height, String robotId) {
+        List<List<Integer>> arrays = CollectionUtil.split(integers, width);
         ArrayList<ArrayList<Integer>> arrayList = new ArrayList<>();
         for (List<Integer> array : arrays) {
-            arrayList.add((ArrayList)array);
+            ArrayList list =(ArrayList)array.stream().filter(integer -> integer>=0).collect(Collectors.toList());
+            arrayList.add(list);
         }
         CollectionUtil.reverse(arrayList);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId, arrayList);
-//        FileUtil.writeAsString(new File(path + "map.txt"), CollectionUtil.join(integers, " ").replaceAll("\\[", "").replaceAll("]", ""));
+        //写入栅格宽度
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId, height);
+
+        writeCost(arrayList,width,height,robotId);
+    }
+    /**
+     * slam经纬度转换为栅格
+     *
+     * @param x slam x
+     * @param y slam y
+     */
+    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, BigDecimal resolution, RobotInfo robotInfo) {
+        GridPointDTO pointDTO = new GridPointDTO();
+        BigDecimal scale = resolution;
+        //减去栅格原点坐标
+        x = x.subtract(robotInfo.getOriginX());
+        y = y.subtract(robotInfo.getOriginY());
+        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));
+
+        //todo  原点栅格转换,减去相对原点值
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewGridY())));
+        return pointDTO;
     }
 
+    private void writeCost(ArrayList<ArrayList<Integer>> costList,Integer width, Integer height,String robotId){
+        List<String> strs = new ArrayList<>();
+        List<String> strs2 = new ArrayList<>();
+        RobotInfo robotInfo = cacheService.getRobotInfo(Long.valueOf(robotId));
+        if(robotInfo==null||robotInfo.getGridWidth()==null||robotInfo.getResolution() ==null){
+            log.info("robot gridHeight is not found....");
+            return;
+        }
+
+        //计算左下角位置
+        Integer newX = robotInfo.getNewGridX();
+        Integer newY = height-robotInfo.getNewGridY();
+//        log.info("left point:({},{})",robotInfo.getNewGridX(),robotInfo.getNewGridY());
+        //计算右上角位置
+        Integer rightX = robotInfo.getRightGridX();
+        Integer rightY = height-robotInfo.getRightGridY();
+//        log.info("right point:({},{})",rightX,rightY);
+
+        //裁剪栅格
+        List<List<Integer>> newCostList = new ArrayList<>();
+        for (int i = 0; i < costList.size(); i++) {
+            if(i<=newY&&i>=rightY){
+                List<Integer> newList = new ArrayList<>();
+                List<Integer> sourceList= costList.get(i);
+                for (int j = 0; j < sourceList.size(); j++) {
+                    if(j>=newX&&j<=rightX){
+                        newList.add(sourceList.get(j));
+                    }
+                }
+                newCostList.add(newList);
+            }
+        }
+
+        for (List<Integer> list : newCostList) {
+            strs2.add(CollectionUtil.join(list, " "));
+        }
+
+        FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+        //行转列 为算法输入数据
+        if(CollectionUtil.isNotEmpty(newCostList)){
+            CollectionUtil.reverse(newCostList);
+            for (int i = 0; i < newCostList.get(0).size(); i++) {
+                ArrayList<Integer> ints = new ArrayList<>();
+                for (List<Integer> list : newCostList) {
+                    ints.add(list.get(i));
+                }
+                strs.add(CollectionUtil.join(ints, " "));
+            }
+        }
+
+        FileUtil.writeLines(strs, new File(path + "map3.txt"), "utf-8");
+    }
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
@@ -327,7 +411,6 @@
             json = json.substring(0, json.length() - 1);
         }
         json = json.replaceAll("\\\\", "");
-//        log.info(json);
         RobotResponseDTO<R> responseDTO = JSON.parseObject(json, cls);
         return responseDTO;
     }
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 f1262a2..cb7aa09 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
@@ -69,17 +69,6 @@
             } catch (Exception e) {
                 log.error("task error", e);
             }
-//            if (routeId != null) {
-//                RobotTrajectoryInfo info = new RobotTrajectoryInfo();
-//                info.setRobotId(Long.valueOf(robotId));
-//                info.setCreateTime(new Date());
-//                info.setPostionX(dto.getX());
-//                info.setPostionY(dto.getY());
-//                info.setPostionZ(dto.getZ());
-//                info.setTheta(dto.getTheta());
-//                save(info);
-
-//            }
         }
     }
 
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 fd49e2e..6a0e719 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
@@ -47,6 +47,7 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.*;
+import java.util.concurrent.atomic.AtomicInteger;
 
 
 /**
@@ -81,15 +82,16 @@
     /**
      * 5000 ms
      */
-    @Value("${casic.task.duration:3000}")
+    @Value("${casic.task.duration:2000}")
     private Integer stayDuration;
     @Value("${casic.algorithm.path:-1}")
     private String path;
     /**
      * 障碍物精度
      */
-    @Value("${casic.obstacle:10}")
+    @Value("${casic.obstacle:60}")
     private Integer obstacle;
+    private volatile AtomicInteger atomicInteger = new AtomicInteger();
 
     public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService, ITaskInfoImgService imgService, ITaskGridInfoService taskGridInfoService) {
         this.routeInfoService = routeInfoService;
@@ -128,7 +130,30 @@
         } catch (Exception e) {
             log.error(e.getMessage());
         }
-
+    }
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, GridPushDTO gridPushDTO) {
+        try {
+            WsMsgBaseDTO<GridPushDTO> wsMsgBaseDTO = new WsMsgBaseDTO<GridPushDTO>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(gridPushDTO);
+            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());
+        }
+    }
+    protected void sendTaskMsg(InstructStatusMsgEnums enums, String robotId, TaskEndMsg heatMap) {
+        try {
+            WsMsgBaseDTO<TaskEndMsg> wsMsgBaseDTO = new WsMsgBaseDTO<TaskEndMsg>();
+            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());
+        }
     }
 
     @Override
@@ -187,11 +212,11 @@
 
     private void openTask(StartTrackRequest request, String robotId) {
         QueryWrapper<RouteInfo> query = new QueryWrapper<>();
-        query.eq("target_id", request.getTrack_name());
-        List<RouteInfo> routeInfos = routeInfoService.list(query);
-        if (CollectionUtil.isEmpty(routeInfos)) {
-            throw new ServiceException(500, "路线不存在,请及时更新");
-        }
+//        query.eq("target_id", request.getTrack_name());
+//        List<RouteInfo> routeInfos = routeInfoService.list(query);
+//        if (CollectionUtil.isEmpty(routeInfos)) {
+//            throw new ServiceException(500, "路线不存在,请及时更新");
+//        }
 //        RouteInfo routeInfo = routeInfos.get(0);
         Integer isTask = 0;
         //开启寻源任务
@@ -201,12 +226,12 @@
         RobotInfo robotInfo = cacheService.getRobotInfo(Convert.toLong(robotId));
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_IS_TASK + robotId, isTask);
         //添加任务记录
-        TaskInfo taskInfo = addTaskByStartTrack( robotInfo, request);
+        TaskInfo taskInfo = addTaskByStartTrack(robotInfo, request);
         //No.3 更新器人执行任务信息
 //        Long currRouteId = routeInfo.getId();
         Long currTaskId = taskInfo.getId();
 
-        statusInfoService.updateCurrTask(robotId,  currTaskId);
+        statusInfoService.updateCurrTask(robotId, currTaskId);
         //算法初始化标志创建
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId, currTaskId);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_INIT + robotId, 0);
@@ -230,7 +255,7 @@
         robotCacheClean(robotId);
         //清楚规划任务锁
         CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_PLANING_FLAG + robotId);
-        CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID+ robotId);
+        CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId);
         //清空机器当前任务
         statusInfoService.updateCurrTask(robotId, null);
     }
@@ -304,7 +329,7 @@
         //No.1 任务初始化
         pathInit(longId, robotInfo, pointDTO, taskId, robotId, taskInfo.getStepLen());
         //No.2 路线规划
-        pathPlaning(longId, robotInfo, pointDTO, taskId, robotId, taskInfo,dto);
+        pathPlaning(longId, robotInfo, pointDTO, taskId, robotId, taskInfo, dto);
     }
 
     /**
@@ -329,7 +354,7 @@
      * @param taskId    任务ID
      * @param robotId   机器人ID
      */
-    private void pathPlaning(Long longId, RobotInfo robotInfo, GridPointDTO pointDTO, Long taskId, String robotId, TaskInfo taskInfo,PoseMessageResponseDTO curPoint) {
+    private void pathPlaning(Long longId, RobotInfo robotInfo, GridPointDTO pointDTO, Long taskId, String robotId, TaskInfo taskInfo, PoseMessageResponseDTO curPoint) {
         if (taskId != null) {
             //规划节点
             PointNextDTO pointNextDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId);
@@ -337,12 +362,24 @@
             Boolean flag = lockPlanIngFlag(robotId);
             //是否到达预期栅格
             if (!flag) {
-                log.info("未获取到规划任务,直接结束：{}",pointDTO);
                 return;
             }
+            log.info("curr point:{}", curPoint);
+            log.debug("curr pointGrid:{}", pointDTO);
+            log.debug("oldEstimateGrid:{}", oldEstimateGrid);
+
+            GridPushDTO gridPushDTO = new GridPushDTO();
+            gridPushDTO.setCurrGridX(pointDTO.getX());
+            gridPushDTO.setCurrGridY(pointDTO.getY());
+            if(oldEstimateGrid!=null){
+                gridPushDTO.setEstimateGridX(oldEstimateGrid.getX());
+                gridPushDTO.setEstimateGridY(oldEstimateGrid.getY());
+            }
+            sendWebSocket(InstructStatusMsgEnums.GRID, robotId, gridPushDTO);
+
             try {
-                log.debug("oldEstimateGrid:{}", oldEstimateGrid);
-                if (pointNextDTO == null || isEquals(pointDTO, oldEstimateGrid)) {
+                if (pointNextDTO == null || oldEstimateGrid == null || isEquals(pointDTO, oldEstimateGrid, robotInfo)) {
+                    atomicInteger = new AtomicInteger(0);
                     log.info("当前栅格变更......", pointDTO);
                     CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_POINT + robotId, pointDTO);
                     //算法调用获取热力图
@@ -358,19 +395,24 @@
                     //存储算法输出栅格信息
                     AlgorithmResponse response = algorithmService.pathPlanning(pathPlanDTO);
                     CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId, response.getPointNextDTO());
-                    sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
 
-                    //存储循迹任务信息
-                    TaskGridInfo taskGridInfo = new TaskGridInfo();
-                    taskGridInfo.setCreateTime(new Date());
-                    taskGridInfo.setUpdateTime(new Date());
-                    taskGridInfo.setCurGridX(pointDTO.getX().intValue());
-                    taskGridInfo.setCurGridY(pointDTO.getY().intValue());
-                    taskGridInfo.setNeutronCount(new BigDecimal(pathPlanDTO.getZNow()));
-                    taskGridInfo.setEstimateGridX(response.getPointNextDTO().getX());
-                    taskGridInfo.setEstimateGridY(response.getPointNextDTO().getY());
-                    taskGridInfo.setTaskId(taskId);
-                    taskGridInfoService.save(taskGridInfo);
+                    new Thread() {
+                        @Override
+                        public void run() {
+                            //存储循迹任务信息
+                            TaskGridInfo taskGridInfo = new TaskGridInfo();
+                            taskGridInfo.setCreateTime(new Date());
+                            taskGridInfo.setUpdateTime(new Date());
+                            taskGridInfo.setCurGridX(pointDTO.getX().intValue());
+                            taskGridInfo.setCurGridY(pointDTO.getY().intValue());
+                            taskGridInfo.setNeutronCount(new BigDecimal(pathPlanDTO.getZNow()));
+                            taskGridInfo.setEstimateGridX(response.getPointNextDTO().getX());
+                            taskGridInfo.setEstimateGridY(response.getPointNextDTO().getY());
+                            taskGridInfo.setTaskId(taskId);
+                            taskGridInfoService.save(taskGridInfo);
+                            sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
+                        }
+                    }.start();
 
                     try {
                         //停留时间阈值
@@ -381,11 +423,13 @@
 
                     //是否触发停止状态
                     if (!response.isEnd()) {
-                        log.debug("task planning-- xun dian robotId:{},taskId:{}", robotId, taskId);
                         //机器人寻点指令下发
-                        sendTargetPoint(robotInfo, response,curPoint);
+                        if (robotInfo.getIsOpen() == null || robotInfo.getIsOpen() == 0) {
+                            sendTargetPoint(robotInfo, response, curPoint);
+                        } else {
+                            log.debug("task mode isOpen:{}", robotInfo.getIsOpen());
+                        }
                     } else {
-                        log.debug("task stop-- robotId:{},taskId:{}", robotId, taskId);
                         //机器人停止指令下发
                         SoftwareStopRequest request = new SoftwareStopRequest();
                         request.setRobotId(robotInfo.getId());
@@ -394,6 +438,15 @@
 //                        baseRobotService.execCmdHandler(request, InstructCodeEnums.SOFTWARE_STOP);
                         //循迹任务结束
                         closeTask(null, robotId);
+                        TaskEndMsg endMsg = new TaskEndMsg();
+                        endMsg.setCode(1);
+                        endMsg.setRobotId(robotId);
+                        endMsg.setMessage("寻源结束");
+                        sendTaskMsg(InstructStatusMsgEnums.TASK_END, robotId, endMsg);
+                    }
+                } else {
+                    if (!isChange(pointDTO, oldEstimateGrid)) {
+                        atomicInteger.incrementAndGet();
                     }
                 }
             } catch (Exception e) {
@@ -429,37 +482,56 @@
         Integer initValue = cacheService.readTaskInit(longId);
         //No.1 任务初始化
         if (initValue != 1) {
-
             //执行初始化操作
             if (cacheService.updateTaskInit(longId, 1)) {
-
                 List<List<Integer>> costList = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId);
                 List<String> strs = new ArrayList<>();
                 List<String> strs2 = new ArrayList<>();
-                for (List<Integer> list : costList) {
+                Integer height = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId);
+                if (height == null) {
+                    throw new ServiceException(500, "未获取到栅格宽度信息");
+                }
+                Integer newX = robotInfo.getNewGridX();
+                Integer newY = height - robotInfo.getNewGridY();
+
+                //裁剪栅格
+                List<List<Integer>> newCostList = new ArrayList<>();
+                for (int i = 0; i < costList.size(); i++) {
+                    if (i <= newY) {
+                        List<Integer> newList = new ArrayList<>();
+                        List<Integer> sourceList = costList.get(i);
+                        for (int j = 0; j < sourceList.size(); j++) {
+                            if (j >= newX) {
+                                newList.add(sourceList.get(j));
+                            }
+                        }
+                        newCostList.add(newList);
+                    }
+                }
+                //数组转换
+                for (List<Integer> list : newCostList) {
                     strs2.add(CollectionUtil.join(list, " "));
                 }
                 FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+
                 //行转列 为算法输入数据
-                if(CollectionUtil.isNotEmpty(costList)){
-                    CollectionUtil.reverse(costList);
-                    for (int i = 0; i < costList.get(0).size(); i++) {
+                if (CollectionUtil.isNotEmpty(newCostList)) {
+                    CollectionUtil.reverse(newCostList);
+                    for (int i = 0; i < newCostList.get(0).size(); i++) {
                         ArrayList<Integer> ints = new ArrayList<>();
-                        for (List<Integer> list : costList) {
+                        for (List<Integer> list : newCostList) {
                             ints.add(list.get(i));
                         }
                         strs.add(CollectionUtil.join(ints, " "));
                     }
-//                    CollectionUtil.reverse(strs);
                 }
-
-
                 FileUtil.writeLines(strs, new File(path + "map.txt"), "utf-8");
 
-                PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId, stepLen);
                 //中子源计数率读取
+                PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId, stepLen);
                 pathInitDTO.setZNow(cacheService.getNeutronCount(longId));
                 log.info("init params:{}", JSON.toJSONString(pathInitDTO));
+
                 //执行1次算法 初始化操作
                 algorithmService.pathPlanningInit(pathInitDTO);
             }
@@ -551,7 +623,7 @@
      * @param robotInfo 机器人信息
      * @param response  算法输出数据
      */
-    private void sendTargetPoint(RobotInfo robotInfo, AlgorithmResponse response,PoseMessageResponseDTO curPoint) {
+    private void sendTargetPoint(RobotInfo robotInfo, AlgorithmResponse response, PoseMessageResponseDTO curPoint) {
         //读取已设置巡点目标信息
         PointNextDTO nextDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TARGET_POINT_ID + robotInfo.getId());
         //巡点
@@ -565,6 +637,7 @@
             request.setZ(curPoint.getZ().toString());
             request.setTheta(curPoint.getTheta().toString());
             request.setRobotId(robotInfo.getId());
+            log.info("下发寻源点位:{}", request);
             //执行巡点指令
             baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
             //重设寻点点位
@@ -632,7 +705,7 @@
         //读取
         Integer index = 1;
         LambdaQueryWrapper<TaskGridInfo> taskGridQuery = new LambdaQueryWrapper<>();
-        taskGridQuery.eq(TaskGridInfo::getTaskId,info.getId());
+        taskGridQuery.eq(TaskGridInfo::getTaskId, info.getId());
         taskGridQuery.orderByAsc(TaskGridInfo::getCreateTime);
         List<TaskGridInfo> taskGridInfos = taskGridInfoService.list(taskGridQuery);
         if (CollectionUtil.isNotEmpty(taskGridInfos)) {
@@ -735,12 +808,29 @@
         return true;
     }
 
-    private boolean isEquals(GridPointDTO pointDTO, GridPointDTO oldPointDTO) {
-        if(oldPointDTO==null||oldPointDTO.getX()==null){
+    /**
+     * 栅格判定方法
+     *
+     * @param pointDTO    当前栅格
+     * @param oldPointDTO 预期栅格
+     * @param robotInfo   机器信息
+     * @return
+     */
+    private boolean isEquals(GridPointDTO pointDTO, GridPointDTO oldPointDTO, RobotInfo robotInfo) {
+        if (oldPointDTO == null || oldPointDTO.getX() == null) {
             return false;
         }
-        if (pointDTO.getX().compareTo(oldPointDTO.getX()) == 0 && pointDTO.getY().compareTo(oldPointDTO.getY()) == 0) {
-            return true;
+        if (robotInfo.getResolution().compareTo(new BigDecimal(0.21)) > 0) {
+            //大于0.2则默认该点
+            if (pointDTO.getX().compareTo(oldPointDTO.getX()) == 0 && pointDTO.getY().compareTo(oldPointDTO.getY()) == 0) {
+                return true;
+            }
+        } else {
+            //小于0.2则可判定相邻栅格
+            if (pointDTO.getX().subtract(oldPointDTO.getX()).abs().intValue() <= 1 && pointDTO.getY().subtract(oldPointDTO.getY()).abs().intValue() <= 1) {
+                return true;
+            }
+
         }
         return false;
     }
@@ -756,7 +846,7 @@
         return pathInitDTO;
     }
 
-    private TaskInfo addTaskByStartTrack( RobotInfo robotInfo, StartTrackRequest request) {
+    private TaskInfo addTaskByStartTrack(RobotInfo robotInfo, StartTrackRequest request) {
         //No.2 新增任务信息
         TaskInfo taskInfo = new TaskInfo();
         String currDate = DateUtil.format(new Date(), "yyyyMMdd");
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
index 467b9c2..b8eebf0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
@@ -44,8 +44,8 @@
 
         ArrayList<String> invocation = new ArrayList<String>();
         invocation.add(exePath);
-        invocation.add("10");
-        invocation.add("10");
+        invocation.add("36");
+        invocation.add("18");
         invocation.add("5");
         invocation.add("0.16");
         invocation.add("Mission1");
@@ -58,8 +58,8 @@
         String planning = path + "search.exe";
         ArrayList<String> planInvocation = new ArrayList<String>();
         planInvocation.add(planning);
-        planInvocation.add("10");
-        planInvocation.add("1.0");
+        planInvocation.add("19");
+        planInvocation.add("8");
         planInvocation.add("0.2");
         planInvocation.add("Mission1");
         List<String> res = invokeJob(planInvocation);

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
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 a849528..4f34669 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
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index bdfc2d0..d7736a5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -148,7 +148,7 @@
     public void insertPsdAlarms() {
         times++;
         //先查询正在巡检任务信息
-        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
+        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 2);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
 
         long currentTimes = System.currentTimeMillis();
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 92c8c8e..6e94193 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
@@ -5,10 +5,7 @@
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 
 /**
  * 机器人操作类
@@ -76,4 +73,11 @@
     void reloadPcd(RobotInfo info);
 
     void startTrack(StartTrackRequest request);
+
+    /**
+     * 栅格寻点指令
+     * @param request 请求
+     * @return
+     */
+    ResponseDataDTO<Integer> targetGrid(TargetPointRequest 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 3bb475f..d8b3363 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.lang.Assert;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
@@ -25,7 +26,6 @@
 import io.swagger.annotations.ApiParam;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.apache.ibatis.annotations.Param;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.web.bind.annotation.*;
 import org.springframework.web.multipart.MultipartFile;
@@ -76,6 +76,13 @@
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
+    /**
+     * /{robotId}
+     *
+     * @param file
+     * @param robotId
+     * @return
+     */
     @SneakyThrows
     @ApiOperation(value = "PCD上传接口")
     @PostMapping(value = "/uploadPcd")
@@ -109,7 +116,12 @@
         robotInfoService.updateSpeed(robotInfo);
         return ResponseDataDTO.success();
     }
-
+    @ApiOperation(value = "设置任务启动模式", notes = "返回 1成功 0失败")
+    @PostMapping(value = "/setTaskMode")
+    public ResponseDataDTO setTaskMode(@RequestBody TaskModeRequest request) {
+        robotInfoService.setTaskMode(request);
+        return ResponseDataDTO.success();
+    }
     @ApiOperation(value = "机器人数据更新", notes = "1.pcd重载 2.路线及关键点数据重载")
     @PostMapping(value = "/reload")
     public ResponseDataDTO reload(@RequestBody BaseRobotCmdDTO request) {
@@ -149,6 +161,8 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
     }
 
+
+
     /**
      * 机器人请求id
      *
@@ -161,6 +175,16 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
     }
 
+    @ApiOperation(value = "寻栅格指令")
+    @PostMapping(value = "/targetGrid")
+    public ResponseDataDTO<Integer> targetGrid(@RequestBody TargetGridRequest request) {
+        TargetPointRequest targetPointRequest = new TargetPointRequest();
+        targetPointRequest.setRobotId(request.getRobotId());
+        targetPointRequest.setX(request.getEstimateGridX());
+        targetPointRequest.setY(request.getEstimateGridY());
+        return baseRobotService.targetGrid(targetPointRequest);
+    }
+
     /**
      * 机器人请求id
      *
@@ -174,6 +198,7 @@
         if (request.getStepLen() == null) {
             request.setStepLen(2);
         }
+        log.info(JSON.toJSONString(request));
         baseRobotService.startTrack(request);
         return ResponseDataDTO.success();
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
new file mode 100644
index 0000000..709bcd3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+@Data
+public class GridDTO {
+    /**
+     * 当前栅格x
+     */
+    private Integer currGridX;
+    /**
+     * 当前栅格y
+     */
+    private Integer currGridY;
+    /**
+     * 规划栅格x
+     */
+    private Integer estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private Integer estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
new file mode 100644
index 0000000..7eae335
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+@Data
+public class GridPushDTO {
+    /**
+     * 当前栅格x
+     */
+    private BigDecimal currGridX;
+    /**
+     * 当前栅格y
+     */
+    private BigDecimal currGridY;
+
+    /**
+     * 规划栅格x
+     */
+    private BigDecimal estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private BigDecimal estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index acbeb93..b9ad7a3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -23,4 +23,8 @@
     private BigDecimal gridWidth;
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     private BigDecimal resolution;
+    @ApiModelProperty(value = "新设原点X", dataType = "BigDecimal")
+    private BigDecimal newX;
+    @ApiModelProperty(value = "新设原点Y", dataType = "BigDecimal")
+    private BigDecimal newY;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
new file mode 100644
index 0000000..acc38f3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
@@ -0,0 +1,15 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+@Data
+public class TaskEndMsg implements Serializable {
+    private String robotId;
+    private String message;
+    /**
+     * 1 正常 0 异常
+     */
+    private Integer code;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 90e4dcf..d5ae18a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -154,7 +154,46 @@
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     @TableField("resolution")
     private BigDecimal resolution;
+    /**
+     * 新设定栅格原点X
+     */
+    @TableField("new_origin_x")
+    private BigDecimal newOriginX;
+    /**
+     * 新设定栅格原点Y
+     */
+    @TableField("new_origin_y")
+    private BigDecimal newOriginY;
 
+    /**
+     * 新设定栅格X
+     */
+    @TableField("new_grid_x")
+    private Integer newGridX;
+    /**
+     * 新设定栅格Y
+     */
+    @TableField("new_grid_y")
+    private Integer newGridY;
+
+    /**
+     * 裁剪右顶点X
+     */
+    @TableField("right_grid_x")
+    private Integer rightGridX;
+    @TableField("is_open")
+    private Integer isOpen;
+    /**
+     * 裁剪右顶点Y
+     */
+    @TableField("right_grid_y")
+    private Integer rightGridY;
+    public BigDecimal getNewX(){
+        return newOriginX;
+    }
+    public BigDecimal getNewY(){
+        return newOriginY;
+    }
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
index 2cb752f..3e741d7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
@@ -24,7 +24,10 @@
      *
      * @see com.casic.missiles.modular.robot.service.impl.TaskInfoServiceImpl
      */
-    HEAT_MAP("heat_map" , "机器人热力图");
+    HEAT_MAP("heat_map" , "机器人热力图"),
+    GRID("grid" , "栅格推送"),
+    TASK_END("task_end" , "任务结束");
+
     /**
      * 请求地址
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
index 88c9f79..3c93145 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -32,7 +32,6 @@
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         statusInfoService.saveCostMap(robotId, message);
-
         CostMapResolutionRequest costMapSet = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
         if(costMapSet != null){
             CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
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 8a71e0b..06f8ae6 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
@@ -30,10 +30,9 @@
     public void process(String robotId, String topic, MqttMessage message) {
 
         index.put(index_key, index.get("index") + 1);
-        if (index.get(index_key)>30) {
+        if (index.get(index_key)>1) {
             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 a9d7914..755997e 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
@@ -39,10 +39,8 @@
         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);
@@ -74,10 +72,12 @@
                     robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
                 }
             }
+
             //读取缓存信息
             sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
         } catch (Exception e) {
             e.printStackTrace();
         }
+
     }
-}
+}
\ No newline at end of file
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 7940a24..40a60a1 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,9 +1,13 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.exception.ServiceException;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.IBaseRobotService;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
@@ -11,6 +15,7 @@
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
+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.mqtt.config.MqttClientConnection;
@@ -32,11 +37,13 @@
     private final IRobotRouteOptService robotRouteOptService;
     private final IRobotInfoService robotInfoService;
     private final ITaskInfoService taskInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService, @Lazy IAlgorithmService algorithmService) {
         this.robotRouteOptService = robotRouteOptService;
         this.robotInfoService = robotInfoService;
         this.taskInfoService = taskInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
@@ -117,7 +124,7 @@
             //线路关键点读取
             if (requestDTO.getData() != null) {
                 for (RouteInfo routeInfo : requestDTO.getData()) {
-                    if("11-1 79-1".equals(routeInfo.getRouteName())){
+                    if ("11-1 79-1".equals(routeInfo.getRouteName())) {
                         continue;
                     }
                     TrackPointListRequest request = new TrackPointListRequest();
@@ -141,6 +148,7 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+
     @Transactional
     @Override
     public void startTrack(StartTrackRequest request) {
@@ -149,6 +157,25 @@
 //        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
     }
 
+    @Override
+    public ResponseDataDTO<Integer> targetGrid(TargetPointRequest request) {
+        PoseMessageResponseDTO responseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + request.getRobotId());
+        if(responseDTO==null){
+            throw new ServiceException(500,"请优先开启导航");
+        }
+        RobotInfo robotInfo = robotInfoService.getById(request.getRobotId());
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        //获取栅格中心点
+        GridPointDTO pointDTO =  algorithmService.convertGridCenterPoint(gridPointDTO,robotInfo.getResolution(),robotInfo);
+        request.setX(pointDTO.getX().toString());
+        request.setY(pointDTO.getY().toString());
+        request.setZ(responseDTO.getZ().toString());
+        request.setTheta(responseDTO.getTheta().toString());
+        //执行巡点指令
+        ResponseDataDTO<Integer> responseDataDTO = this.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
+        return responseDataDTO;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
new file mode 100644
index 0000000..7d69964
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
@@ -0,0 +1,19 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 获取循迹路线下发指令
+ */
+@Data
+public class TargetGridRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "栅格x坐标", dataType = "String")
+    private String estimateGridX;
+    @ApiModelProperty(value = "栅格y坐标", dataType = "String")
+    private String estimateGridY;
+    @ApiModelProperty(value = "z坐标", dataType = "String")
+    private String z;
+    @ApiModelProperty(value = "theta", dataType = "String")
+    private String theta;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
new file mode 100644
index 0000000..763656b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 导航下发指令
+ */
+@Data
+public class TaskModeRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "控制模式 1:手动 0:自动", dataType = "String")
+    private Integer isOpen;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index 8c95459..89697b8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -6,6 +6,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TaskModeRequest;
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 
 import java.util.List;
@@ -52,4 +53,6 @@
      * @param dto 栅格信息
      */
     void updateRobotGrid(String robotId, AppCostmapResponseDTO dto);
+
+    void setTaskMode(TaskModeRequest request);
 }
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 a4dbe0b..a6f5116 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
@@ -167,24 +167,35 @@
         y = y.subtract(robotInfo.getOriginY());
         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));
+
+        //todo  原点栅格转换,减去相对原点值
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewGridY())));
         return pointDTO;
     }
 
     /**
+     * do栅格转xy
      * 根据栅格读取栅格中心点位信息
      *
      * @param pointDTO 栅格信息
      * @return
      */
     public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo) {
+
+        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewGridY())));
+
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = resolution;
         //点位转换 转换后栅格－1 从1开始计算
         BigDecimal slamX = (pointDTO.getX().subtract(new BigDecimal(1))).multiply(scale);
         BigDecimal slamY = (pointDTO.getY().subtract(new BigDecimal(1))).multiply(scale);
+
         //中心栅格点位中心添加
         centerPoint.setX(slamX.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
         centerPoint.setY(slamY.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
+
         //加上栅格原点坐标
         centerPoint.setX(centerPoint.getX().add(robotInfo.getOriginX()));
         centerPoint.setY(centerPoint.getY().add(robotInfo.getOriginY()));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
index e2879ce..f825e84 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
@@ -9,6 +9,8 @@
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.data.redis.core.RedisTemplate;
 import org.springframework.stereotype.Service;
 
 @Service
@@ -18,7 +20,8 @@
     public RobotCacheServiceImpl(IRobotInfoService robotInfoService) {
         this.robotInfoService = robotInfoService;
     }
-
+    @Autowired
+    private RedisTemplate<String, Object> redisTemplate;
     @Override
     public synchronized boolean updateTaskId(Long robotId, Long taskId) {
         //读取当前机器人任务信息
@@ -83,12 +86,14 @@
 
     @Override
     public void updateCostMap(String robotId, AppCostmapResponseDTO msg) {
-        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
+        redisTemplate.opsForValue().set(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId,msg);
+//        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
     }
 
     @Override
     public AppCostmapResponseDTO getCostMap(String robotId) {
-        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+       return (AppCostmapResponseDTO) redisTemplate.opsForValue().get(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+//        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
     }
 
     @Override
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index fdded64..cdbbe89 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -12,11 +12,13 @@
 import com.casic.missiles.core.application.service.AbstractDictService;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dao.RobotInfoMapper;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.*;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.DataRecordRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TaskModeRequest;
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.*;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -51,16 +53,18 @@
     private final IDeviceInfoService deviceInfoService;
     private final IRobotPointInfoService pointInfoService;
     private final IBaseRobotService baseRobotService;
+    private final IAlgorithmService algorithmService;
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
-    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService, @Lazy IBaseRobotService baseRobotService) {
+    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService, @Lazy IBaseRobotService baseRobotService, @Lazy IAlgorithmService algorithmService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.dictService = dictService;
         this.routeInfoService = routeInfoService;
         this.deviceInfoService = deviceInfoService;
         this.pointInfoService = pointInfoService;
         this.baseRobotService = baseRobotService;
+        this.algorithmService = algorithmService;
     }
 
     @Transactional
@@ -96,15 +100,30 @@
         }
         if (robotInfo.getAlarmThreshold() != null) {
             update.set(RobotInfo::getAlarmThreshold, robotInfo.getAlarmThreshold());
+            update.set(RobotInfo::getMaxThreshold, robotInfo.getAlarmThreshold());
         }
         if (robotInfo.getGridHeight() != null && robotInfo.getGridWidth() != null) {
+            RobotInfo oldRobotInfo = getById(robotInfo.getId());
             update.set(RobotInfo::getGridHeight, robotInfo.getGridHeight());
             update.set(RobotInfo::getGridWidth, robotInfo.getGridWidth());
             update.set(RobotInfo::getResolution, robotInfo.getResolution());
+            update.set(RobotInfo::getNewOriginX, robotInfo.getNewX());
+            update.set(RobotInfo::getNewOriginY, robotInfo.getNewY());
+            //计算左下原点
+            oldRobotInfo.setNewGridX(0);
+            oldRobotInfo.setNewGridY(0);
+            GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(robotInfo.getNewX(), robotInfo.getNewY(), robotInfo.getResolution(), oldRobotInfo);
+            update.set(RobotInfo::getNewGridX, gridPointDTO.getX().intValue());
+            update.set(RobotInfo::getNewGridY, gridPointDTO.getY().intValue());
+            //计算右顶点
+            Integer rightX = robotInfo.getGridWidth().divide(robotInfo.getResolution(), 0, BigDecimal.ROUND_HALF_UP).intValue();
+            Integer rightY = robotInfo.getGridHeight().divide(robotInfo.getResolution(), 0, BigDecimal.ROUND_HALF_UP).intValue();
+            update.set(RobotInfo::getRightGridX, rightX);
+            update.set(RobotInfo::getRightGridY, rightY);
+
             //下发障碍物栅格
             sendCostMapResolution(robotInfo.getResolution(), robotInfo.getId());
-            //重新生成栅格地图
-            //sendChangePcd(robotInfo.getId());
+
         }
         update.eq(RobotInfo::getId, robotInfo.getId());
         update(update);
@@ -162,6 +181,16 @@
         update(lambdaUpdateWrapper);
     }
 
+    @Override
+    public void setTaskMode(TaskModeRequest request) {
+        if (request.getRobotId() != null) {
+            LambdaUpdateWrapper<RobotInfo> lambdaUpdateWrapper = new LambdaUpdateWrapper<>();
+            lambdaUpdateWrapper.set(RobotInfo::getIsOpen, request.getIsOpen());
+            lambdaUpdateWrapper.eq(RobotInfo::getId, request.getRobotId());
+            update(lambdaUpdateWrapper);
+        }
+    }
+
     @Transactional
     @Override
     public List<RobotInfo> list(Wrapper<RobotInfo> queryWrapper) {
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 46b5c3b..f52940c 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.collection.CollectionUtil;
 import cn.hutool.core.convert.Convert;
+import cn.hutool.core.io.FileUtil;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
@@ -13,9 +14,9 @@
 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.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO;
@@ -27,7 +28,6 @@
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
-import org.aspectj.util.FileUtil;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.context.annotation.Lazy;
@@ -38,8 +38,8 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.ArrayList;
-import java.util.Arrays;
 import java.util.List;
+import java.util.stream.Collectors;
 
 
 /**
@@ -81,6 +81,11 @@
     }
 
     private void wrapInfo(RobotStatusInfo statusInfo) {
+        // todo 报错
+        StopStateResponseDTO stopStateResponseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + statusInfo.getRobotId());
+        if (stopStateResponseDTO != null) {
+            statusInfo.setSoft(stopStateResponseDTO.getSoft());
+        }
         statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getDiscernType()));
 
         //暂停状态
@@ -262,6 +267,8 @@
      */
     @Value("${casic.algorithm.num:30}")
     private Integer num;
+    @Value("${casic.obstacle:60}")
+    private Integer obstacle;
 
     /**
      * 机器人栅格数据
@@ -276,7 +283,6 @@
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             //发送栅格分辨率设定
-
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
             robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
             //log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
@@ -290,24 +296,102 @@
                         } else {
                             dataNums.add(1);
                         }
+                    } else {
+                        dataNums.add(-1);
                     }
                 }
-                writeCache(dataNums,responseDTO.getMsg().getWidth(),responseDTO.getMsg().getHeight(),robotId);
+                writeCache(dataNums, responseDTO.getMsg().getWidth(), responseDTO.getMsg().getHeight(), robotId);
             }
         }
     }
 
-    private void writeCache(ArrayList<Integer> integers,Integer width,Integer height,String robotId) {
-        List<List<Integer>> arrays = CollectionUtil.split(integers,width);
+    private void writeCache(ArrayList<Integer> integers, Integer width, Integer height, String robotId) {
+        List<List<Integer>> arrays = CollectionUtil.split(integers, width);
         ArrayList<ArrayList<Integer>> arrayList = new ArrayList<>();
         for (List<Integer> array : arrays) {
-            arrayList.add((ArrayList)array);
+            ArrayList list =(ArrayList)array.stream().filter(integer -> integer>=0).collect(Collectors.toList());
+            arrayList.add(list);
         }
         CollectionUtil.reverse(arrayList);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId, arrayList);
-//        FileUtil.writeAsString(new File(path + "map.txt"), CollectionUtil.join(integers, " ").replaceAll("\\[", "").replaceAll("]", ""));
+        //写入栅格宽度
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId, height);
+
+        writeCost(arrayList,width,height,robotId);
+    }
+    /**
+     * slam经纬度转换为栅格
+     *
+     * @param x slam x
+     * @param y slam y
+     */
+    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, BigDecimal resolution, RobotInfo robotInfo) {
+        GridPointDTO pointDTO = new GridPointDTO();
+        BigDecimal scale = resolution;
+        //减去栅格原点坐标
+        x = x.subtract(robotInfo.getOriginX());
+        y = y.subtract(robotInfo.getOriginY());
+        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));
+
+        //todo  原点栅格转换,减去相对原点值
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewGridY())));
+        return pointDTO;
     }
 
+    private void writeCost(ArrayList<ArrayList<Integer>> costList,Integer width, Integer height,String robotId){
+        List<String> strs = new ArrayList<>();
+        List<String> strs2 = new ArrayList<>();
+        RobotInfo robotInfo = cacheService.getRobotInfo(Long.valueOf(robotId));
+        if(robotInfo==null||robotInfo.getGridWidth()==null||robotInfo.getResolution() ==null){
+            log.info("robot gridHeight is not found....");
+            return;
+        }
+
+        //计算左下角位置
+        Integer newX = robotInfo.getNewGridX();
+        Integer newY = height-robotInfo.getNewGridY();
+//        log.info("left point:({},{})",robotInfo.getNewGridX(),robotInfo.getNewGridY());
+        //计算右上角位置
+        Integer rightX = robotInfo.getRightGridX();
+        Integer rightY = height-robotInfo.getRightGridY();
+//        log.info("right point:({},{})",rightX,rightY);
+
+        //裁剪栅格
+        List<List<Integer>> newCostList = new ArrayList<>();
+        for (int i = 0; i < costList.size(); i++) {
+            if(i<=newY&&i>=rightY){
+                List<Integer> newList = new ArrayList<>();
+                List<Integer> sourceList= costList.get(i);
+                for (int j = 0; j < sourceList.size(); j++) {
+                    if(j>=newX&&j<=rightX){
+                        newList.add(sourceList.get(j));
+                    }
+                }
+                newCostList.add(newList);
+            }
+        }
+
+        for (List<Integer> list : newCostList) {
+            strs2.add(CollectionUtil.join(list, " "));
+        }
+
+        FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+        //行转列 为算法输入数据
+        if(CollectionUtil.isNotEmpty(newCostList)){
+            CollectionUtil.reverse(newCostList);
+            for (int i = 0; i < newCostList.get(0).size(); i++) {
+                ArrayList<Integer> ints = new ArrayList<>();
+                for (List<Integer> list : newCostList) {
+                    ints.add(list.get(i));
+                }
+                strs.add(CollectionUtil.join(ints, " "));
+            }
+        }
+
+        FileUtil.writeLines(strs, new File(path + "map3.txt"), "utf-8");
+    }
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
@@ -327,7 +411,6 @@
             json = json.substring(0, json.length() - 1);
         }
         json = json.replaceAll("\\\\", "");
-//        log.info(json);
         RobotResponseDTO<R> responseDTO = JSON.parseObject(json, cls);
         return responseDTO;
     }
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 f1262a2..cb7aa09 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
@@ -69,17 +69,6 @@
             } catch (Exception e) {
                 log.error("task error", e);
             }
-//            if (routeId != null) {
-//                RobotTrajectoryInfo info = new RobotTrajectoryInfo();
-//                info.setRobotId(Long.valueOf(robotId));
-//                info.setCreateTime(new Date());
-//                info.setPostionX(dto.getX());
-//                info.setPostionY(dto.getY());
-//                info.setPostionZ(dto.getZ());
-//                info.setTheta(dto.getTheta());
-//                save(info);
-
-//            }
         }
     }
 
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 fd49e2e..6a0e719 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
@@ -47,6 +47,7 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.*;
+import java.util.concurrent.atomic.AtomicInteger;
 
 
 /**
@@ -81,15 +82,16 @@
     /**
      * 5000 ms
      */
-    @Value("${casic.task.duration:3000}")
+    @Value("${casic.task.duration:2000}")
     private Integer stayDuration;
     @Value("${casic.algorithm.path:-1}")
     private String path;
     /**
      * 障碍物精度
      */
-    @Value("${casic.obstacle:10}")
+    @Value("${casic.obstacle:60}")
     private Integer obstacle;
+    private volatile AtomicInteger atomicInteger = new AtomicInteger();
 
     public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService, ITaskInfoImgService imgService, ITaskGridInfoService taskGridInfoService) {
         this.routeInfoService = routeInfoService;
@@ -128,7 +130,30 @@
         } catch (Exception e) {
             log.error(e.getMessage());
         }
-
+    }
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, GridPushDTO gridPushDTO) {
+        try {
+            WsMsgBaseDTO<GridPushDTO> wsMsgBaseDTO = new WsMsgBaseDTO<GridPushDTO>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(gridPushDTO);
+            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());
+        }
+    }
+    protected void sendTaskMsg(InstructStatusMsgEnums enums, String robotId, TaskEndMsg heatMap) {
+        try {
+            WsMsgBaseDTO<TaskEndMsg> wsMsgBaseDTO = new WsMsgBaseDTO<TaskEndMsg>();
+            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());
+        }
     }
 
     @Override
@@ -187,11 +212,11 @@
 
     private void openTask(StartTrackRequest request, String robotId) {
         QueryWrapper<RouteInfo> query = new QueryWrapper<>();
-        query.eq("target_id", request.getTrack_name());
-        List<RouteInfo> routeInfos = routeInfoService.list(query);
-        if (CollectionUtil.isEmpty(routeInfos)) {
-            throw new ServiceException(500, "路线不存在,请及时更新");
-        }
+//        query.eq("target_id", request.getTrack_name());
+//        List<RouteInfo> routeInfos = routeInfoService.list(query);
+//        if (CollectionUtil.isEmpty(routeInfos)) {
+//            throw new ServiceException(500, "路线不存在,请及时更新");
+//        }
 //        RouteInfo routeInfo = routeInfos.get(0);
         Integer isTask = 0;
         //开启寻源任务
@@ -201,12 +226,12 @@
         RobotInfo robotInfo = cacheService.getRobotInfo(Convert.toLong(robotId));
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_IS_TASK + robotId, isTask);
         //添加任务记录
-        TaskInfo taskInfo = addTaskByStartTrack( robotInfo, request);
+        TaskInfo taskInfo = addTaskByStartTrack(robotInfo, request);
         //No.3 更新器人执行任务信息
 //        Long currRouteId = routeInfo.getId();
         Long currTaskId = taskInfo.getId();
 
-        statusInfoService.updateCurrTask(robotId,  currTaskId);
+        statusInfoService.updateCurrTask(robotId, currTaskId);
         //算法初始化标志创建
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId, currTaskId);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_INIT + robotId, 0);
@@ -230,7 +255,7 @@
         robotCacheClean(robotId);
         //清楚规划任务锁
         CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_PLANING_FLAG + robotId);
-        CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID+ robotId);
+        CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId);
         //清空机器当前任务
         statusInfoService.updateCurrTask(robotId, null);
     }
@@ -304,7 +329,7 @@
         //No.1 任务初始化
         pathInit(longId, robotInfo, pointDTO, taskId, robotId, taskInfo.getStepLen());
         //No.2 路线规划
-        pathPlaning(longId, robotInfo, pointDTO, taskId, robotId, taskInfo,dto);
+        pathPlaning(longId, robotInfo, pointDTO, taskId, robotId, taskInfo, dto);
     }
 
     /**
@@ -329,7 +354,7 @@
      * @param taskId    任务ID
      * @param robotId   机器人ID
      */
-    private void pathPlaning(Long longId, RobotInfo robotInfo, GridPointDTO pointDTO, Long taskId, String robotId, TaskInfo taskInfo,PoseMessageResponseDTO curPoint) {
+    private void pathPlaning(Long longId, RobotInfo robotInfo, GridPointDTO pointDTO, Long taskId, String robotId, TaskInfo taskInfo, PoseMessageResponseDTO curPoint) {
         if (taskId != null) {
             //规划节点
             PointNextDTO pointNextDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId);
@@ -337,12 +362,24 @@
             Boolean flag = lockPlanIngFlag(robotId);
             //是否到达预期栅格
             if (!flag) {
-                log.info("未获取到规划任务,直接结束：{}",pointDTO);
                 return;
             }
+            log.info("curr point:{}", curPoint);
+            log.debug("curr pointGrid:{}", pointDTO);
+            log.debug("oldEstimateGrid:{}", oldEstimateGrid);
+
+            GridPushDTO gridPushDTO = new GridPushDTO();
+            gridPushDTO.setCurrGridX(pointDTO.getX());
+            gridPushDTO.setCurrGridY(pointDTO.getY());
+            if(oldEstimateGrid!=null){
+                gridPushDTO.setEstimateGridX(oldEstimateGrid.getX());
+                gridPushDTO.setEstimateGridY(oldEstimateGrid.getY());
+            }
+            sendWebSocket(InstructStatusMsgEnums.GRID, robotId, gridPushDTO);
+
             try {
-                log.debug("oldEstimateGrid:{}", oldEstimateGrid);
-                if (pointNextDTO == null || isEquals(pointDTO, oldEstimateGrid)) {
+                if (pointNextDTO == null || oldEstimateGrid == null || isEquals(pointDTO, oldEstimateGrid, robotInfo)) {
+                    atomicInteger = new AtomicInteger(0);
                     log.info("当前栅格变更......", pointDTO);
                     CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_POINT + robotId, pointDTO);
                     //算法调用获取热力图
@@ -358,19 +395,24 @@
                     //存储算法输出栅格信息
                     AlgorithmResponse response = algorithmService.pathPlanning(pathPlanDTO);
                     CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId, response.getPointNextDTO());
-                    sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
 
-                    //存储循迹任务信息
-                    TaskGridInfo taskGridInfo = new TaskGridInfo();
-                    taskGridInfo.setCreateTime(new Date());
-                    taskGridInfo.setUpdateTime(new Date());
-                    taskGridInfo.setCurGridX(pointDTO.getX().intValue());
-                    taskGridInfo.setCurGridY(pointDTO.getY().intValue());
-                    taskGridInfo.setNeutronCount(new BigDecimal(pathPlanDTO.getZNow()));
-                    taskGridInfo.setEstimateGridX(response.getPointNextDTO().getX());
-                    taskGridInfo.setEstimateGridY(response.getPointNextDTO().getY());
-                    taskGridInfo.setTaskId(taskId);
-                    taskGridInfoService.save(taskGridInfo);
+                    new Thread() {
+                        @Override
+                        public void run() {
+                            //存储循迹任务信息
+                            TaskGridInfo taskGridInfo = new TaskGridInfo();
+                            taskGridInfo.setCreateTime(new Date());
+                            taskGridInfo.setUpdateTime(new Date());
+                            taskGridInfo.setCurGridX(pointDTO.getX().intValue());
+                            taskGridInfo.setCurGridY(pointDTO.getY().intValue());
+                            taskGridInfo.setNeutronCount(new BigDecimal(pathPlanDTO.getZNow()));
+                            taskGridInfo.setEstimateGridX(response.getPointNextDTO().getX());
+                            taskGridInfo.setEstimateGridY(response.getPointNextDTO().getY());
+                            taskGridInfo.setTaskId(taskId);
+                            taskGridInfoService.save(taskGridInfo);
+                            sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
+                        }
+                    }.start();
 
                     try {
                         //停留时间阈值
@@ -381,11 +423,13 @@
 
                     //是否触发停止状态
                     if (!response.isEnd()) {
-                        log.debug("task planning-- xun dian robotId:{},taskId:{}", robotId, taskId);
                         //机器人寻点指令下发
-                        sendTargetPoint(robotInfo, response,curPoint);
+                        if (robotInfo.getIsOpen() == null || robotInfo.getIsOpen() == 0) {
+                            sendTargetPoint(robotInfo, response, curPoint);
+                        } else {
+                            log.debug("task mode isOpen:{}", robotInfo.getIsOpen());
+                        }
                     } else {
-                        log.debug("task stop-- robotId:{},taskId:{}", robotId, taskId);
                         //机器人停止指令下发
                         SoftwareStopRequest request = new SoftwareStopRequest();
                         request.setRobotId(robotInfo.getId());
@@ -394,6 +438,15 @@
 //                        baseRobotService.execCmdHandler(request, InstructCodeEnums.SOFTWARE_STOP);
                         //循迹任务结束
                         closeTask(null, robotId);
+                        TaskEndMsg endMsg = new TaskEndMsg();
+                        endMsg.setCode(1);
+                        endMsg.setRobotId(robotId);
+                        endMsg.setMessage("寻源结束");
+                        sendTaskMsg(InstructStatusMsgEnums.TASK_END, robotId, endMsg);
+                    }
+                } else {
+                    if (!isChange(pointDTO, oldEstimateGrid)) {
+                        atomicInteger.incrementAndGet();
                     }
                 }
             } catch (Exception e) {
@@ -429,37 +482,56 @@
         Integer initValue = cacheService.readTaskInit(longId);
         //No.1 任务初始化
         if (initValue != 1) {
-
             //执行初始化操作
             if (cacheService.updateTaskInit(longId, 1)) {
-
                 List<List<Integer>> costList = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId);
                 List<String> strs = new ArrayList<>();
                 List<String> strs2 = new ArrayList<>();
-                for (List<Integer> list : costList) {
+                Integer height = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId);
+                if (height == null) {
+                    throw new ServiceException(500, "未获取到栅格宽度信息");
+                }
+                Integer newX = robotInfo.getNewGridX();
+                Integer newY = height - robotInfo.getNewGridY();
+
+                //裁剪栅格
+                List<List<Integer>> newCostList = new ArrayList<>();
+                for (int i = 0; i < costList.size(); i++) {
+                    if (i <= newY) {
+                        List<Integer> newList = new ArrayList<>();
+                        List<Integer> sourceList = costList.get(i);
+                        for (int j = 0; j < sourceList.size(); j++) {
+                            if (j >= newX) {
+                                newList.add(sourceList.get(j));
+                            }
+                        }
+                        newCostList.add(newList);
+                    }
+                }
+                //数组转换
+                for (List<Integer> list : newCostList) {
                     strs2.add(CollectionUtil.join(list, " "));
                 }
                 FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+
                 //行转列 为算法输入数据
-                if(CollectionUtil.isNotEmpty(costList)){
-                    CollectionUtil.reverse(costList);
-                    for (int i = 0; i < costList.get(0).size(); i++) {
+                if (CollectionUtil.isNotEmpty(newCostList)) {
+                    CollectionUtil.reverse(newCostList);
+                    for (int i = 0; i < newCostList.get(0).size(); i++) {
                         ArrayList<Integer> ints = new ArrayList<>();
-                        for (List<Integer> list : costList) {
+                        for (List<Integer> list : newCostList) {
                             ints.add(list.get(i));
                         }
                         strs.add(CollectionUtil.join(ints, " "));
                     }
-//                    CollectionUtil.reverse(strs);
                 }
-
-
                 FileUtil.writeLines(strs, new File(path + "map.txt"), "utf-8");
 
-                PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId, stepLen);
                 //中子源计数率读取
+                PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId, stepLen);
                 pathInitDTO.setZNow(cacheService.getNeutronCount(longId));
                 log.info("init params:{}", JSON.toJSONString(pathInitDTO));
+
                 //执行1次算法 初始化操作
                 algorithmService.pathPlanningInit(pathInitDTO);
             }
@@ -551,7 +623,7 @@
      * @param robotInfo 机器人信息
      * @param response  算法输出数据
      */
-    private void sendTargetPoint(RobotInfo robotInfo, AlgorithmResponse response,PoseMessageResponseDTO curPoint) {
+    private void sendTargetPoint(RobotInfo robotInfo, AlgorithmResponse response, PoseMessageResponseDTO curPoint) {
         //读取已设置巡点目标信息
         PointNextDTO nextDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TARGET_POINT_ID + robotInfo.getId());
         //巡点
@@ -565,6 +637,7 @@
             request.setZ(curPoint.getZ().toString());
             request.setTheta(curPoint.getTheta().toString());
             request.setRobotId(robotInfo.getId());
+            log.info("下发寻源点位:{}", request);
             //执行巡点指令
             baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
             //重设寻点点位
@@ -632,7 +705,7 @@
         //读取
         Integer index = 1;
         LambdaQueryWrapper<TaskGridInfo> taskGridQuery = new LambdaQueryWrapper<>();
-        taskGridQuery.eq(TaskGridInfo::getTaskId,info.getId());
+        taskGridQuery.eq(TaskGridInfo::getTaskId, info.getId());
         taskGridQuery.orderByAsc(TaskGridInfo::getCreateTime);
         List<TaskGridInfo> taskGridInfos = taskGridInfoService.list(taskGridQuery);
         if (CollectionUtil.isNotEmpty(taskGridInfos)) {
@@ -735,12 +808,29 @@
         return true;
     }
 
-    private boolean isEquals(GridPointDTO pointDTO, GridPointDTO oldPointDTO) {
-        if(oldPointDTO==null||oldPointDTO.getX()==null){
+    /**
+     * 栅格判定方法
+     *
+     * @param pointDTO    当前栅格
+     * @param oldPointDTO 预期栅格
+     * @param robotInfo   机器信息
+     * @return
+     */
+    private boolean isEquals(GridPointDTO pointDTO, GridPointDTO oldPointDTO, RobotInfo robotInfo) {
+        if (oldPointDTO == null || oldPointDTO.getX() == null) {
             return false;
         }
-        if (pointDTO.getX().compareTo(oldPointDTO.getX()) == 0 && pointDTO.getY().compareTo(oldPointDTO.getY()) == 0) {
-            return true;
+        if (robotInfo.getResolution().compareTo(new BigDecimal(0.21)) > 0) {
+            //大于0.2则默认该点
+            if (pointDTO.getX().compareTo(oldPointDTO.getX()) == 0 && pointDTO.getY().compareTo(oldPointDTO.getY()) == 0) {
+                return true;
+            }
+        } else {
+            //小于0.2则可判定相邻栅格
+            if (pointDTO.getX().subtract(oldPointDTO.getX()).abs().intValue() <= 1 && pointDTO.getY().subtract(oldPointDTO.getY()).abs().intValue() <= 1) {
+                return true;
+            }
+
         }
         return false;
     }
@@ -756,7 +846,7 @@
         return pathInitDTO;
     }
 
-    private TaskInfo addTaskByStartTrack( RobotInfo robotInfo, StartTrackRequest request) {
+    private TaskInfo addTaskByStartTrack(RobotInfo robotInfo, StartTrackRequest request) {
         //No.2 新增任务信息
         TaskInfo taskInfo = new TaskInfo();
         String currDate = DateUtil.format(new Date(), "yyyyMMdd");
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
index 467b9c2..b8eebf0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
@@ -44,8 +44,8 @@
 
         ArrayList<String> invocation = new ArrayList<String>();
         invocation.add(exePath);
-        invocation.add("10");
-        invocation.add("10");
+        invocation.add("36");
+        invocation.add("18");
         invocation.add("5");
         invocation.add("0.16");
         invocation.add("Mission1");
@@ -58,8 +58,8 @@
         String planning = path + "search.exe";
         ArrayList<String> planInvocation = new ArrayList<String>();
         planInvocation.add(planning);
-        planInvocation.add("10");
-        planInvocation.add("1.0");
+        planInvocation.add("19");
+        planInvocation.add("8");
         planInvocation.add("0.2");
         planInvocation.add("Mission1");
         List<String> res = invokeJob(planInvocation);
diff --git a/casic-web/pom.xml b/casic-web/pom.xml
index 937b695..c793209 100644
--- a/casic-web/pom.xml
+++ b/casic-web/pom.xml
@@ -48,6 +48,11 @@
             <artifactId>spring-boot-starter-web</artifactId>
         </dependency>
         <dependency>
+            <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
             <groupId>org.springframework.boot</groupId>
             <artifactId>spring-boot-starter-actuator</artifactId>
             <exclusions>

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
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 a849528..4f34669 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
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index bdfc2d0..d7736a5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -148,7 +148,7 @@
     public void insertPsdAlarms() {
         times++;
         //先查询正在巡检任务信息
-        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
+        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 2);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
 
         long currentTimes = System.currentTimeMillis();
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 92c8c8e..6e94193 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
@@ -5,10 +5,7 @@
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 
 /**
  * 机器人操作类
@@ -76,4 +73,11 @@
     void reloadPcd(RobotInfo info);
 
     void startTrack(StartTrackRequest request);
+
+    /**
+     * 栅格寻点指令
+     * @param request 请求
+     * @return
+     */
+    ResponseDataDTO<Integer> targetGrid(TargetPointRequest 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 3bb475f..d8b3363 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.lang.Assert;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
@@ -25,7 +26,6 @@
 import io.swagger.annotations.ApiParam;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.apache.ibatis.annotations.Param;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.web.bind.annotation.*;
 import org.springframework.web.multipart.MultipartFile;
@@ -76,6 +76,13 @@
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
+    /**
+     * /{robotId}
+     *
+     * @param file
+     * @param robotId
+     * @return
+     */
     @SneakyThrows
     @ApiOperation(value = "PCD上传接口")
     @PostMapping(value = "/uploadPcd")
@@ -109,7 +116,12 @@
         robotInfoService.updateSpeed(robotInfo);
         return ResponseDataDTO.success();
     }
-
+    @ApiOperation(value = "设置任务启动模式", notes = "返回 1成功 0失败")
+    @PostMapping(value = "/setTaskMode")
+    public ResponseDataDTO setTaskMode(@RequestBody TaskModeRequest request) {
+        robotInfoService.setTaskMode(request);
+        return ResponseDataDTO.success();
+    }
     @ApiOperation(value = "机器人数据更新", notes = "1.pcd重载 2.路线及关键点数据重载")
     @PostMapping(value = "/reload")
     public ResponseDataDTO reload(@RequestBody BaseRobotCmdDTO request) {
@@ -149,6 +161,8 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
     }
 
+
+
     /**
      * 机器人请求id
      *
@@ -161,6 +175,16 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
     }
 
+    @ApiOperation(value = "寻栅格指令")
+    @PostMapping(value = "/targetGrid")
+    public ResponseDataDTO<Integer> targetGrid(@RequestBody TargetGridRequest request) {
+        TargetPointRequest targetPointRequest = new TargetPointRequest();
+        targetPointRequest.setRobotId(request.getRobotId());
+        targetPointRequest.setX(request.getEstimateGridX());
+        targetPointRequest.setY(request.getEstimateGridY());
+        return baseRobotService.targetGrid(targetPointRequest);
+    }
+
     /**
      * 机器人请求id
      *
@@ -174,6 +198,7 @@
         if (request.getStepLen() == null) {
             request.setStepLen(2);
         }
+        log.info(JSON.toJSONString(request));
         baseRobotService.startTrack(request);
         return ResponseDataDTO.success();
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
new file mode 100644
index 0000000..709bcd3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+@Data
+public class GridDTO {
+    /**
+     * 当前栅格x
+     */
+    private Integer currGridX;
+    /**
+     * 当前栅格y
+     */
+    private Integer currGridY;
+    /**
+     * 规划栅格x
+     */
+    private Integer estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private Integer estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
new file mode 100644
index 0000000..7eae335
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+@Data
+public class GridPushDTO {
+    /**
+     * 当前栅格x
+     */
+    private BigDecimal currGridX;
+    /**
+     * 当前栅格y
+     */
+    private BigDecimal currGridY;
+
+    /**
+     * 规划栅格x
+     */
+    private BigDecimal estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private BigDecimal estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index acbeb93..b9ad7a3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -23,4 +23,8 @@
     private BigDecimal gridWidth;
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     private BigDecimal resolution;
+    @ApiModelProperty(value = "新设原点X", dataType = "BigDecimal")
+    private BigDecimal newX;
+    @ApiModelProperty(value = "新设原点Y", dataType = "BigDecimal")
+    private BigDecimal newY;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
new file mode 100644
index 0000000..acc38f3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
@@ -0,0 +1,15 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+@Data
+public class TaskEndMsg implements Serializable {
+    private String robotId;
+    private String message;
+    /**
+     * 1 正常 0 异常
+     */
+    private Integer code;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 90e4dcf..d5ae18a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -154,7 +154,46 @@
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     @TableField("resolution")
     private BigDecimal resolution;
+    /**
+     * 新设定栅格原点X
+     */
+    @TableField("new_origin_x")
+    private BigDecimal newOriginX;
+    /**
+     * 新设定栅格原点Y
+     */
+    @TableField("new_origin_y")
+    private BigDecimal newOriginY;
 
+    /**
+     * 新设定栅格X
+     */
+    @TableField("new_grid_x")
+    private Integer newGridX;
+    /**
+     * 新设定栅格Y
+     */
+    @TableField("new_grid_y")
+    private Integer newGridY;
+
+    /**
+     * 裁剪右顶点X
+     */
+    @TableField("right_grid_x")
+    private Integer rightGridX;
+    @TableField("is_open")
+    private Integer isOpen;
+    /**
+     * 裁剪右顶点Y
+     */
+    @TableField("right_grid_y")
+    private Integer rightGridY;
+    public BigDecimal getNewX(){
+        return newOriginX;
+    }
+    public BigDecimal getNewY(){
+        return newOriginY;
+    }
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
index 2cb752f..3e741d7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
@@ -24,7 +24,10 @@
      *
      * @see com.casic.missiles.modular.robot.service.impl.TaskInfoServiceImpl
      */
-    HEAT_MAP("heat_map" , "机器人热力图");
+    HEAT_MAP("heat_map" , "机器人热力图"),
+    GRID("grid" , "栅格推送"),
+    TASK_END("task_end" , "任务结束");
+
     /**
      * 请求地址
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
index 88c9f79..3c93145 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -32,7 +32,6 @@
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         statusInfoService.saveCostMap(robotId, message);
-
         CostMapResolutionRequest costMapSet = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
         if(costMapSet != null){
             CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
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 8a71e0b..06f8ae6 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
@@ -30,10 +30,9 @@
     public void process(String robotId, String topic, MqttMessage message) {
 
         index.put(index_key, index.get("index") + 1);
-        if (index.get(index_key)>30) {
+        if (index.get(index_key)>1) {
             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 a9d7914..755997e 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
@@ -39,10 +39,8 @@
         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);
@@ -74,10 +72,12 @@
                     robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
                 }
             }
+
             //读取缓存信息
             sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
         } catch (Exception e) {
             e.printStackTrace();
         }
+
     }
-}
+}
\ No newline at end of file
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 7940a24..40a60a1 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,9 +1,13 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.exception.ServiceException;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.IBaseRobotService;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
@@ -11,6 +15,7 @@
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
+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.mqtt.config.MqttClientConnection;
@@ -32,11 +37,13 @@
     private final IRobotRouteOptService robotRouteOptService;
     private final IRobotInfoService robotInfoService;
     private final ITaskInfoService taskInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService, @Lazy IAlgorithmService algorithmService) {
         this.robotRouteOptService = robotRouteOptService;
         this.robotInfoService = robotInfoService;
         this.taskInfoService = taskInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
@@ -117,7 +124,7 @@
             //线路关键点读取
             if (requestDTO.getData() != null) {
                 for (RouteInfo routeInfo : requestDTO.getData()) {
-                    if("11-1 79-1".equals(routeInfo.getRouteName())){
+                    if ("11-1 79-1".equals(routeInfo.getRouteName())) {
                         continue;
                     }
                     TrackPointListRequest request = new TrackPointListRequest();
@@ -141,6 +148,7 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+
     @Transactional
     @Override
     public void startTrack(StartTrackRequest request) {
@@ -149,6 +157,25 @@
 //        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
     }
 
+    @Override
+    public ResponseDataDTO<Integer> targetGrid(TargetPointRequest request) {
+        PoseMessageResponseDTO responseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + request.getRobotId());
+        if(responseDTO==null){
+            throw new ServiceException(500,"请优先开启导航");
+        }
+        RobotInfo robotInfo = robotInfoService.getById(request.getRobotId());
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        //获取栅格中心点
+        GridPointDTO pointDTO =  algorithmService.convertGridCenterPoint(gridPointDTO,robotInfo.getResolution(),robotInfo);
+        request.setX(pointDTO.getX().toString());
+        request.setY(pointDTO.getY().toString());
+        request.setZ(responseDTO.getZ().toString());
+        request.setTheta(responseDTO.getTheta().toString());
+        //执行巡点指令
+        ResponseDataDTO<Integer> responseDataDTO = this.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
+        return responseDataDTO;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
new file mode 100644
index 0000000..7d69964
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
@@ -0,0 +1,19 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 获取循迹路线下发指令
+ */
+@Data
+public class TargetGridRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "栅格x坐标", dataType = "String")
+    private String estimateGridX;
+    @ApiModelProperty(value = "栅格y坐标", dataType = "String")
+    private String estimateGridY;
+    @ApiModelProperty(value = "z坐标", dataType = "String")
+    private String z;
+    @ApiModelProperty(value = "theta", dataType = "String")
+    private String theta;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
new file mode 100644
index 0000000..763656b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 导航下发指令
+ */
+@Data
+public class TaskModeRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "控制模式 1:手动 0:自动", dataType = "String")
+    private Integer isOpen;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index 8c95459..89697b8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -6,6 +6,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TaskModeRequest;
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 
 import java.util.List;
@@ -52,4 +53,6 @@
      * @param dto 栅格信息
      */
     void updateRobotGrid(String robotId, AppCostmapResponseDTO dto);
+
+    void setTaskMode(TaskModeRequest request);
 }
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 a4dbe0b..a6f5116 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
@@ -167,24 +167,35 @@
         y = y.subtract(robotInfo.getOriginY());
         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));
+
+        //todo  原点栅格转换,减去相对原点值
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewGridY())));
         return pointDTO;
     }
 
     /**
+     * do栅格转xy
      * 根据栅格读取栅格中心点位信息
      *
      * @param pointDTO 栅格信息
      * @return
      */
     public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo) {
+
+        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewGridY())));
+
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = resolution;
         //点位转换 转换后栅格－1 从1开始计算
         BigDecimal slamX = (pointDTO.getX().subtract(new BigDecimal(1))).multiply(scale);
         BigDecimal slamY = (pointDTO.getY().subtract(new BigDecimal(1))).multiply(scale);
+
         //中心栅格点位中心添加
         centerPoint.setX(slamX.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
         centerPoint.setY(slamY.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
+
         //加上栅格原点坐标
         centerPoint.setX(centerPoint.getX().add(robotInfo.getOriginX()));
         centerPoint.setY(centerPoint.getY().add(robotInfo.getOriginY()));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
index e2879ce..f825e84 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
@@ -9,6 +9,8 @@
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.data.redis.core.RedisTemplate;
 import org.springframework.stereotype.Service;
 
 @Service
@@ -18,7 +20,8 @@
     public RobotCacheServiceImpl(IRobotInfoService robotInfoService) {
         this.robotInfoService = robotInfoService;
     }
-
+    @Autowired
+    private RedisTemplate<String, Object> redisTemplate;
     @Override
     public synchronized boolean updateTaskId(Long robotId, Long taskId) {
         //读取当前机器人任务信息
@@ -83,12 +86,14 @@
 
     @Override
     public void updateCostMap(String robotId, AppCostmapResponseDTO msg) {
-        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
+        redisTemplate.opsForValue().set(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId,msg);
+//        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
     }
 
     @Override
     public AppCostmapResponseDTO getCostMap(String robotId) {
-        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+       return (AppCostmapResponseDTO) redisTemplate.opsForValue().get(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+//        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
     }
 
     @Override
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index fdded64..cdbbe89 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -12,11 +12,13 @@
 import com.casic.missiles.core.application.service.AbstractDictService;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dao.RobotInfoMapper;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.*;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.DataRecordRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TaskModeRequest;
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.*;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -51,16 +53,18 @@
     private final IDeviceInfoService deviceInfoService;
     private final IRobotPointInfoService pointInfoService;
     private final IBaseRobotService baseRobotService;
+    private final IAlgorithmService algorithmService;
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
-    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService, @Lazy IBaseRobotService baseRobotService) {
+    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService, @Lazy IBaseRobotService baseRobotService, @Lazy IAlgorithmService algorithmService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.dictService = dictService;
         this.routeInfoService = routeInfoService;
         this.deviceInfoService = deviceInfoService;
         this.pointInfoService = pointInfoService;
         this.baseRobotService = baseRobotService;
+        this.algorithmService = algorithmService;
     }
 
     @Transactional
@@ -96,15 +100,30 @@
         }
         if (robotInfo.getAlarmThreshold() != null) {
             update.set(RobotInfo::getAlarmThreshold, robotInfo.getAlarmThreshold());
+            update.set(RobotInfo::getMaxThreshold, robotInfo.getAlarmThreshold());
         }
         if (robotInfo.getGridHeight() != null && robotInfo.getGridWidth() != null) {
+            RobotInfo oldRobotInfo = getById(robotInfo.getId());
             update.set(RobotInfo::getGridHeight, robotInfo.getGridHeight());
             update.set(RobotInfo::getGridWidth, robotInfo.getGridWidth());
             update.set(RobotInfo::getResolution, robotInfo.getResolution());
+            update.set(RobotInfo::getNewOriginX, robotInfo.getNewX());
+            update.set(RobotInfo::getNewOriginY, robotInfo.getNewY());
+            //计算左下原点
+            oldRobotInfo.setNewGridX(0);
+            oldRobotInfo.setNewGridY(0);
+            GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(robotInfo.getNewX(), robotInfo.getNewY(), robotInfo.getResolution(), oldRobotInfo);
+            update.set(RobotInfo::getNewGridX, gridPointDTO.getX().intValue());
+            update.set(RobotInfo::getNewGridY, gridPointDTO.getY().intValue());
+            //计算右顶点
+            Integer rightX = robotInfo.getGridWidth().divide(robotInfo.getResolution(), 0, BigDecimal.ROUND_HALF_UP).intValue();
+            Integer rightY = robotInfo.getGridHeight().divide(robotInfo.getResolution(), 0, BigDecimal.ROUND_HALF_UP).intValue();
+            update.set(RobotInfo::getRightGridX, rightX);
+            update.set(RobotInfo::getRightGridY, rightY);
+
             //下发障碍物栅格
             sendCostMapResolution(robotInfo.getResolution(), robotInfo.getId());
-            //重新生成栅格地图
-            //sendChangePcd(robotInfo.getId());
+
         }
         update.eq(RobotInfo::getId, robotInfo.getId());
         update(update);
@@ -162,6 +181,16 @@
         update(lambdaUpdateWrapper);
     }
 
+    @Override
+    public void setTaskMode(TaskModeRequest request) {
+        if (request.getRobotId() != null) {
+            LambdaUpdateWrapper<RobotInfo> lambdaUpdateWrapper = new LambdaUpdateWrapper<>();
+            lambdaUpdateWrapper.set(RobotInfo::getIsOpen, request.getIsOpen());
+            lambdaUpdateWrapper.eq(RobotInfo::getId, request.getRobotId());
+            update(lambdaUpdateWrapper);
+        }
+    }
+
     @Transactional
     @Override
     public List<RobotInfo> list(Wrapper<RobotInfo> queryWrapper) {
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 46b5c3b..f52940c 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.collection.CollectionUtil;
 import cn.hutool.core.convert.Convert;
+import cn.hutool.core.io.FileUtil;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
@@ -13,9 +14,9 @@
 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.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO;
@@ -27,7 +28,6 @@
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
-import org.aspectj.util.FileUtil;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.context.annotation.Lazy;
@@ -38,8 +38,8 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.ArrayList;
-import java.util.Arrays;
 import java.util.List;
+import java.util.stream.Collectors;
 
 
 /**
@@ -81,6 +81,11 @@
     }
 
     private void wrapInfo(RobotStatusInfo statusInfo) {
+        // todo 报错
+        StopStateResponseDTO stopStateResponseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + statusInfo.getRobotId());
+        if (stopStateResponseDTO != null) {
+            statusInfo.setSoft(stopStateResponseDTO.getSoft());
+        }
         statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getDiscernType()));
 
         //暂停状态
@@ -262,6 +267,8 @@
      */
     @Value("${casic.algorithm.num:30}")
     private Integer num;
+    @Value("${casic.obstacle:60}")
+    private Integer obstacle;
 
     /**
      * 机器人栅格数据
@@ -276,7 +283,6 @@
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             //发送栅格分辨率设定
-
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
             robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
             //log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
@@ -290,24 +296,102 @@
                         } else {
                             dataNums.add(1);
                         }
+                    } else {
+                        dataNums.add(-1);
                     }
                 }
-                writeCache(dataNums,responseDTO.getMsg().getWidth(),responseDTO.getMsg().getHeight(),robotId);
+                writeCache(dataNums, responseDTO.getMsg().getWidth(), responseDTO.getMsg().getHeight(), robotId);
             }
         }
     }
 
-    private void writeCache(ArrayList<Integer> integers,Integer width,Integer height,String robotId) {
-        List<List<Integer>> arrays = CollectionUtil.split(integers,width);
+    private void writeCache(ArrayList<Integer> integers, Integer width, Integer height, String robotId) {
+        List<List<Integer>> arrays = CollectionUtil.split(integers, width);
         ArrayList<ArrayList<Integer>> arrayList = new ArrayList<>();
         for (List<Integer> array : arrays) {
-            arrayList.add((ArrayList)array);
+            ArrayList list =(ArrayList)array.stream().filter(integer -> integer>=0).collect(Collectors.toList());
+            arrayList.add(list);
         }
         CollectionUtil.reverse(arrayList);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId, arrayList);
-//        FileUtil.writeAsString(new File(path + "map.txt"), CollectionUtil.join(integers, " ").replaceAll("\\[", "").replaceAll("]", ""));
+        //写入栅格宽度
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId, height);
+
+        writeCost(arrayList,width,height,robotId);
+    }
+    /**
+     * slam经纬度转换为栅格
+     *
+     * @param x slam x
+     * @param y slam y
+     */
+    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, BigDecimal resolution, RobotInfo robotInfo) {
+        GridPointDTO pointDTO = new GridPointDTO();
+        BigDecimal scale = resolution;
+        //减去栅格原点坐标
+        x = x.subtract(robotInfo.getOriginX());
+        y = y.subtract(robotInfo.getOriginY());
+        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));
+
+        //todo  原点栅格转换,减去相对原点值
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewGridY())));
+        return pointDTO;
     }
 
+    private void writeCost(ArrayList<ArrayList<Integer>> costList,Integer width, Integer height,String robotId){
+        List<String> strs = new ArrayList<>();
+        List<String> strs2 = new ArrayList<>();
+        RobotInfo robotInfo = cacheService.getRobotInfo(Long.valueOf(robotId));
+        if(robotInfo==null||robotInfo.getGridWidth()==null||robotInfo.getResolution() ==null){
+            log.info("robot gridHeight is not found....");
+            return;
+        }
+
+        //计算左下角位置
+        Integer newX = robotInfo.getNewGridX();
+        Integer newY = height-robotInfo.getNewGridY();
+//        log.info("left point:({},{})",robotInfo.getNewGridX(),robotInfo.getNewGridY());
+        //计算右上角位置
+        Integer rightX = robotInfo.getRightGridX();
+        Integer rightY = height-robotInfo.getRightGridY();
+//        log.info("right point:({},{})",rightX,rightY);
+
+        //裁剪栅格
+        List<List<Integer>> newCostList = new ArrayList<>();
+        for (int i = 0; i < costList.size(); i++) {
+            if(i<=newY&&i>=rightY){
+                List<Integer> newList = new ArrayList<>();
+                List<Integer> sourceList= costList.get(i);
+                for (int j = 0; j < sourceList.size(); j++) {
+                    if(j>=newX&&j<=rightX){
+                        newList.add(sourceList.get(j));
+                    }
+                }
+                newCostList.add(newList);
+            }
+        }
+
+        for (List<Integer> list : newCostList) {
+            strs2.add(CollectionUtil.join(list, " "));
+        }
+
+        FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+        //行转列 为算法输入数据
+        if(CollectionUtil.isNotEmpty(newCostList)){
+            CollectionUtil.reverse(newCostList);
+            for (int i = 0; i < newCostList.get(0).size(); i++) {
+                ArrayList<Integer> ints = new ArrayList<>();
+                for (List<Integer> list : newCostList) {
+                    ints.add(list.get(i));
+                }
+                strs.add(CollectionUtil.join(ints, " "));
+            }
+        }
+
+        FileUtil.writeLines(strs, new File(path + "map3.txt"), "utf-8");
+    }
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
@@ -327,7 +411,6 @@
             json = json.substring(0, json.length() - 1);
         }
         json = json.replaceAll("\\\\", "");
-//        log.info(json);
         RobotResponseDTO<R> responseDTO = JSON.parseObject(json, cls);
         return responseDTO;
     }
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 f1262a2..cb7aa09 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
@@ -69,17 +69,6 @@
             } catch (Exception e) {
                 log.error("task error", e);
             }
-//            if (routeId != null) {
-//                RobotTrajectoryInfo info = new RobotTrajectoryInfo();
-//                info.setRobotId(Long.valueOf(robotId));
-//                info.setCreateTime(new Date());
-//                info.setPostionX(dto.getX());
-//                info.setPostionY(dto.getY());
-//                info.setPostionZ(dto.getZ());
-//                info.setTheta(dto.getTheta());
-//                save(info);
-
-//            }
         }
     }
 
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 fd49e2e..6a0e719 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
@@ -47,6 +47,7 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.*;
+import java.util.concurrent.atomic.AtomicInteger;
 
 
 /**
@@ -81,15 +82,16 @@
     /**
      * 5000 ms
      */
-    @Value("${casic.task.duration:3000}")
+    @Value("${casic.task.duration:2000}")
     private Integer stayDuration;
     @Value("${casic.algorithm.path:-1}")
     private String path;
     /**
      * 障碍物精度
      */
-    @Value("${casic.obstacle:10}")
+    @Value("${casic.obstacle:60}")
     private Integer obstacle;
+    private volatile AtomicInteger atomicInteger = new AtomicInteger();
 
     public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService, ITaskInfoImgService imgService, ITaskGridInfoService taskGridInfoService) {
         this.routeInfoService = routeInfoService;
@@ -128,7 +130,30 @@
         } catch (Exception e) {
             log.error(e.getMessage());
         }
-
+    }
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, GridPushDTO gridPushDTO) {
+        try {
+            WsMsgBaseDTO<GridPushDTO> wsMsgBaseDTO = new WsMsgBaseDTO<GridPushDTO>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(gridPushDTO);
+            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());
+        }
+    }
+    protected void sendTaskMsg(InstructStatusMsgEnums enums, String robotId, TaskEndMsg heatMap) {
+        try {
+            WsMsgBaseDTO<TaskEndMsg> wsMsgBaseDTO = new WsMsgBaseDTO<TaskEndMsg>();
+            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());
+        }
     }
 
     @Override
@@ -187,11 +212,11 @@
 
     private void openTask(StartTrackRequest request, String robotId) {
         QueryWrapper<RouteInfo> query = new QueryWrapper<>();
-        query.eq("target_id", request.getTrack_name());
-        List<RouteInfo> routeInfos = routeInfoService.list(query);
-        if (CollectionUtil.isEmpty(routeInfos)) {
-            throw new ServiceException(500, "路线不存在,请及时更新");
-        }
+//        query.eq("target_id", request.getTrack_name());
+//        List<RouteInfo> routeInfos = routeInfoService.list(query);
+//        if (CollectionUtil.isEmpty(routeInfos)) {
+//            throw new ServiceException(500, "路线不存在,请及时更新");
+//        }
 //        RouteInfo routeInfo = routeInfos.get(0);
         Integer isTask = 0;
         //开启寻源任务
@@ -201,12 +226,12 @@
         RobotInfo robotInfo = cacheService.getRobotInfo(Convert.toLong(robotId));
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_IS_TASK + robotId, isTask);
         //添加任务记录
-        TaskInfo taskInfo = addTaskByStartTrack( robotInfo, request);
+        TaskInfo taskInfo = addTaskByStartTrack(robotInfo, request);
         //No.3 更新器人执行任务信息
 //        Long currRouteId = routeInfo.getId();
         Long currTaskId = taskInfo.getId();
 
-        statusInfoService.updateCurrTask(robotId,  currTaskId);
+        statusInfoService.updateCurrTask(robotId, currTaskId);
         //算法初始化标志创建
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId, currTaskId);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_INIT + robotId, 0);
@@ -230,7 +255,7 @@
         robotCacheClean(robotId);
         //清楚规划任务锁
         CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_PLANING_FLAG + robotId);
-        CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID+ robotId);
+        CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId);
         //清空机器当前任务
         statusInfoService.updateCurrTask(robotId, null);
     }
@@ -304,7 +329,7 @@
         //No.1 任务初始化
         pathInit(longId, robotInfo, pointDTO, taskId, robotId, taskInfo.getStepLen());
         //No.2 路线规划
-        pathPlaning(longId, robotInfo, pointDTO, taskId, robotId, taskInfo,dto);
+        pathPlaning(longId, robotInfo, pointDTO, taskId, robotId, taskInfo, dto);
     }
 
     /**
@@ -329,7 +354,7 @@
      * @param taskId    任务ID
      * @param robotId   机器人ID
      */
-    private void pathPlaning(Long longId, RobotInfo robotInfo, GridPointDTO pointDTO, Long taskId, String robotId, TaskInfo taskInfo,PoseMessageResponseDTO curPoint) {
+    private void pathPlaning(Long longId, RobotInfo robotInfo, GridPointDTO pointDTO, Long taskId, String robotId, TaskInfo taskInfo, PoseMessageResponseDTO curPoint) {
         if (taskId != null) {
             //规划节点
             PointNextDTO pointNextDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId);
@@ -337,12 +362,24 @@
             Boolean flag = lockPlanIngFlag(robotId);
             //是否到达预期栅格
             if (!flag) {
-                log.info("未获取到规划任务,直接结束：{}",pointDTO);
                 return;
             }
+            log.info("curr point:{}", curPoint);
+            log.debug("curr pointGrid:{}", pointDTO);
+            log.debug("oldEstimateGrid:{}", oldEstimateGrid);
+
+            GridPushDTO gridPushDTO = new GridPushDTO();
+            gridPushDTO.setCurrGridX(pointDTO.getX());
+            gridPushDTO.setCurrGridY(pointDTO.getY());
+            if(oldEstimateGrid!=null){
+                gridPushDTO.setEstimateGridX(oldEstimateGrid.getX());
+                gridPushDTO.setEstimateGridY(oldEstimateGrid.getY());
+            }
+            sendWebSocket(InstructStatusMsgEnums.GRID, robotId, gridPushDTO);
+
             try {
-                log.debug("oldEstimateGrid:{}", oldEstimateGrid);
-                if (pointNextDTO == null || isEquals(pointDTO, oldEstimateGrid)) {
+                if (pointNextDTO == null || oldEstimateGrid == null || isEquals(pointDTO, oldEstimateGrid, robotInfo)) {
+                    atomicInteger = new AtomicInteger(0);
                     log.info("当前栅格变更......", pointDTO);
                     CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_POINT + robotId, pointDTO);
                     //算法调用获取热力图
@@ -358,19 +395,24 @@
                     //存储算法输出栅格信息
                     AlgorithmResponse response = algorithmService.pathPlanning(pathPlanDTO);
                     CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId, response.getPointNextDTO());
-                    sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
 
-                    //存储循迹任务信息
-                    TaskGridInfo taskGridInfo = new TaskGridInfo();
-                    taskGridInfo.setCreateTime(new Date());
-                    taskGridInfo.setUpdateTime(new Date());
-                    taskGridInfo.setCurGridX(pointDTO.getX().intValue());
-                    taskGridInfo.setCurGridY(pointDTO.getY().intValue());
-                    taskGridInfo.setNeutronCount(new BigDecimal(pathPlanDTO.getZNow()));
-                    taskGridInfo.setEstimateGridX(response.getPointNextDTO().getX());
-                    taskGridInfo.setEstimateGridY(response.getPointNextDTO().getY());
-                    taskGridInfo.setTaskId(taskId);
-                    taskGridInfoService.save(taskGridInfo);
+                    new Thread() {
+                        @Override
+                        public void run() {
+                            //存储循迹任务信息
+                            TaskGridInfo taskGridInfo = new TaskGridInfo();
+                            taskGridInfo.setCreateTime(new Date());
+                            taskGridInfo.setUpdateTime(new Date());
+                            taskGridInfo.setCurGridX(pointDTO.getX().intValue());
+                            taskGridInfo.setCurGridY(pointDTO.getY().intValue());
+                            taskGridInfo.setNeutronCount(new BigDecimal(pathPlanDTO.getZNow()));
+                            taskGridInfo.setEstimateGridX(response.getPointNextDTO().getX());
+                            taskGridInfo.setEstimateGridY(response.getPointNextDTO().getY());
+                            taskGridInfo.setTaskId(taskId);
+                            taskGridInfoService.save(taskGridInfo);
+                            sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
+                        }
+                    }.start();
 
                     try {
                         //停留时间阈值
@@ -381,11 +423,13 @@
 
                     //是否触发停止状态
                     if (!response.isEnd()) {
-                        log.debug("task planning-- xun dian robotId:{},taskId:{}", robotId, taskId);
                         //机器人寻点指令下发
-                        sendTargetPoint(robotInfo, response,curPoint);
+                        if (robotInfo.getIsOpen() == null || robotInfo.getIsOpen() == 0) {
+                            sendTargetPoint(robotInfo, response, curPoint);
+                        } else {
+                            log.debug("task mode isOpen:{}", robotInfo.getIsOpen());
+                        }
                     } else {
-                        log.debug("task stop-- robotId:{},taskId:{}", robotId, taskId);
                         //机器人停止指令下发
                         SoftwareStopRequest request = new SoftwareStopRequest();
                         request.setRobotId(robotInfo.getId());
@@ -394,6 +438,15 @@
 //                        baseRobotService.execCmdHandler(request, InstructCodeEnums.SOFTWARE_STOP);
                         //循迹任务结束
                         closeTask(null, robotId);
+                        TaskEndMsg endMsg = new TaskEndMsg();
+                        endMsg.setCode(1);
+                        endMsg.setRobotId(robotId);
+                        endMsg.setMessage("寻源结束");
+                        sendTaskMsg(InstructStatusMsgEnums.TASK_END, robotId, endMsg);
+                    }
+                } else {
+                    if (!isChange(pointDTO, oldEstimateGrid)) {
+                        atomicInteger.incrementAndGet();
                     }
                 }
             } catch (Exception e) {
@@ -429,37 +482,56 @@
         Integer initValue = cacheService.readTaskInit(longId);
         //No.1 任务初始化
         if (initValue != 1) {
-
             //执行初始化操作
             if (cacheService.updateTaskInit(longId, 1)) {
-
                 List<List<Integer>> costList = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId);
                 List<String> strs = new ArrayList<>();
                 List<String> strs2 = new ArrayList<>();
-                for (List<Integer> list : costList) {
+                Integer height = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId);
+                if (height == null) {
+                    throw new ServiceException(500, "未获取到栅格宽度信息");
+                }
+                Integer newX = robotInfo.getNewGridX();
+                Integer newY = height - robotInfo.getNewGridY();
+
+                //裁剪栅格
+                List<List<Integer>> newCostList = new ArrayList<>();
+                for (int i = 0; i < costList.size(); i++) {
+                    if (i <= newY) {
+                        List<Integer> newList = new ArrayList<>();
+                        List<Integer> sourceList = costList.get(i);
+                        for (int j = 0; j < sourceList.size(); j++) {
+                            if (j >= newX) {
+                                newList.add(sourceList.get(j));
+                            }
+                        }
+                        newCostList.add(newList);
+                    }
+                }
+                //数组转换
+                for (List<Integer> list : newCostList) {
                     strs2.add(CollectionUtil.join(list, " "));
                 }
                 FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+
                 //行转列 为算法输入数据
-                if(CollectionUtil.isNotEmpty(costList)){
-                    CollectionUtil.reverse(costList);
-                    for (int i = 0; i < costList.get(0).size(); i++) {
+                if (CollectionUtil.isNotEmpty(newCostList)) {
+                    CollectionUtil.reverse(newCostList);
+                    for (int i = 0; i < newCostList.get(0).size(); i++) {
                         ArrayList<Integer> ints = new ArrayList<>();
-                        for (List<Integer> list : costList) {
+                        for (List<Integer> list : newCostList) {
                             ints.add(list.get(i));
                         }
                         strs.add(CollectionUtil.join(ints, " "));
                     }
-//                    CollectionUtil.reverse(strs);
                 }
-
-
                 FileUtil.writeLines(strs, new File(path + "map.txt"), "utf-8");
 
-                PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId, stepLen);
                 //中子源计数率读取
+                PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId, stepLen);
                 pathInitDTO.setZNow(cacheService.getNeutronCount(longId));
                 log.info("init params:{}", JSON.toJSONString(pathInitDTO));
+
                 //执行1次算法 初始化操作
                 algorithmService.pathPlanningInit(pathInitDTO);
             }
@@ -551,7 +623,7 @@
      * @param robotInfo 机器人信息
      * @param response  算法输出数据
      */
-    private void sendTargetPoint(RobotInfo robotInfo, AlgorithmResponse response,PoseMessageResponseDTO curPoint) {
+    private void sendTargetPoint(RobotInfo robotInfo, AlgorithmResponse response, PoseMessageResponseDTO curPoint) {
         //读取已设置巡点目标信息
         PointNextDTO nextDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TARGET_POINT_ID + robotInfo.getId());
         //巡点
@@ -565,6 +637,7 @@
             request.setZ(curPoint.getZ().toString());
             request.setTheta(curPoint.getTheta().toString());
             request.setRobotId(robotInfo.getId());
+            log.info("下发寻源点位:{}", request);
             //执行巡点指令
             baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
             //重设寻点点位
@@ -632,7 +705,7 @@
         //读取
         Integer index = 1;
         LambdaQueryWrapper<TaskGridInfo> taskGridQuery = new LambdaQueryWrapper<>();
-        taskGridQuery.eq(TaskGridInfo::getTaskId,info.getId());
+        taskGridQuery.eq(TaskGridInfo::getTaskId, info.getId());
         taskGridQuery.orderByAsc(TaskGridInfo::getCreateTime);
         List<TaskGridInfo> taskGridInfos = taskGridInfoService.list(taskGridQuery);
         if (CollectionUtil.isNotEmpty(taskGridInfos)) {
@@ -735,12 +808,29 @@
         return true;
     }
 
-    private boolean isEquals(GridPointDTO pointDTO, GridPointDTO oldPointDTO) {
-        if(oldPointDTO==null||oldPointDTO.getX()==null){
+    /**
+     * 栅格判定方法
+     *
+     * @param pointDTO    当前栅格
+     * @param oldPointDTO 预期栅格
+     * @param robotInfo   机器信息
+     * @return
+     */
+    private boolean isEquals(GridPointDTO pointDTO, GridPointDTO oldPointDTO, RobotInfo robotInfo) {
+        if (oldPointDTO == null || oldPointDTO.getX() == null) {
             return false;
         }
-        if (pointDTO.getX().compareTo(oldPointDTO.getX()) == 0 && pointDTO.getY().compareTo(oldPointDTO.getY()) == 0) {
-            return true;
+        if (robotInfo.getResolution().compareTo(new BigDecimal(0.21)) > 0) {
+            //大于0.2则默认该点
+            if (pointDTO.getX().compareTo(oldPointDTO.getX()) == 0 && pointDTO.getY().compareTo(oldPointDTO.getY()) == 0) {
+                return true;
+            }
+        } else {
+            //小于0.2则可判定相邻栅格
+            if (pointDTO.getX().subtract(oldPointDTO.getX()).abs().intValue() <= 1 && pointDTO.getY().subtract(oldPointDTO.getY()).abs().intValue() <= 1) {
+                return true;
+            }
+
         }
         return false;
     }
@@ -756,7 +846,7 @@
         return pathInitDTO;
     }
 
-    private TaskInfo addTaskByStartTrack( RobotInfo robotInfo, StartTrackRequest request) {
+    private TaskInfo addTaskByStartTrack(RobotInfo robotInfo, StartTrackRequest request) {
         //No.2 新增任务信息
         TaskInfo taskInfo = new TaskInfo();
         String currDate = DateUtil.format(new Date(), "yyyyMMdd");
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
index 467b9c2..b8eebf0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
@@ -44,8 +44,8 @@
 
         ArrayList<String> invocation = new ArrayList<String>();
         invocation.add(exePath);
-        invocation.add("10");
-        invocation.add("10");
+        invocation.add("36");
+        invocation.add("18");
         invocation.add("5");
         invocation.add("0.16");
         invocation.add("Mission1");
@@ -58,8 +58,8 @@
         String planning = path + "search.exe";
         ArrayList<String> planInvocation = new ArrayList<String>();
         planInvocation.add(planning);
-        planInvocation.add("10");
-        planInvocation.add("1.0");
+        planInvocation.add("19");
+        planInvocation.add("8");
         planInvocation.add("0.2");
         planInvocation.add("Mission1");
         List<String> res = invokeJob(planInvocation);
diff --git a/casic-web/pom.xml b/casic-web/pom.xml
index 937b695..c793209 100644
--- a/casic-web/pom.xml
+++ b/casic-web/pom.xml
@@ -48,6 +48,11 @@
             <artifactId>spring-boot-starter-web</artifactId>
         </dependency>
         <dependency>
+            <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
             <groupId>org.springframework.boot</groupId>
             <artifactId>spring-boot-starter-actuator</artifactId>
             <exclusions>
diff --git a/casic-web/src/main/resources/config/application-dev.yml b/casic-web/src/main/resources/config/application-dev.yml
index c122d8d..455c4bf 100644
--- a/casic-web/src/main/resources/config/application-dev.yml
+++ b/casic-web/src/main/resources/config/application-dev.yml
@@ -4,9 +4,9 @@
 spring:
   datasource:
     driver-class-name: com.mysql.cj.jdbc.Driver
-    url: jdbc:mysql://111.198.10.15:11336/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
+    url: jdbc:mysql://localhost:3306/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
     username: root
-    password: Casic203
+    password: 123456
     druid:
       max-active: 50
       min-idle: 20

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
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 a849528..4f34669 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
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index bdfc2d0..d7736a5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -148,7 +148,7 @@
     public void insertPsdAlarms() {
         times++;
         //先查询正在巡检任务信息
-        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
+        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 2);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
 
         long currentTimes = System.currentTimeMillis();
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 92c8c8e..6e94193 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
@@ -5,10 +5,7 @@
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 
 /**
  * 机器人操作类
@@ -76,4 +73,11 @@
     void reloadPcd(RobotInfo info);
 
     void startTrack(StartTrackRequest request);
+
+    /**
+     * 栅格寻点指令
+     * @param request 请求
+     * @return
+     */
+    ResponseDataDTO<Integer> targetGrid(TargetPointRequest 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 3bb475f..d8b3363 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.lang.Assert;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
@@ -25,7 +26,6 @@
 import io.swagger.annotations.ApiParam;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.apache.ibatis.annotations.Param;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.web.bind.annotation.*;
 import org.springframework.web.multipart.MultipartFile;
@@ -76,6 +76,13 @@
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
+    /**
+     * /{robotId}
+     *
+     * @param file
+     * @param robotId
+     * @return
+     */
     @SneakyThrows
     @ApiOperation(value = "PCD上传接口")
     @PostMapping(value = "/uploadPcd")
@@ -109,7 +116,12 @@
         robotInfoService.updateSpeed(robotInfo);
         return ResponseDataDTO.success();
     }
-
+    @ApiOperation(value = "设置任务启动模式", notes = "返回 1成功 0失败")
+    @PostMapping(value = "/setTaskMode")
+    public ResponseDataDTO setTaskMode(@RequestBody TaskModeRequest request) {
+        robotInfoService.setTaskMode(request);
+        return ResponseDataDTO.success();
+    }
     @ApiOperation(value = "机器人数据更新", notes = "1.pcd重载 2.路线及关键点数据重载")
     @PostMapping(value = "/reload")
     public ResponseDataDTO reload(@RequestBody BaseRobotCmdDTO request) {
@@ -149,6 +161,8 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
     }
 
+
+
     /**
      * 机器人请求id
      *
@@ -161,6 +175,16 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
     }
 
+    @ApiOperation(value = "寻栅格指令")
+    @PostMapping(value = "/targetGrid")
+    public ResponseDataDTO<Integer> targetGrid(@RequestBody TargetGridRequest request) {
+        TargetPointRequest targetPointRequest = new TargetPointRequest();
+        targetPointRequest.setRobotId(request.getRobotId());
+        targetPointRequest.setX(request.getEstimateGridX());
+        targetPointRequest.setY(request.getEstimateGridY());
+        return baseRobotService.targetGrid(targetPointRequest);
+    }
+
     /**
      * 机器人请求id
      *
@@ -174,6 +198,7 @@
         if (request.getStepLen() == null) {
             request.setStepLen(2);
         }
+        log.info(JSON.toJSONString(request));
         baseRobotService.startTrack(request);
         return ResponseDataDTO.success();
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
new file mode 100644
index 0000000..709bcd3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+@Data
+public class GridDTO {
+    /**
+     * 当前栅格x
+     */
+    private Integer currGridX;
+    /**
+     * 当前栅格y
+     */
+    private Integer currGridY;
+    /**
+     * 规划栅格x
+     */
+    private Integer estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private Integer estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
new file mode 100644
index 0000000..7eae335
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+@Data
+public class GridPushDTO {
+    /**
+     * 当前栅格x
+     */
+    private BigDecimal currGridX;
+    /**
+     * 当前栅格y
+     */
+    private BigDecimal currGridY;
+
+    /**
+     * 规划栅格x
+     */
+    private BigDecimal estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private BigDecimal estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index acbeb93..b9ad7a3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -23,4 +23,8 @@
     private BigDecimal gridWidth;
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     private BigDecimal resolution;
+    @ApiModelProperty(value = "新设原点X", dataType = "BigDecimal")
+    private BigDecimal newX;
+    @ApiModelProperty(value = "新设原点Y", dataType = "BigDecimal")
+    private BigDecimal newY;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
new file mode 100644
index 0000000..acc38f3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
@@ -0,0 +1,15 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+@Data
+public class TaskEndMsg implements Serializable {
+    private String robotId;
+    private String message;
+    /**
+     * 1 正常 0 异常
+     */
+    private Integer code;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 90e4dcf..d5ae18a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -154,7 +154,46 @@
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     @TableField("resolution")
     private BigDecimal resolution;
+    /**
+     * 新设定栅格原点X
+     */
+    @TableField("new_origin_x")
+    private BigDecimal newOriginX;
+    /**
+     * 新设定栅格原点Y
+     */
+    @TableField("new_origin_y")
+    private BigDecimal newOriginY;
 
+    /**
+     * 新设定栅格X
+     */
+    @TableField("new_grid_x")
+    private Integer newGridX;
+    /**
+     * 新设定栅格Y
+     */
+    @TableField("new_grid_y")
+    private Integer newGridY;
+
+    /**
+     * 裁剪右顶点X
+     */
+    @TableField("right_grid_x")
+    private Integer rightGridX;
+    @TableField("is_open")
+    private Integer isOpen;
+    /**
+     * 裁剪右顶点Y
+     */
+    @TableField("right_grid_y")
+    private Integer rightGridY;
+    public BigDecimal getNewX(){
+        return newOriginX;
+    }
+    public BigDecimal getNewY(){
+        return newOriginY;
+    }
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
index 2cb752f..3e741d7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
@@ -24,7 +24,10 @@
      *
      * @see com.casic.missiles.modular.robot.service.impl.TaskInfoServiceImpl
      */
-    HEAT_MAP("heat_map" , "机器人热力图");
+    HEAT_MAP("heat_map" , "机器人热力图"),
+    GRID("grid" , "栅格推送"),
+    TASK_END("task_end" , "任务结束");
+
     /**
      * 请求地址
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
index 88c9f79..3c93145 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -32,7 +32,6 @@
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         statusInfoService.saveCostMap(robotId, message);
-
         CostMapResolutionRequest costMapSet = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
         if(costMapSet != null){
             CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
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 8a71e0b..06f8ae6 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
@@ -30,10 +30,9 @@
     public void process(String robotId, String topic, MqttMessage message) {
 
         index.put(index_key, index.get("index") + 1);
-        if (index.get(index_key)>30) {
+        if (index.get(index_key)>1) {
             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 a9d7914..755997e 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
@@ -39,10 +39,8 @@
         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);
@@ -74,10 +72,12 @@
                     robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
                 }
             }
+
             //读取缓存信息
             sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
         } catch (Exception e) {
             e.printStackTrace();
         }
+
     }
-}
+}
\ No newline at end of file
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 7940a24..40a60a1 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,9 +1,13 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.exception.ServiceException;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.IBaseRobotService;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
@@ -11,6 +15,7 @@
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
+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.mqtt.config.MqttClientConnection;
@@ -32,11 +37,13 @@
     private final IRobotRouteOptService robotRouteOptService;
     private final IRobotInfoService robotInfoService;
     private final ITaskInfoService taskInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService, @Lazy IAlgorithmService algorithmService) {
         this.robotRouteOptService = robotRouteOptService;
         this.robotInfoService = robotInfoService;
         this.taskInfoService = taskInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
@@ -117,7 +124,7 @@
             //线路关键点读取
             if (requestDTO.getData() != null) {
                 for (RouteInfo routeInfo : requestDTO.getData()) {
-                    if("11-1 79-1".equals(routeInfo.getRouteName())){
+                    if ("11-1 79-1".equals(routeInfo.getRouteName())) {
                         continue;
                     }
                     TrackPointListRequest request = new TrackPointListRequest();
@@ -141,6 +148,7 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+
     @Transactional
     @Override
     public void startTrack(StartTrackRequest request) {
@@ -149,6 +157,25 @@
 //        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
     }
 
+    @Override
+    public ResponseDataDTO<Integer> targetGrid(TargetPointRequest request) {
+        PoseMessageResponseDTO responseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + request.getRobotId());
+        if(responseDTO==null){
+            throw new ServiceException(500,"请优先开启导航");
+        }
+        RobotInfo robotInfo = robotInfoService.getById(request.getRobotId());
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        //获取栅格中心点
+        GridPointDTO pointDTO =  algorithmService.convertGridCenterPoint(gridPointDTO,robotInfo.getResolution(),robotInfo);
+        request.setX(pointDTO.getX().toString());
+        request.setY(pointDTO.getY().toString());
+        request.setZ(responseDTO.getZ().toString());
+        request.setTheta(responseDTO.getTheta().toString());
+        //执行巡点指令
+        ResponseDataDTO<Integer> responseDataDTO = this.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
+        return responseDataDTO;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
new file mode 100644
index 0000000..7d69964
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
@@ -0,0 +1,19 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 获取循迹路线下发指令
+ */
+@Data
+public class TargetGridRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "栅格x坐标", dataType = "String")
+    private String estimateGridX;
+    @ApiModelProperty(value = "栅格y坐标", dataType = "String")
+    private String estimateGridY;
+    @ApiModelProperty(value = "z坐标", dataType = "String")
+    private String z;
+    @ApiModelProperty(value = "theta", dataType = "String")
+    private String theta;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
new file mode 100644
index 0000000..763656b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 导航下发指令
+ */
+@Data
+public class TaskModeRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "控制模式 1:手动 0:自动", dataType = "String")
+    private Integer isOpen;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index 8c95459..89697b8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -6,6 +6,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TaskModeRequest;
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 
 import java.util.List;
@@ -52,4 +53,6 @@
      * @param dto 栅格信息
      */
     void updateRobotGrid(String robotId, AppCostmapResponseDTO dto);
+
+    void setTaskMode(TaskModeRequest request);
 }
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 a4dbe0b..a6f5116 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
@@ -167,24 +167,35 @@
         y = y.subtract(robotInfo.getOriginY());
         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));
+
+        //todo  原点栅格转换,减去相对原点值
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewGridY())));
         return pointDTO;
     }
 
     /**
+     * do栅格转xy
      * 根据栅格读取栅格中心点位信息
      *
      * @param pointDTO 栅格信息
      * @return
      */
     public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo) {
+
+        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewGridY())));
+
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = resolution;
         //点位转换 转换后栅格－1 从1开始计算
         BigDecimal slamX = (pointDTO.getX().subtract(new BigDecimal(1))).multiply(scale);
         BigDecimal slamY = (pointDTO.getY().subtract(new BigDecimal(1))).multiply(scale);
+
         //中心栅格点位中心添加
         centerPoint.setX(slamX.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
         centerPoint.setY(slamY.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
+
         //加上栅格原点坐标
         centerPoint.setX(centerPoint.getX().add(robotInfo.getOriginX()));
         centerPoint.setY(centerPoint.getY().add(robotInfo.getOriginY()));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
index e2879ce..f825e84 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
@@ -9,6 +9,8 @@
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.data.redis.core.RedisTemplate;
 import org.springframework.stereotype.Service;
 
 @Service
@@ -18,7 +20,8 @@
     public RobotCacheServiceImpl(IRobotInfoService robotInfoService) {
         this.robotInfoService = robotInfoService;
     }
-
+    @Autowired
+    private RedisTemplate<String, Object> redisTemplate;
     @Override
     public synchronized boolean updateTaskId(Long robotId, Long taskId) {
         //读取当前机器人任务信息
@@ -83,12 +86,14 @@
 
     @Override
     public void updateCostMap(String robotId, AppCostmapResponseDTO msg) {
-        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
+        redisTemplate.opsForValue().set(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId,msg);
+//        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
     }
 
     @Override
     public AppCostmapResponseDTO getCostMap(String robotId) {
-        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+       return (AppCostmapResponseDTO) redisTemplate.opsForValue().get(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+//        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
     }
 
     @Override
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index fdded64..cdbbe89 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -12,11 +12,13 @@
 import com.casic.missiles.core.application.service.AbstractDictService;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dao.RobotInfoMapper;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.*;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.DataRecordRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TaskModeRequest;
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.*;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -51,16 +53,18 @@
     private final IDeviceInfoService deviceInfoService;
     private final IRobotPointInfoService pointInfoService;
     private final IBaseRobotService baseRobotService;
+    private final IAlgorithmService algorithmService;
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
-    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService, @Lazy IBaseRobotService baseRobotService) {
+    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService, @Lazy IBaseRobotService baseRobotService, @Lazy IAlgorithmService algorithmService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.dictService = dictService;
         this.routeInfoService = routeInfoService;
         this.deviceInfoService = deviceInfoService;
         this.pointInfoService = pointInfoService;
         this.baseRobotService = baseRobotService;
+        this.algorithmService = algorithmService;
     }
 
     @Transactional
@@ -96,15 +100,30 @@
         }
         if (robotInfo.getAlarmThreshold() != null) {
             update.set(RobotInfo::getAlarmThreshold, robotInfo.getAlarmThreshold());
+            update.set(RobotInfo::getMaxThreshold, robotInfo.getAlarmThreshold());
         }
         if (robotInfo.getGridHeight() != null && robotInfo.getGridWidth() != null) {
+            RobotInfo oldRobotInfo = getById(robotInfo.getId());
             update.set(RobotInfo::getGridHeight, robotInfo.getGridHeight());
             update.set(RobotInfo::getGridWidth, robotInfo.getGridWidth());
             update.set(RobotInfo::getResolution, robotInfo.getResolution());
+            update.set(RobotInfo::getNewOriginX, robotInfo.getNewX());
+            update.set(RobotInfo::getNewOriginY, robotInfo.getNewY());
+            //计算左下原点
+            oldRobotInfo.setNewGridX(0);
+            oldRobotInfo.setNewGridY(0);
+            GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(robotInfo.getNewX(), robotInfo.getNewY(), robotInfo.getResolution(), oldRobotInfo);
+            update.set(RobotInfo::getNewGridX, gridPointDTO.getX().intValue());
+            update.set(RobotInfo::getNewGridY, gridPointDTO.getY().intValue());
+            //计算右顶点
+            Integer rightX = robotInfo.getGridWidth().divide(robotInfo.getResolution(), 0, BigDecimal.ROUND_HALF_UP).intValue();
+            Integer rightY = robotInfo.getGridHeight().divide(robotInfo.getResolution(), 0, BigDecimal.ROUND_HALF_UP).intValue();
+            update.set(RobotInfo::getRightGridX, rightX);
+            update.set(RobotInfo::getRightGridY, rightY);
+
             //下发障碍物栅格
             sendCostMapResolution(robotInfo.getResolution(), robotInfo.getId());
-            //重新生成栅格地图
-            //sendChangePcd(robotInfo.getId());
+
         }
         update.eq(RobotInfo::getId, robotInfo.getId());
         update(update);
@@ -162,6 +181,16 @@
         update(lambdaUpdateWrapper);
     }
 
+    @Override
+    public void setTaskMode(TaskModeRequest request) {
+        if (request.getRobotId() != null) {
+            LambdaUpdateWrapper<RobotInfo> lambdaUpdateWrapper = new LambdaUpdateWrapper<>();
+            lambdaUpdateWrapper.set(RobotInfo::getIsOpen, request.getIsOpen());
+            lambdaUpdateWrapper.eq(RobotInfo::getId, request.getRobotId());
+            update(lambdaUpdateWrapper);
+        }
+    }
+
     @Transactional
     @Override
     public List<RobotInfo> list(Wrapper<RobotInfo> queryWrapper) {
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 46b5c3b..f52940c 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.collection.CollectionUtil;
 import cn.hutool.core.convert.Convert;
+import cn.hutool.core.io.FileUtil;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
@@ -13,9 +14,9 @@
 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.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO;
@@ -27,7 +28,6 @@
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
-import org.aspectj.util.FileUtil;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.context.annotation.Lazy;
@@ -38,8 +38,8 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.ArrayList;
-import java.util.Arrays;
 import java.util.List;
+import java.util.stream.Collectors;
 
 
 /**
@@ -81,6 +81,11 @@
     }
 
     private void wrapInfo(RobotStatusInfo statusInfo) {
+        // todo 报错
+        StopStateResponseDTO stopStateResponseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + statusInfo.getRobotId());
+        if (stopStateResponseDTO != null) {
+            statusInfo.setSoft(stopStateResponseDTO.getSoft());
+        }
         statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getDiscernType()));
 
         //暂停状态
@@ -262,6 +267,8 @@
      */
     @Value("${casic.algorithm.num:30}")
     private Integer num;
+    @Value("${casic.obstacle:60}")
+    private Integer obstacle;
 
     /**
      * 机器人栅格数据
@@ -276,7 +283,6 @@
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             //发送栅格分辨率设定
-
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
             robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
             //log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
@@ -290,24 +296,102 @@
                         } else {
                             dataNums.add(1);
                         }
+                    } else {
+                        dataNums.add(-1);
                     }
                 }
-                writeCache(dataNums,responseDTO.getMsg().getWidth(),responseDTO.getMsg().getHeight(),robotId);
+                writeCache(dataNums, responseDTO.getMsg().getWidth(), responseDTO.getMsg().getHeight(), robotId);
             }
         }
     }
 
-    private void writeCache(ArrayList<Integer> integers,Integer width,Integer height,String robotId) {
-        List<List<Integer>> arrays = CollectionUtil.split(integers,width);
+    private void writeCache(ArrayList<Integer> integers, Integer width, Integer height, String robotId) {
+        List<List<Integer>> arrays = CollectionUtil.split(integers, width);
         ArrayList<ArrayList<Integer>> arrayList = new ArrayList<>();
         for (List<Integer> array : arrays) {
-            arrayList.add((ArrayList)array);
+            ArrayList list =(ArrayList)array.stream().filter(integer -> integer>=0).collect(Collectors.toList());
+            arrayList.add(list);
         }
         CollectionUtil.reverse(arrayList);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId, arrayList);
-//        FileUtil.writeAsString(new File(path + "map.txt"), CollectionUtil.join(integers, " ").replaceAll("\\[", "").replaceAll("]", ""));
+        //写入栅格宽度
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId, height);
+
+        writeCost(arrayList,width,height,robotId);
+    }
+    /**
+     * slam经纬度转换为栅格
+     *
+     * @param x slam x
+     * @param y slam y
+     */
+    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, BigDecimal resolution, RobotInfo robotInfo) {
+        GridPointDTO pointDTO = new GridPointDTO();
+        BigDecimal scale = resolution;
+        //减去栅格原点坐标
+        x = x.subtract(robotInfo.getOriginX());
+        y = y.subtract(robotInfo.getOriginY());
+        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));
+
+        //todo  原点栅格转换,减去相对原点值
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewGridY())));
+        return pointDTO;
     }
 
+    private void writeCost(ArrayList<ArrayList<Integer>> costList,Integer width, Integer height,String robotId){
+        List<String> strs = new ArrayList<>();
+        List<String> strs2 = new ArrayList<>();
+        RobotInfo robotInfo = cacheService.getRobotInfo(Long.valueOf(robotId));
+        if(robotInfo==null||robotInfo.getGridWidth()==null||robotInfo.getResolution() ==null){
+            log.info("robot gridHeight is not found....");
+            return;
+        }
+
+        //计算左下角位置
+        Integer newX = robotInfo.getNewGridX();
+        Integer newY = height-robotInfo.getNewGridY();
+//        log.info("left point:({},{})",robotInfo.getNewGridX(),robotInfo.getNewGridY());
+        //计算右上角位置
+        Integer rightX = robotInfo.getRightGridX();
+        Integer rightY = height-robotInfo.getRightGridY();
+//        log.info("right point:({},{})",rightX,rightY);
+
+        //裁剪栅格
+        List<List<Integer>> newCostList = new ArrayList<>();
+        for (int i = 0; i < costList.size(); i++) {
+            if(i<=newY&&i>=rightY){
+                List<Integer> newList = new ArrayList<>();
+                List<Integer> sourceList= costList.get(i);
+                for (int j = 0; j < sourceList.size(); j++) {
+                    if(j>=newX&&j<=rightX){
+                        newList.add(sourceList.get(j));
+                    }
+                }
+                newCostList.add(newList);
+            }
+        }
+
+        for (List<Integer> list : newCostList) {
+            strs2.add(CollectionUtil.join(list, " "));
+        }
+
+        FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+        //行转列 为算法输入数据
+        if(CollectionUtil.isNotEmpty(newCostList)){
+            CollectionUtil.reverse(newCostList);
+            for (int i = 0; i < newCostList.get(0).size(); i++) {
+                ArrayList<Integer> ints = new ArrayList<>();
+                for (List<Integer> list : newCostList) {
+                    ints.add(list.get(i));
+                }
+                strs.add(CollectionUtil.join(ints, " "));
+            }
+        }
+
+        FileUtil.writeLines(strs, new File(path + "map3.txt"), "utf-8");
+    }
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
@@ -327,7 +411,6 @@
             json = json.substring(0, json.length() - 1);
         }
         json = json.replaceAll("\\\\", "");
-//        log.info(json);
         RobotResponseDTO<R> responseDTO = JSON.parseObject(json, cls);
         return responseDTO;
     }
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 f1262a2..cb7aa09 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
@@ -69,17 +69,6 @@
             } catch (Exception e) {
                 log.error("task error", e);
             }
-//            if (routeId != null) {
-//                RobotTrajectoryInfo info = new RobotTrajectoryInfo();
-//                info.setRobotId(Long.valueOf(robotId));
-//                info.setCreateTime(new Date());
-//                info.setPostionX(dto.getX());
-//                info.setPostionY(dto.getY());
-//                info.setPostionZ(dto.getZ());
-//                info.setTheta(dto.getTheta());
-//                save(info);
-
-//            }
         }
     }
 
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 fd49e2e..6a0e719 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
@@ -47,6 +47,7 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.*;
+import java.util.concurrent.atomic.AtomicInteger;
 
 
 /**
@@ -81,15 +82,16 @@
     /**
      * 5000 ms
      */
-    @Value("${casic.task.duration:3000}")
+    @Value("${casic.task.duration:2000}")
     private Integer stayDuration;
     @Value("${casic.algorithm.path:-1}")
     private String path;
     /**
      * 障碍物精度
      */
-    @Value("${casic.obstacle:10}")
+    @Value("${casic.obstacle:60}")
     private Integer obstacle;
+    private volatile AtomicInteger atomicInteger = new AtomicInteger();
 
     public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService, ITaskInfoImgService imgService, ITaskGridInfoService taskGridInfoService) {
         this.routeInfoService = routeInfoService;
@@ -128,7 +130,30 @@
         } catch (Exception e) {
             log.error(e.getMessage());
         }
-
+    }
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, GridPushDTO gridPushDTO) {
+        try {
+            WsMsgBaseDTO<GridPushDTO> wsMsgBaseDTO = new WsMsgBaseDTO<GridPushDTO>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(gridPushDTO);
+            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());
+        }
+    }
+    protected void sendTaskMsg(InstructStatusMsgEnums enums, String robotId, TaskEndMsg heatMap) {
+        try {
+            WsMsgBaseDTO<TaskEndMsg> wsMsgBaseDTO = new WsMsgBaseDTO<TaskEndMsg>();
+            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());
+        }
     }
 
     @Override
@@ -187,11 +212,11 @@
 
     private void openTask(StartTrackRequest request, String robotId) {
         QueryWrapper<RouteInfo> query = new QueryWrapper<>();
-        query.eq("target_id", request.getTrack_name());
-        List<RouteInfo> routeInfos = routeInfoService.list(query);
-        if (CollectionUtil.isEmpty(routeInfos)) {
-            throw new ServiceException(500, "路线不存在,请及时更新");
-        }
+//        query.eq("target_id", request.getTrack_name());
+//        List<RouteInfo> routeInfos = routeInfoService.list(query);
+//        if (CollectionUtil.isEmpty(routeInfos)) {
+//            throw new ServiceException(500, "路线不存在,请及时更新");
+//        }
 //        RouteInfo routeInfo = routeInfos.get(0);
         Integer isTask = 0;
         //开启寻源任务
@@ -201,12 +226,12 @@
         RobotInfo robotInfo = cacheService.getRobotInfo(Convert.toLong(robotId));
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_IS_TASK + robotId, isTask);
         //添加任务记录
-        TaskInfo taskInfo = addTaskByStartTrack( robotInfo, request);
+        TaskInfo taskInfo = addTaskByStartTrack(robotInfo, request);
         //No.3 更新器人执行任务信息
 //        Long currRouteId = routeInfo.getId();
         Long currTaskId = taskInfo.getId();
 
-        statusInfoService.updateCurrTask(robotId,  currTaskId);
+        statusInfoService.updateCurrTask(robotId, currTaskId);
         //算法初始化标志创建
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId, currTaskId);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_INIT + robotId, 0);
@@ -230,7 +255,7 @@
         robotCacheClean(robotId);
         //清楚规划任务锁
         CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_PLANING_FLAG + robotId);
-        CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID+ robotId);
+        CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId);
         //清空机器当前任务
         statusInfoService.updateCurrTask(robotId, null);
     }
@@ -304,7 +329,7 @@
         //No.1 任务初始化
         pathInit(longId, robotInfo, pointDTO, taskId, robotId, taskInfo.getStepLen());
         //No.2 路线规划
-        pathPlaning(longId, robotInfo, pointDTO, taskId, robotId, taskInfo,dto);
+        pathPlaning(longId, robotInfo, pointDTO, taskId, robotId, taskInfo, dto);
     }
 
     /**
@@ -329,7 +354,7 @@
      * @param taskId    任务ID
      * @param robotId   机器人ID
      */
-    private void pathPlaning(Long longId, RobotInfo robotInfo, GridPointDTO pointDTO, Long taskId, String robotId, TaskInfo taskInfo,PoseMessageResponseDTO curPoint) {
+    private void pathPlaning(Long longId, RobotInfo robotInfo, GridPointDTO pointDTO, Long taskId, String robotId, TaskInfo taskInfo, PoseMessageResponseDTO curPoint) {
         if (taskId != null) {
             //规划节点
             PointNextDTO pointNextDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId);
@@ -337,12 +362,24 @@
             Boolean flag = lockPlanIngFlag(robotId);
             //是否到达预期栅格
             if (!flag) {
-                log.info("未获取到规划任务,直接结束：{}",pointDTO);
                 return;
             }
+            log.info("curr point:{}", curPoint);
+            log.debug("curr pointGrid:{}", pointDTO);
+            log.debug("oldEstimateGrid:{}", oldEstimateGrid);
+
+            GridPushDTO gridPushDTO = new GridPushDTO();
+            gridPushDTO.setCurrGridX(pointDTO.getX());
+            gridPushDTO.setCurrGridY(pointDTO.getY());
+            if(oldEstimateGrid!=null){
+                gridPushDTO.setEstimateGridX(oldEstimateGrid.getX());
+                gridPushDTO.setEstimateGridY(oldEstimateGrid.getY());
+            }
+            sendWebSocket(InstructStatusMsgEnums.GRID, robotId, gridPushDTO);
+
             try {
-                log.debug("oldEstimateGrid:{}", oldEstimateGrid);
-                if (pointNextDTO == null || isEquals(pointDTO, oldEstimateGrid)) {
+                if (pointNextDTO == null || oldEstimateGrid == null || isEquals(pointDTO, oldEstimateGrid, robotInfo)) {
+                    atomicInteger = new AtomicInteger(0);
                     log.info("当前栅格变更......", pointDTO);
                     CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_POINT + robotId, pointDTO);
                     //算法调用获取热力图
@@ -358,19 +395,24 @@
                     //存储算法输出栅格信息
                     AlgorithmResponse response = algorithmService.pathPlanning(pathPlanDTO);
                     CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId, response.getPointNextDTO());
-                    sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
 
-                    //存储循迹任务信息
-                    TaskGridInfo taskGridInfo = new TaskGridInfo();
-                    taskGridInfo.setCreateTime(new Date());
-                    taskGridInfo.setUpdateTime(new Date());
-                    taskGridInfo.setCurGridX(pointDTO.getX().intValue());
-                    taskGridInfo.setCurGridY(pointDTO.getY().intValue());
-                    taskGridInfo.setNeutronCount(new BigDecimal(pathPlanDTO.getZNow()));
-                    taskGridInfo.setEstimateGridX(response.getPointNextDTO().getX());
-                    taskGridInfo.setEstimateGridY(response.getPointNextDTO().getY());
-                    taskGridInfo.setTaskId(taskId);
-                    taskGridInfoService.save(taskGridInfo);
+                    new Thread() {
+                        @Override
+                        public void run() {
+                            //存储循迹任务信息
+                            TaskGridInfo taskGridInfo = new TaskGridInfo();
+                            taskGridInfo.setCreateTime(new Date());
+                            taskGridInfo.setUpdateTime(new Date());
+                            taskGridInfo.setCurGridX(pointDTO.getX().intValue());
+                            taskGridInfo.setCurGridY(pointDTO.getY().intValue());
+                            taskGridInfo.setNeutronCount(new BigDecimal(pathPlanDTO.getZNow()));
+                            taskGridInfo.setEstimateGridX(response.getPointNextDTO().getX());
+                            taskGridInfo.setEstimateGridY(response.getPointNextDTO().getY());
+                            taskGridInfo.setTaskId(taskId);
+                            taskGridInfoService.save(taskGridInfo);
+                            sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
+                        }
+                    }.start();
 
                     try {
                         //停留时间阈值
@@ -381,11 +423,13 @@
 
                     //是否触发停止状态
                     if (!response.isEnd()) {
-                        log.debug("task planning-- xun dian robotId:{},taskId:{}", robotId, taskId);
                         //机器人寻点指令下发
-                        sendTargetPoint(robotInfo, response,curPoint);
+                        if (robotInfo.getIsOpen() == null || robotInfo.getIsOpen() == 0) {
+                            sendTargetPoint(robotInfo, response, curPoint);
+                        } else {
+                            log.debug("task mode isOpen:{}", robotInfo.getIsOpen());
+                        }
                     } else {
-                        log.debug("task stop-- robotId:{},taskId:{}", robotId, taskId);
                         //机器人停止指令下发
                         SoftwareStopRequest request = new SoftwareStopRequest();
                         request.setRobotId(robotInfo.getId());
@@ -394,6 +438,15 @@
 //                        baseRobotService.execCmdHandler(request, InstructCodeEnums.SOFTWARE_STOP);
                         //循迹任务结束
                         closeTask(null, robotId);
+                        TaskEndMsg endMsg = new TaskEndMsg();
+                        endMsg.setCode(1);
+                        endMsg.setRobotId(robotId);
+                        endMsg.setMessage("寻源结束");
+                        sendTaskMsg(InstructStatusMsgEnums.TASK_END, robotId, endMsg);
+                    }
+                } else {
+                    if (!isChange(pointDTO, oldEstimateGrid)) {
+                        atomicInteger.incrementAndGet();
                     }
                 }
             } catch (Exception e) {
@@ -429,37 +482,56 @@
         Integer initValue = cacheService.readTaskInit(longId);
         //No.1 任务初始化
         if (initValue != 1) {
-
             //执行初始化操作
             if (cacheService.updateTaskInit(longId, 1)) {
-
                 List<List<Integer>> costList = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId);
                 List<String> strs = new ArrayList<>();
                 List<String> strs2 = new ArrayList<>();
-                for (List<Integer> list : costList) {
+                Integer height = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId);
+                if (height == null) {
+                    throw new ServiceException(500, "未获取到栅格宽度信息");
+                }
+                Integer newX = robotInfo.getNewGridX();
+                Integer newY = height - robotInfo.getNewGridY();
+
+                //裁剪栅格
+                List<List<Integer>> newCostList = new ArrayList<>();
+                for (int i = 0; i < costList.size(); i++) {
+                    if (i <= newY) {
+                        List<Integer> newList = new ArrayList<>();
+                        List<Integer> sourceList = costList.get(i);
+                        for (int j = 0; j < sourceList.size(); j++) {
+                            if (j >= newX) {
+                                newList.add(sourceList.get(j));
+                            }
+                        }
+                        newCostList.add(newList);
+                    }
+                }
+                //数组转换
+                for (List<Integer> list : newCostList) {
                     strs2.add(CollectionUtil.join(list, " "));
                 }
                 FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+
                 //行转列 为算法输入数据
-                if(CollectionUtil.isNotEmpty(costList)){
-                    CollectionUtil.reverse(costList);
-                    for (int i = 0; i < costList.get(0).size(); i++) {
+                if (CollectionUtil.isNotEmpty(newCostList)) {
+                    CollectionUtil.reverse(newCostList);
+                    for (int i = 0; i < newCostList.get(0).size(); i++) {
                         ArrayList<Integer> ints = new ArrayList<>();
-                        for (List<Integer> list : costList) {
+                        for (List<Integer> list : newCostList) {
                             ints.add(list.get(i));
                         }
                         strs.add(CollectionUtil.join(ints, " "));
                     }
-//                    CollectionUtil.reverse(strs);
                 }
-
-
                 FileUtil.writeLines(strs, new File(path + "map.txt"), "utf-8");
 
-                PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId, stepLen);
                 //中子源计数率读取
+                PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId, stepLen);
                 pathInitDTO.setZNow(cacheService.getNeutronCount(longId));
                 log.info("init params:{}", JSON.toJSONString(pathInitDTO));
+
                 //执行1次算法 初始化操作
                 algorithmService.pathPlanningInit(pathInitDTO);
             }
@@ -551,7 +623,7 @@
      * @param robotInfo 机器人信息
      * @param response  算法输出数据
      */
-    private void sendTargetPoint(RobotInfo robotInfo, AlgorithmResponse response,PoseMessageResponseDTO curPoint) {
+    private void sendTargetPoint(RobotInfo robotInfo, AlgorithmResponse response, PoseMessageResponseDTO curPoint) {
         //读取已设置巡点目标信息
         PointNextDTO nextDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TARGET_POINT_ID + robotInfo.getId());
         //巡点
@@ -565,6 +637,7 @@
             request.setZ(curPoint.getZ().toString());
             request.setTheta(curPoint.getTheta().toString());
             request.setRobotId(robotInfo.getId());
+            log.info("下发寻源点位:{}", request);
             //执行巡点指令
             baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
             //重设寻点点位
@@ -632,7 +705,7 @@
         //读取
         Integer index = 1;
         LambdaQueryWrapper<TaskGridInfo> taskGridQuery = new LambdaQueryWrapper<>();
-        taskGridQuery.eq(TaskGridInfo::getTaskId,info.getId());
+        taskGridQuery.eq(TaskGridInfo::getTaskId, info.getId());
         taskGridQuery.orderByAsc(TaskGridInfo::getCreateTime);
         List<TaskGridInfo> taskGridInfos = taskGridInfoService.list(taskGridQuery);
         if (CollectionUtil.isNotEmpty(taskGridInfos)) {
@@ -735,12 +808,29 @@
         return true;
     }
 
-    private boolean isEquals(GridPointDTO pointDTO, GridPointDTO oldPointDTO) {
-        if(oldPointDTO==null||oldPointDTO.getX()==null){
+    /**
+     * 栅格判定方法
+     *
+     * @param pointDTO    当前栅格
+     * @param oldPointDTO 预期栅格
+     * @param robotInfo   机器信息
+     * @return
+     */
+    private boolean isEquals(GridPointDTO pointDTO, GridPointDTO oldPointDTO, RobotInfo robotInfo) {
+        if (oldPointDTO == null || oldPointDTO.getX() == null) {
             return false;
         }
-        if (pointDTO.getX().compareTo(oldPointDTO.getX()) == 0 && pointDTO.getY().compareTo(oldPointDTO.getY()) == 0) {
-            return true;
+        if (robotInfo.getResolution().compareTo(new BigDecimal(0.21)) > 0) {
+            //大于0.2则默认该点
+            if (pointDTO.getX().compareTo(oldPointDTO.getX()) == 0 && pointDTO.getY().compareTo(oldPointDTO.getY()) == 0) {
+                return true;
+            }
+        } else {
+            //小于0.2则可判定相邻栅格
+            if (pointDTO.getX().subtract(oldPointDTO.getX()).abs().intValue() <= 1 && pointDTO.getY().subtract(oldPointDTO.getY()).abs().intValue() <= 1) {
+                return true;
+            }
+
         }
         return false;
     }
@@ -756,7 +846,7 @@
         return pathInitDTO;
     }
 
-    private TaskInfo addTaskByStartTrack( RobotInfo robotInfo, StartTrackRequest request) {
+    private TaskInfo addTaskByStartTrack(RobotInfo robotInfo, StartTrackRequest request) {
         //No.2 新增任务信息
         TaskInfo taskInfo = new TaskInfo();
         String currDate = DateUtil.format(new Date(), "yyyyMMdd");
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
index 467b9c2..b8eebf0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
@@ -44,8 +44,8 @@
 
         ArrayList<String> invocation = new ArrayList<String>();
         invocation.add(exePath);
-        invocation.add("10");
-        invocation.add("10");
+        invocation.add("36");
+        invocation.add("18");
         invocation.add("5");
         invocation.add("0.16");
         invocation.add("Mission1");
@@ -58,8 +58,8 @@
         String planning = path + "search.exe";
         ArrayList<String> planInvocation = new ArrayList<String>();
         planInvocation.add(planning);
-        planInvocation.add("10");
-        planInvocation.add("1.0");
+        planInvocation.add("19");
+        planInvocation.add("8");
         planInvocation.add("0.2");
         planInvocation.add("Mission1");
         List<String> res = invokeJob(planInvocation);
diff --git a/casic-web/pom.xml b/casic-web/pom.xml
index 937b695..c793209 100644
--- a/casic-web/pom.xml
+++ b/casic-web/pom.xml
@@ -48,6 +48,11 @@
             <artifactId>spring-boot-starter-web</artifactId>
         </dependency>
         <dependency>
+            <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
             <groupId>org.springframework.boot</groupId>
             <artifactId>spring-boot-starter-actuator</artifactId>
             <exclusions>
diff --git a/casic-web/src/main/resources/config/application-dev.yml b/casic-web/src/main/resources/config/application-dev.yml
index c122d8d..455c4bf 100644
--- a/casic-web/src/main/resources/config/application-dev.yml
+++ b/casic-web/src/main/resources/config/application-dev.yml
@@ -4,9 +4,9 @@
 spring:
   datasource:
     driver-class-name: com.mysql.cj.jdbc.Driver
-    url: jdbc:mysql://111.198.10.15:11336/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
+    url: jdbc:mysql://localhost:3306/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
     username: root
-    password: Casic203
+    password: 123456
     druid:
       max-active: 50
       min-idle: 20
diff --git a/casic-web/src/main/resources/config/application-test.yml b/casic-web/src/main/resources/config/application-test.yml
index 534e2fb..67a0241 100644
--- a/casic-web/src/main/resources/config/application-test.yml
+++ b/casic-web/src/main/resources/config/application-test.yml
@@ -1,30 +1,48 @@
 server:
-  port: 11307
+  port: 8083
 ###################  spring配置  ###################
 spring:
   datasource:
-    url: jdbc:mysql://localhost:3306/casic_template?autoReconnect=true&useUnicode=true&characterEncoding=utf8&useSSL=false&allowMultiQueries=true&zeroDateTimeBehavior=convertToNull
+    driver-class-name: com.mysql.cj.jdbc.Driver
+    url: jdbc:mysql://localhost:3306/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
     username: root
-    password: Casic203!
-    initial-size: 2
-    min-idle: 1
-  jms:
-    pub-sub-domain: true
-#  session:
+    password: 123456
+    druid:
+      max-active: 50
+      min-idle: 20
+jms:
+  pub-sub-domain: true
+# session:
 #   store-type: redis
+# redis:
+#   host: 111.198.10.15
+#   port: 11412
+#   password: ew5T4K3#203lwh
+#   serializer: org.springframework.data.redis.serializer.StringRedisSerializer
+#   redisValueSerializer: org.springframework.data.redis.serializer.JdkSerializationRedisSerializer
 casic:
-  #  kaptcha-open: false #是否开启登录时验证码 (true/false)
-  nologin-urls: /user/login,/user/appLogin,/kaptcha/base64,/config/baseConfig,/route/mockToken,/workflow/**
+  #kaptcha-open: false #是否开启登录时验证码 (true/false)
+  no-login-urls: ${casic.sysUrl}/user/login,${casic.sysUrl}/user/appLogin,${casic.sysUrl}/kaptcha/base64,${casic.sysUrl}/config/baseConfig,/route/mockToken,/websocket/*,/webjars/**,/v2/api-docs,/v2/api-docs-ext,/doc.html,/v2/api-docs/swagger-ui.html,/swagger-resources
   #flowable数据源和多数据源配置
-  flowable:
-    datasource:
-      url: jdbc:mysql://localhost:3306/template_flowable?autoReconnect=true&useUnicode=true&characterEncoding=utf8&useSSL=false&allowMultiQueries=true&zeroDateTimeBehavior=convertToNull
-      username: root
-      password: Casic203!
-flowable:
-  checkProcessDefinitions: false #不校验process文件
+  db:
+    init:
+      enable: false
+  hikSdk: D:\robot\hiklib\HCNetSDK.dll
+  hikPlay: D:\robot\hiklib\PlayCtrl.dll
+  algorithm:
+    path:  D:\robot\path\
+    initPathName: init.exe
+    planPathName: search.exe
+  doc:
+    temp: D:\robot\path\report.docx
+  config:
+    export-path: D:\java\boot\guns-web-1.0.0-SNAPSHOT\export\
+    config-path: E:\Develop\IdeaProject\smartcity\casic-smartcity-dcms\casic-web\src\main\resources\config\
 logging:
   level.root: info
   level.com.casic: debug
+  level.com.casic.missiles.netty: error
+  level.com.casic.missiles.modular.neutron: error
+  level.org.springframework.web: info
   file:
-    path: logs/
\ No newline at end of file
+    path: D:\\robot\\logs
\ No newline at end of file

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
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 a849528..4f34669 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
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index bdfc2d0..d7736a5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -148,7 +148,7 @@
     public void insertPsdAlarms() {
         times++;
         //先查询正在巡检任务信息
-        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
+        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 2);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
 
         long currentTimes = System.currentTimeMillis();
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 92c8c8e..6e94193 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
@@ -5,10 +5,7 @@
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 
 /**
  * 机器人操作类
@@ -76,4 +73,11 @@
     void reloadPcd(RobotInfo info);
 
     void startTrack(StartTrackRequest request);
+
+    /**
+     * 栅格寻点指令
+     * @param request 请求
+     * @return
+     */
+    ResponseDataDTO<Integer> targetGrid(TargetPointRequest 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 3bb475f..d8b3363 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.lang.Assert;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
@@ -25,7 +26,6 @@
 import io.swagger.annotations.ApiParam;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.apache.ibatis.annotations.Param;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.web.bind.annotation.*;
 import org.springframework.web.multipart.MultipartFile;
@@ -76,6 +76,13 @@
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
+    /**
+     * /{robotId}
+     *
+     * @param file
+     * @param robotId
+     * @return
+     */
     @SneakyThrows
     @ApiOperation(value = "PCD上传接口")
     @PostMapping(value = "/uploadPcd")
@@ -109,7 +116,12 @@
         robotInfoService.updateSpeed(robotInfo);
         return ResponseDataDTO.success();
     }
-
+    @ApiOperation(value = "设置任务启动模式", notes = "返回 1成功 0失败")
+    @PostMapping(value = "/setTaskMode")
+    public ResponseDataDTO setTaskMode(@RequestBody TaskModeRequest request) {
+        robotInfoService.setTaskMode(request);
+        return ResponseDataDTO.success();
+    }
     @ApiOperation(value = "机器人数据更新", notes = "1.pcd重载 2.路线及关键点数据重载")
     @PostMapping(value = "/reload")
     public ResponseDataDTO reload(@RequestBody BaseRobotCmdDTO request) {
@@ -149,6 +161,8 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
     }
 
+
+
     /**
      * 机器人请求id
      *
@@ -161,6 +175,16 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
     }
 
+    @ApiOperation(value = "寻栅格指令")
+    @PostMapping(value = "/targetGrid")
+    public ResponseDataDTO<Integer> targetGrid(@RequestBody TargetGridRequest request) {
+        TargetPointRequest targetPointRequest = new TargetPointRequest();
+        targetPointRequest.setRobotId(request.getRobotId());
+        targetPointRequest.setX(request.getEstimateGridX());
+        targetPointRequest.setY(request.getEstimateGridY());
+        return baseRobotService.targetGrid(targetPointRequest);
+    }
+
     /**
      * 机器人请求id
      *
@@ -174,6 +198,7 @@
         if (request.getStepLen() == null) {
             request.setStepLen(2);
         }
+        log.info(JSON.toJSONString(request));
         baseRobotService.startTrack(request);
         return ResponseDataDTO.success();
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
new file mode 100644
index 0000000..709bcd3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+@Data
+public class GridDTO {
+    /**
+     * 当前栅格x
+     */
+    private Integer currGridX;
+    /**
+     * 当前栅格y
+     */
+    private Integer currGridY;
+    /**
+     * 规划栅格x
+     */
+    private Integer estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private Integer estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
new file mode 100644
index 0000000..7eae335
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+@Data
+public class GridPushDTO {
+    /**
+     * 当前栅格x
+     */
+    private BigDecimal currGridX;
+    /**
+     * 当前栅格y
+     */
+    private BigDecimal currGridY;
+
+    /**
+     * 规划栅格x
+     */
+    private BigDecimal estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private BigDecimal estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index acbeb93..b9ad7a3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -23,4 +23,8 @@
     private BigDecimal gridWidth;
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     private BigDecimal resolution;
+    @ApiModelProperty(value = "新设原点X", dataType = "BigDecimal")
+    private BigDecimal newX;
+    @ApiModelProperty(value = "新设原点Y", dataType = "BigDecimal")
+    private BigDecimal newY;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
new file mode 100644
index 0000000..acc38f3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
@@ -0,0 +1,15 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+@Data
+public class TaskEndMsg implements Serializable {
+    private String robotId;
+    private String message;
+    /**
+     * 1 正常 0 异常
+     */
+    private Integer code;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 90e4dcf..d5ae18a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -154,7 +154,46 @@
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     @TableField("resolution")
     private BigDecimal resolution;
+    /**
+     * 新设定栅格原点X
+     */
+    @TableField("new_origin_x")
+    private BigDecimal newOriginX;
+    /**
+     * 新设定栅格原点Y
+     */
+    @TableField("new_origin_y")
+    private BigDecimal newOriginY;
 
+    /**
+     * 新设定栅格X
+     */
+    @TableField("new_grid_x")
+    private Integer newGridX;
+    /**
+     * 新设定栅格Y
+     */
+    @TableField("new_grid_y")
+    private Integer newGridY;
+
+    /**
+     * 裁剪右顶点X
+     */
+    @TableField("right_grid_x")
+    private Integer rightGridX;
+    @TableField("is_open")
+    private Integer isOpen;
+    /**
+     * 裁剪右顶点Y
+     */
+    @TableField("right_grid_y")
+    private Integer rightGridY;
+    public BigDecimal getNewX(){
+        return newOriginX;
+    }
+    public BigDecimal getNewY(){
+        return newOriginY;
+    }
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
index 2cb752f..3e741d7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
@@ -24,7 +24,10 @@
      *
      * @see com.casic.missiles.modular.robot.service.impl.TaskInfoServiceImpl
      */
-    HEAT_MAP("heat_map" , "机器人热力图");
+    HEAT_MAP("heat_map" , "机器人热力图"),
+    GRID("grid" , "栅格推送"),
+    TASK_END("task_end" , "任务结束");
+
     /**
      * 请求地址
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
index 88c9f79..3c93145 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -32,7 +32,6 @@
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         statusInfoService.saveCostMap(robotId, message);
-
         CostMapResolutionRequest costMapSet = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
         if(costMapSet != null){
             CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
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 8a71e0b..06f8ae6 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
@@ -30,10 +30,9 @@
     public void process(String robotId, String topic, MqttMessage message) {
 
         index.put(index_key, index.get("index") + 1);
-        if (index.get(index_key)>30) {
+        if (index.get(index_key)>1) {
             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 a9d7914..755997e 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
@@ -39,10 +39,8 @@
         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);
@@ -74,10 +72,12 @@
                     robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
                 }
             }
+
             //读取缓存信息
             sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
         } catch (Exception e) {
             e.printStackTrace();
         }
+
     }
-}
+}
\ No newline at end of file
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 7940a24..40a60a1 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,9 +1,13 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.exception.ServiceException;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.IBaseRobotService;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
@@ -11,6 +15,7 @@
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
+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.mqtt.config.MqttClientConnection;
@@ -32,11 +37,13 @@
     private final IRobotRouteOptService robotRouteOptService;
     private final IRobotInfoService robotInfoService;
     private final ITaskInfoService taskInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService, @Lazy IAlgorithmService algorithmService) {
         this.robotRouteOptService = robotRouteOptService;
         this.robotInfoService = robotInfoService;
         this.taskInfoService = taskInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
@@ -117,7 +124,7 @@
             //线路关键点读取
             if (requestDTO.getData() != null) {
                 for (RouteInfo routeInfo : requestDTO.getData()) {
-                    if("11-1 79-1".equals(routeInfo.getRouteName())){
+                    if ("11-1 79-1".equals(routeInfo.getRouteName())) {
                         continue;
                     }
                     TrackPointListRequest request = new TrackPointListRequest();
@@ -141,6 +148,7 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+
     @Transactional
     @Override
     public void startTrack(StartTrackRequest request) {
@@ -149,6 +157,25 @@
 //        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
     }
 
+    @Override
+    public ResponseDataDTO<Integer> targetGrid(TargetPointRequest request) {
+        PoseMessageResponseDTO responseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + request.getRobotId());
+        if(responseDTO==null){
+            throw new ServiceException(500,"请优先开启导航");
+        }
+        RobotInfo robotInfo = robotInfoService.getById(request.getRobotId());
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        //获取栅格中心点
+        GridPointDTO pointDTO =  algorithmService.convertGridCenterPoint(gridPointDTO,robotInfo.getResolution(),robotInfo);
+        request.setX(pointDTO.getX().toString());
+        request.setY(pointDTO.getY().toString());
+        request.setZ(responseDTO.getZ().toString());
+        request.setTheta(responseDTO.getTheta().toString());
+        //执行巡点指令
+        ResponseDataDTO<Integer> responseDataDTO = this.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
+        return responseDataDTO;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
new file mode 100644
index 0000000..7d69964
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
@@ -0,0 +1,19 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 获取循迹路线下发指令
+ */
+@Data
+public class TargetGridRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "栅格x坐标", dataType = "String")
+    private String estimateGridX;
+    @ApiModelProperty(value = "栅格y坐标", dataType = "String")
+    private String estimateGridY;
+    @ApiModelProperty(value = "z坐标", dataType = "String")
+    private String z;
+    @ApiModelProperty(value = "theta", dataType = "String")
+    private String theta;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
new file mode 100644
index 0000000..763656b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 导航下发指令
+ */
+@Data
+public class TaskModeRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "控制模式 1:手动 0:自动", dataType = "String")
+    private Integer isOpen;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index 8c95459..89697b8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -6,6 +6,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TaskModeRequest;
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 
 import java.util.List;
@@ -52,4 +53,6 @@
      * @param dto 栅格信息
      */
     void updateRobotGrid(String robotId, AppCostmapResponseDTO dto);
+
+    void setTaskMode(TaskModeRequest request);
 }
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 a4dbe0b..a6f5116 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
@@ -167,24 +167,35 @@
         y = y.subtract(robotInfo.getOriginY());
         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));
+
+        //todo  原点栅格转换,减去相对原点值
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewGridY())));
         return pointDTO;
     }
 
     /**
+     * do栅格转xy
      * 根据栅格读取栅格中心点位信息
      *
      * @param pointDTO 栅格信息
      * @return
      */
     public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo) {
+
+        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewGridY())));
+
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = resolution;
         //点位转换 转换后栅格－1 从1开始计算
         BigDecimal slamX = (pointDTO.getX().subtract(new BigDecimal(1))).multiply(scale);
         BigDecimal slamY = (pointDTO.getY().subtract(new BigDecimal(1))).multiply(scale);
+
         //中心栅格点位中心添加
         centerPoint.setX(slamX.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
         centerPoint.setY(slamY.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
+
         //加上栅格原点坐标
         centerPoint.setX(centerPoint.getX().add(robotInfo.getOriginX()));
         centerPoint.setY(centerPoint.getY().add(robotInfo.getOriginY()));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
index e2879ce..f825e84 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
@@ -9,6 +9,8 @@
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.data.redis.core.RedisTemplate;
 import org.springframework.stereotype.Service;
 
 @Service
@@ -18,7 +20,8 @@
     public RobotCacheServiceImpl(IRobotInfoService robotInfoService) {
         this.robotInfoService = robotInfoService;
     }
-
+    @Autowired
+    private RedisTemplate<String, Object> redisTemplate;
     @Override
     public synchronized boolean updateTaskId(Long robotId, Long taskId) {
         //读取当前机器人任务信息
@@ -83,12 +86,14 @@
 
     @Override
     public void updateCostMap(String robotId, AppCostmapResponseDTO msg) {
-        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
+        redisTemplate.opsForValue().set(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId,msg);
+//        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
     }
 
     @Override
     public AppCostmapResponseDTO getCostMap(String robotId) {
-        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+       return (AppCostmapResponseDTO) redisTemplate.opsForValue().get(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+//        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
     }
 
     @Override
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index fdded64..cdbbe89 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -12,11 +12,13 @@
 import com.casic.missiles.core.application.service.AbstractDictService;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dao.RobotInfoMapper;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.*;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.DataRecordRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TaskModeRequest;
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.*;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -51,16 +53,18 @@
     private final IDeviceInfoService deviceInfoService;
     private final IRobotPointInfoService pointInfoService;
     private final IBaseRobotService baseRobotService;
+    private final IAlgorithmService algorithmService;
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
-    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService, @Lazy IBaseRobotService baseRobotService) {
+    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService, @Lazy IBaseRobotService baseRobotService, @Lazy IAlgorithmService algorithmService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.dictService = dictService;
         this.routeInfoService = routeInfoService;
         this.deviceInfoService = deviceInfoService;
         this.pointInfoService = pointInfoService;
         this.baseRobotService = baseRobotService;
+        this.algorithmService = algorithmService;
     }
 
     @Transactional
@@ -96,15 +100,30 @@
         }
         if (robotInfo.getAlarmThreshold() != null) {
             update.set(RobotInfo::getAlarmThreshold, robotInfo.getAlarmThreshold());
+            update.set(RobotInfo::getMaxThreshold, robotInfo.getAlarmThreshold());
         }
         if (robotInfo.getGridHeight() != null && robotInfo.getGridWidth() != null) {
+            RobotInfo oldRobotInfo = getById(robotInfo.getId());
             update.set(RobotInfo::getGridHeight, robotInfo.getGridHeight());
             update.set(RobotInfo::getGridWidth, robotInfo.getGridWidth());
             update.set(RobotInfo::getResolution, robotInfo.getResolution());
+            update.set(RobotInfo::getNewOriginX, robotInfo.getNewX());
+            update.set(RobotInfo::getNewOriginY, robotInfo.getNewY());
+            //计算左下原点
+            oldRobotInfo.setNewGridX(0);
+            oldRobotInfo.setNewGridY(0);
+            GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(robotInfo.getNewX(), robotInfo.getNewY(), robotInfo.getResolution(), oldRobotInfo);
+            update.set(RobotInfo::getNewGridX, gridPointDTO.getX().intValue());
+            update.set(RobotInfo::getNewGridY, gridPointDTO.getY().intValue());
+            //计算右顶点
+            Integer rightX = robotInfo.getGridWidth().divide(robotInfo.getResolution(), 0, BigDecimal.ROUND_HALF_UP).intValue();
+            Integer rightY = robotInfo.getGridHeight().divide(robotInfo.getResolution(), 0, BigDecimal.ROUND_HALF_UP).intValue();
+            update.set(RobotInfo::getRightGridX, rightX);
+            update.set(RobotInfo::getRightGridY, rightY);
+
             //下发障碍物栅格
             sendCostMapResolution(robotInfo.getResolution(), robotInfo.getId());
-            //重新生成栅格地图
-            //sendChangePcd(robotInfo.getId());
+
         }
         update.eq(RobotInfo::getId, robotInfo.getId());
         update(update);
@@ -162,6 +181,16 @@
         update(lambdaUpdateWrapper);
     }
 
+    @Override
+    public void setTaskMode(TaskModeRequest request) {
+        if (request.getRobotId() != null) {
+            LambdaUpdateWrapper<RobotInfo> lambdaUpdateWrapper = new LambdaUpdateWrapper<>();
+            lambdaUpdateWrapper.set(RobotInfo::getIsOpen, request.getIsOpen());
+            lambdaUpdateWrapper.eq(RobotInfo::getId, request.getRobotId());
+            update(lambdaUpdateWrapper);
+        }
+    }
+
     @Transactional
     @Override
     public List<RobotInfo> list(Wrapper<RobotInfo> queryWrapper) {
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 46b5c3b..f52940c 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.collection.CollectionUtil;
 import cn.hutool.core.convert.Convert;
+import cn.hutool.core.io.FileUtil;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
@@ -13,9 +14,9 @@
 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.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO;
@@ -27,7 +28,6 @@
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
-import org.aspectj.util.FileUtil;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.context.annotation.Lazy;
@@ -38,8 +38,8 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.ArrayList;
-import java.util.Arrays;
 import java.util.List;
+import java.util.stream.Collectors;
 
 
 /**
@@ -81,6 +81,11 @@
     }
 
     private void wrapInfo(RobotStatusInfo statusInfo) {
+        // todo 报错
+        StopStateResponseDTO stopStateResponseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + statusInfo.getRobotId());
+        if (stopStateResponseDTO != null) {
+            statusInfo.setSoft(stopStateResponseDTO.getSoft());
+        }
         statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getDiscernType()));
 
         //暂停状态
@@ -262,6 +267,8 @@
      */
     @Value("${casic.algorithm.num:30}")
     private Integer num;
+    @Value("${casic.obstacle:60}")
+    private Integer obstacle;
 
     /**
      * 机器人栅格数据
@@ -276,7 +283,6 @@
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             //发送栅格分辨率设定
-
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
             robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
             //log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
@@ -290,24 +296,102 @@
                         } else {
                             dataNums.add(1);
                         }
+                    } else {
+                        dataNums.add(-1);
                     }
                 }
-                writeCache(dataNums,responseDTO.getMsg().getWidth(),responseDTO.getMsg().getHeight(),robotId);
+                writeCache(dataNums, responseDTO.getMsg().getWidth(), responseDTO.getMsg().getHeight(), robotId);
             }
         }
     }
 
-    private void writeCache(ArrayList<Integer> integers,Integer width,Integer height,String robotId) {
-        List<List<Integer>> arrays = CollectionUtil.split(integers,width);
+    private void writeCache(ArrayList<Integer> integers, Integer width, Integer height, String robotId) {
+        List<List<Integer>> arrays = CollectionUtil.split(integers, width);
         ArrayList<ArrayList<Integer>> arrayList = new ArrayList<>();
         for (List<Integer> array : arrays) {
-            arrayList.add((ArrayList)array);
+            ArrayList list =(ArrayList)array.stream().filter(integer -> integer>=0).collect(Collectors.toList());
+            arrayList.add(list);
         }
         CollectionUtil.reverse(arrayList);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId, arrayList);
-//        FileUtil.writeAsString(new File(path + "map.txt"), CollectionUtil.join(integers, " ").replaceAll("\\[", "").replaceAll("]", ""));
+        //写入栅格宽度
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId, height);
+
+        writeCost(arrayList,width,height,robotId);
+    }
+    /**
+     * slam经纬度转换为栅格
+     *
+     * @param x slam x
+     * @param y slam y
+     */
+    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, BigDecimal resolution, RobotInfo robotInfo) {
+        GridPointDTO pointDTO = new GridPointDTO();
+        BigDecimal scale = resolution;
+        //减去栅格原点坐标
+        x = x.subtract(robotInfo.getOriginX());
+        y = y.subtract(robotInfo.getOriginY());
+        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));
+
+        //todo  原点栅格转换,减去相对原点值
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewGridY())));
+        return pointDTO;
     }
 
+    private void writeCost(ArrayList<ArrayList<Integer>> costList,Integer width, Integer height,String robotId){
+        List<String> strs = new ArrayList<>();
+        List<String> strs2 = new ArrayList<>();
+        RobotInfo robotInfo = cacheService.getRobotInfo(Long.valueOf(robotId));
+        if(robotInfo==null||robotInfo.getGridWidth()==null||robotInfo.getResolution() ==null){
+            log.info("robot gridHeight is not found....");
+            return;
+        }
+
+        //计算左下角位置
+        Integer newX = robotInfo.getNewGridX();
+        Integer newY = height-robotInfo.getNewGridY();
+//        log.info("left point:({},{})",robotInfo.getNewGridX(),robotInfo.getNewGridY());
+        //计算右上角位置
+        Integer rightX = robotInfo.getRightGridX();
+        Integer rightY = height-robotInfo.getRightGridY();
+//        log.info("right point:({},{})",rightX,rightY);
+
+        //裁剪栅格
+        List<List<Integer>> newCostList = new ArrayList<>();
+        for (int i = 0; i < costList.size(); i++) {
+            if(i<=newY&&i>=rightY){
+                List<Integer> newList = new ArrayList<>();
+                List<Integer> sourceList= costList.get(i);
+                for (int j = 0; j < sourceList.size(); j++) {
+                    if(j>=newX&&j<=rightX){
+                        newList.add(sourceList.get(j));
+                    }
+                }
+                newCostList.add(newList);
+            }
+        }
+
+        for (List<Integer> list : newCostList) {
+            strs2.add(CollectionUtil.join(list, " "));
+        }
+
+        FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+        //行转列 为算法输入数据
+        if(CollectionUtil.isNotEmpty(newCostList)){
+            CollectionUtil.reverse(newCostList);
+            for (int i = 0; i < newCostList.get(0).size(); i++) {
+                ArrayList<Integer> ints = new ArrayList<>();
+                for (List<Integer> list : newCostList) {
+                    ints.add(list.get(i));
+                }
+                strs.add(CollectionUtil.join(ints, " "));
+            }
+        }
+
+        FileUtil.writeLines(strs, new File(path + "map3.txt"), "utf-8");
+    }
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
@@ -327,7 +411,6 @@
             json = json.substring(0, json.length() - 1);
         }
         json = json.replaceAll("\\\\", "");
-//        log.info(json);
         RobotResponseDTO<R> responseDTO = JSON.parseObject(json, cls);
         return responseDTO;
     }
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 f1262a2..cb7aa09 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
@@ -69,17 +69,6 @@
             } catch (Exception e) {
                 log.error("task error", e);
             }
-//            if (routeId != null) {
-//                RobotTrajectoryInfo info = new RobotTrajectoryInfo();
-//                info.setRobotId(Long.valueOf(robotId));
-//                info.setCreateTime(new Date());
-//                info.setPostionX(dto.getX());
-//                info.setPostionY(dto.getY());
-//                info.setPostionZ(dto.getZ());
-//                info.setTheta(dto.getTheta());
-//                save(info);
-
-//            }
         }
     }
 
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 fd49e2e..6a0e719 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
@@ -47,6 +47,7 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.*;
+import java.util.concurrent.atomic.AtomicInteger;
 
 
 /**
@@ -81,15 +82,16 @@
     /**
      * 5000 ms
      */
-    @Value("${casic.task.duration:3000}")
+    @Value("${casic.task.duration:2000}")
     private Integer stayDuration;
     @Value("${casic.algorithm.path:-1}")
     private String path;
     /**
      * 障碍物精度
      */
-    @Value("${casic.obstacle:10}")
+    @Value("${casic.obstacle:60}")
     private Integer obstacle;
+    private volatile AtomicInteger atomicInteger = new AtomicInteger();
 
     public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService, ITaskInfoImgService imgService, ITaskGridInfoService taskGridInfoService) {
         this.routeInfoService = routeInfoService;
@@ -128,7 +130,30 @@
         } catch (Exception e) {
             log.error(e.getMessage());
         }
-
+    }
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, GridPushDTO gridPushDTO) {
+        try {
+            WsMsgBaseDTO<GridPushDTO> wsMsgBaseDTO = new WsMsgBaseDTO<GridPushDTO>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(gridPushDTO);
+            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());
+        }
+    }
+    protected void sendTaskMsg(InstructStatusMsgEnums enums, String robotId, TaskEndMsg heatMap) {
+        try {
+            WsMsgBaseDTO<TaskEndMsg> wsMsgBaseDTO = new WsMsgBaseDTO<TaskEndMsg>();
+            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());
+        }
     }
 
     @Override
@@ -187,11 +212,11 @@
 
     private void openTask(StartTrackRequest request, String robotId) {
         QueryWrapper<RouteInfo> query = new QueryWrapper<>();
-        query.eq("target_id", request.getTrack_name());
-        List<RouteInfo> routeInfos = routeInfoService.list(query);
-        if (CollectionUtil.isEmpty(routeInfos)) {
-            throw new ServiceException(500, "路线不存在,请及时更新");
-        }
+//        query.eq("target_id", request.getTrack_name());
+//        List<RouteInfo> routeInfos = routeInfoService.list(query);
+//        if (CollectionUtil.isEmpty(routeInfos)) {
+//            throw new ServiceException(500, "路线不存在,请及时更新");
+//        }
 //        RouteInfo routeInfo = routeInfos.get(0);
         Integer isTask = 0;
         //开启寻源任务
@@ -201,12 +226,12 @@
         RobotInfo robotInfo = cacheService.getRobotInfo(Convert.toLong(robotId));
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_IS_TASK + robotId, isTask);
         //添加任务记录
-        TaskInfo taskInfo = addTaskByStartTrack( robotInfo, request);
+        TaskInfo taskInfo = addTaskByStartTrack(robotInfo, request);
         //No.3 更新器人执行任务信息
 //        Long currRouteId = routeInfo.getId();
         Long currTaskId = taskInfo.getId();
 
-        statusInfoService.updateCurrTask(robotId,  currTaskId);
+        statusInfoService.updateCurrTask(robotId, currTaskId);
         //算法初始化标志创建
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId, currTaskId);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_INIT + robotId, 0);
@@ -230,7 +255,7 @@
         robotCacheClean(robotId);
         //清楚规划任务锁
         CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_PLANING_FLAG + robotId);
-        CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID+ robotId);
+        CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId);
         //清空机器当前任务
         statusInfoService.updateCurrTask(robotId, null);
     }
@@ -304,7 +329,7 @@
         //No.1 任务初始化
         pathInit(longId, robotInfo, pointDTO, taskId, robotId, taskInfo.getStepLen());
         //No.2 路线规划
-        pathPlaning(longId, robotInfo, pointDTO, taskId, robotId, taskInfo,dto);
+        pathPlaning(longId, robotInfo, pointDTO, taskId, robotId, taskInfo, dto);
     }
 
     /**
@@ -329,7 +354,7 @@
      * @param taskId    任务ID
      * @param robotId   机器人ID
      */
-    private void pathPlaning(Long longId, RobotInfo robotInfo, GridPointDTO pointDTO, Long taskId, String robotId, TaskInfo taskInfo,PoseMessageResponseDTO curPoint) {
+    private void pathPlaning(Long longId, RobotInfo robotInfo, GridPointDTO pointDTO, Long taskId, String robotId, TaskInfo taskInfo, PoseMessageResponseDTO curPoint) {
         if (taskId != null) {
             //规划节点
             PointNextDTO pointNextDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId);
@@ -337,12 +362,24 @@
             Boolean flag = lockPlanIngFlag(robotId);
             //是否到达预期栅格
             if (!flag) {
-                log.info("未获取到规划任务,直接结束：{}",pointDTO);
                 return;
             }
+            log.info("curr point:{}", curPoint);
+            log.debug("curr pointGrid:{}", pointDTO);
+            log.debug("oldEstimateGrid:{}", oldEstimateGrid);
+
+            GridPushDTO gridPushDTO = new GridPushDTO();
+            gridPushDTO.setCurrGridX(pointDTO.getX());
+            gridPushDTO.setCurrGridY(pointDTO.getY());
+            if(oldEstimateGrid!=null){
+                gridPushDTO.setEstimateGridX(oldEstimateGrid.getX());
+                gridPushDTO.setEstimateGridY(oldEstimateGrid.getY());
+            }
+            sendWebSocket(InstructStatusMsgEnums.GRID, robotId, gridPushDTO);
+
             try {
-                log.debug("oldEstimateGrid:{}", oldEstimateGrid);
-                if (pointNextDTO == null || isEquals(pointDTO, oldEstimateGrid)) {
+                if (pointNextDTO == null || oldEstimateGrid == null || isEquals(pointDTO, oldEstimateGrid, robotInfo)) {
+                    atomicInteger = new AtomicInteger(0);
                     log.info("当前栅格变更......", pointDTO);
                     CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_POINT + robotId, pointDTO);
                     //算法调用获取热力图
@@ -358,19 +395,24 @@
                     //存储算法输出栅格信息
                     AlgorithmResponse response = algorithmService.pathPlanning(pathPlanDTO);
                     CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId, response.getPointNextDTO());
-                    sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
 
-                    //存储循迹任务信息
-                    TaskGridInfo taskGridInfo = new TaskGridInfo();
-                    taskGridInfo.setCreateTime(new Date());
-                    taskGridInfo.setUpdateTime(new Date());
-                    taskGridInfo.setCurGridX(pointDTO.getX().intValue());
-                    taskGridInfo.setCurGridY(pointDTO.getY().intValue());
-                    taskGridInfo.setNeutronCount(new BigDecimal(pathPlanDTO.getZNow()));
-                    taskGridInfo.setEstimateGridX(response.getPointNextDTO().getX());
-                    taskGridInfo.setEstimateGridY(response.getPointNextDTO().getY());
-                    taskGridInfo.setTaskId(taskId);
-                    taskGridInfoService.save(taskGridInfo);
+                    new Thread() {
+                        @Override
+                        public void run() {
+                            //存储循迹任务信息
+                            TaskGridInfo taskGridInfo = new TaskGridInfo();
+                            taskGridInfo.setCreateTime(new Date());
+                            taskGridInfo.setUpdateTime(new Date());
+                            taskGridInfo.setCurGridX(pointDTO.getX().intValue());
+                            taskGridInfo.setCurGridY(pointDTO.getY().intValue());
+                            taskGridInfo.setNeutronCount(new BigDecimal(pathPlanDTO.getZNow()));
+                            taskGridInfo.setEstimateGridX(response.getPointNextDTO().getX());
+                            taskGridInfo.setEstimateGridY(response.getPointNextDTO().getY());
+                            taskGridInfo.setTaskId(taskId);
+                            taskGridInfoService.save(taskGridInfo);
+                            sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
+                        }
+                    }.start();
 
                     try {
                         //停留时间阈值
@@ -381,11 +423,13 @@
 
                     //是否触发停止状态
                     if (!response.isEnd()) {
-                        log.debug("task planning-- xun dian robotId:{},taskId:{}", robotId, taskId);
                         //机器人寻点指令下发
-                        sendTargetPoint(robotInfo, response,curPoint);
+                        if (robotInfo.getIsOpen() == null || robotInfo.getIsOpen() == 0) {
+                            sendTargetPoint(robotInfo, response, curPoint);
+                        } else {
+                            log.debug("task mode isOpen:{}", robotInfo.getIsOpen());
+                        }
                     } else {
-                        log.debug("task stop-- robotId:{},taskId:{}", robotId, taskId);
                         //机器人停止指令下发
                         SoftwareStopRequest request = new SoftwareStopRequest();
                         request.setRobotId(robotInfo.getId());
@@ -394,6 +438,15 @@
 //                        baseRobotService.execCmdHandler(request, InstructCodeEnums.SOFTWARE_STOP);
                         //循迹任务结束
                         closeTask(null, robotId);
+                        TaskEndMsg endMsg = new TaskEndMsg();
+                        endMsg.setCode(1);
+                        endMsg.setRobotId(robotId);
+                        endMsg.setMessage("寻源结束");
+                        sendTaskMsg(InstructStatusMsgEnums.TASK_END, robotId, endMsg);
+                    }
+                } else {
+                    if (!isChange(pointDTO, oldEstimateGrid)) {
+                        atomicInteger.incrementAndGet();
                     }
                 }
             } catch (Exception e) {
@@ -429,37 +482,56 @@
         Integer initValue = cacheService.readTaskInit(longId);
         //No.1 任务初始化
         if (initValue != 1) {
-
             //执行初始化操作
             if (cacheService.updateTaskInit(longId, 1)) {
-
                 List<List<Integer>> costList = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId);
                 List<String> strs = new ArrayList<>();
                 List<String> strs2 = new ArrayList<>();
-                for (List<Integer> list : costList) {
+                Integer height = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId);
+                if (height == null) {
+                    throw new ServiceException(500, "未获取到栅格宽度信息");
+                }
+                Integer newX = robotInfo.getNewGridX();
+                Integer newY = height - robotInfo.getNewGridY();
+
+                //裁剪栅格
+                List<List<Integer>> newCostList = new ArrayList<>();
+                for (int i = 0; i < costList.size(); i++) {
+                    if (i <= newY) {
+                        List<Integer> newList = new ArrayList<>();
+                        List<Integer> sourceList = costList.get(i);
+                        for (int j = 0; j < sourceList.size(); j++) {
+                            if (j >= newX) {
+                                newList.add(sourceList.get(j));
+                            }
+                        }
+                        newCostList.add(newList);
+                    }
+                }
+                //数组转换
+                for (List<Integer> list : newCostList) {
                     strs2.add(CollectionUtil.join(list, " "));
                 }
                 FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+
                 //行转列 为算法输入数据
-                if(CollectionUtil.isNotEmpty(costList)){
-                    CollectionUtil.reverse(costList);
-                    for (int i = 0; i < costList.get(0).size(); i++) {
+                if (CollectionUtil.isNotEmpty(newCostList)) {
+                    CollectionUtil.reverse(newCostList);
+                    for (int i = 0; i < newCostList.get(0).size(); i++) {
                         ArrayList<Integer> ints = new ArrayList<>();
-                        for (List<Integer> list : costList) {
+                        for (List<Integer> list : newCostList) {
                             ints.add(list.get(i));
                         }
                         strs.add(CollectionUtil.join(ints, " "));
                     }
-//                    CollectionUtil.reverse(strs);
                 }
-
-
                 FileUtil.writeLines(strs, new File(path + "map.txt"), "utf-8");
 
-                PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId, stepLen);
                 //中子源计数率读取
+                PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId, stepLen);
                 pathInitDTO.setZNow(cacheService.getNeutronCount(longId));
                 log.info("init params:{}", JSON.toJSONString(pathInitDTO));
+
                 //执行1次算法 初始化操作
                 algorithmService.pathPlanningInit(pathInitDTO);
             }
@@ -551,7 +623,7 @@
      * @param robotInfo 机器人信息
      * @param response  算法输出数据
      */
-    private void sendTargetPoint(RobotInfo robotInfo, AlgorithmResponse response,PoseMessageResponseDTO curPoint) {
+    private void sendTargetPoint(RobotInfo robotInfo, AlgorithmResponse response, PoseMessageResponseDTO curPoint) {
         //读取已设置巡点目标信息
         PointNextDTO nextDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TARGET_POINT_ID + robotInfo.getId());
         //巡点
@@ -565,6 +637,7 @@
             request.setZ(curPoint.getZ().toString());
             request.setTheta(curPoint.getTheta().toString());
             request.setRobotId(robotInfo.getId());
+            log.info("下发寻源点位:{}", request);
             //执行巡点指令
             baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
             //重设寻点点位
@@ -632,7 +705,7 @@
         //读取
         Integer index = 1;
         LambdaQueryWrapper<TaskGridInfo> taskGridQuery = new LambdaQueryWrapper<>();
-        taskGridQuery.eq(TaskGridInfo::getTaskId,info.getId());
+        taskGridQuery.eq(TaskGridInfo::getTaskId, info.getId());
         taskGridQuery.orderByAsc(TaskGridInfo::getCreateTime);
         List<TaskGridInfo> taskGridInfos = taskGridInfoService.list(taskGridQuery);
         if (CollectionUtil.isNotEmpty(taskGridInfos)) {
@@ -735,12 +808,29 @@
         return true;
     }
 
-    private boolean isEquals(GridPointDTO pointDTO, GridPointDTO oldPointDTO) {
-        if(oldPointDTO==null||oldPointDTO.getX()==null){
+    /**
+     * 栅格判定方法
+     *
+     * @param pointDTO    当前栅格
+     * @param oldPointDTO 预期栅格
+     * @param robotInfo   机器信息
+     * @return
+     */
+    private boolean isEquals(GridPointDTO pointDTO, GridPointDTO oldPointDTO, RobotInfo robotInfo) {
+        if (oldPointDTO == null || oldPointDTO.getX() == null) {
             return false;
         }
-        if (pointDTO.getX().compareTo(oldPointDTO.getX()) == 0 && pointDTO.getY().compareTo(oldPointDTO.getY()) == 0) {
-            return true;
+        if (robotInfo.getResolution().compareTo(new BigDecimal(0.21)) > 0) {
+            //大于0.2则默认该点
+            if (pointDTO.getX().compareTo(oldPointDTO.getX()) == 0 && pointDTO.getY().compareTo(oldPointDTO.getY()) == 0) {
+                return true;
+            }
+        } else {
+            //小于0.2则可判定相邻栅格
+            if (pointDTO.getX().subtract(oldPointDTO.getX()).abs().intValue() <= 1 && pointDTO.getY().subtract(oldPointDTO.getY()).abs().intValue() <= 1) {
+                return true;
+            }
+
         }
         return false;
     }
@@ -756,7 +846,7 @@
         return pathInitDTO;
     }
 
-    private TaskInfo addTaskByStartTrack( RobotInfo robotInfo, StartTrackRequest request) {
+    private TaskInfo addTaskByStartTrack(RobotInfo robotInfo, StartTrackRequest request) {
         //No.2 新增任务信息
         TaskInfo taskInfo = new TaskInfo();
         String currDate = DateUtil.format(new Date(), "yyyyMMdd");
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
index 467b9c2..b8eebf0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
@@ -44,8 +44,8 @@
 
         ArrayList<String> invocation = new ArrayList<String>();
         invocation.add(exePath);
-        invocation.add("10");
-        invocation.add("10");
+        invocation.add("36");
+        invocation.add("18");
         invocation.add("5");
         invocation.add("0.16");
         invocation.add("Mission1");
@@ -58,8 +58,8 @@
         String planning = path + "search.exe";
         ArrayList<String> planInvocation = new ArrayList<String>();
         planInvocation.add(planning);
-        planInvocation.add("10");
-        planInvocation.add("1.0");
+        planInvocation.add("19");
+        planInvocation.add("8");
         planInvocation.add("0.2");
         planInvocation.add("Mission1");
         List<String> res = invokeJob(planInvocation);
diff --git a/casic-web/pom.xml b/casic-web/pom.xml
index 937b695..c793209 100644
--- a/casic-web/pom.xml
+++ b/casic-web/pom.xml
@@ -48,6 +48,11 @@
             <artifactId>spring-boot-starter-web</artifactId>
         </dependency>
         <dependency>
+            <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
             <groupId>org.springframework.boot</groupId>
             <artifactId>spring-boot-starter-actuator</artifactId>
             <exclusions>
diff --git a/casic-web/src/main/resources/config/application-dev.yml b/casic-web/src/main/resources/config/application-dev.yml
index c122d8d..455c4bf 100644
--- a/casic-web/src/main/resources/config/application-dev.yml
+++ b/casic-web/src/main/resources/config/application-dev.yml
@@ -4,9 +4,9 @@
 spring:
   datasource:
     driver-class-name: com.mysql.cj.jdbc.Driver
-    url: jdbc:mysql://111.198.10.15:11336/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
+    url: jdbc:mysql://localhost:3306/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
     username: root
-    password: Casic203
+    password: 123456
     druid:
       max-active: 50
       min-idle: 20
diff --git a/casic-web/src/main/resources/config/application-test.yml b/casic-web/src/main/resources/config/application-test.yml
index 534e2fb..67a0241 100644
--- a/casic-web/src/main/resources/config/application-test.yml
+++ b/casic-web/src/main/resources/config/application-test.yml
@@ -1,30 +1,48 @@
 server:
-  port: 11307
+  port: 8083
 ###################  spring配置  ###################
 spring:
   datasource:
-    url: jdbc:mysql://localhost:3306/casic_template?autoReconnect=true&useUnicode=true&characterEncoding=utf8&useSSL=false&allowMultiQueries=true&zeroDateTimeBehavior=convertToNull
+    driver-class-name: com.mysql.cj.jdbc.Driver
+    url: jdbc:mysql://localhost:3306/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
     username: root
-    password: Casic203!
-    initial-size: 2
-    min-idle: 1
-  jms:
-    pub-sub-domain: true
-#  session:
+    password: 123456
+    druid:
+      max-active: 50
+      min-idle: 20
+jms:
+  pub-sub-domain: true
+# session:
 #   store-type: redis
+# redis:
+#   host: 111.198.10.15
+#   port: 11412
+#   password: ew5T4K3#203lwh
+#   serializer: org.springframework.data.redis.serializer.StringRedisSerializer
+#   redisValueSerializer: org.springframework.data.redis.serializer.JdkSerializationRedisSerializer
 casic:
-  #  kaptcha-open: false #是否开启登录时验证码 (true/false)
-  nologin-urls: /user/login,/user/appLogin,/kaptcha/base64,/config/baseConfig,/route/mockToken,/workflow/**
+  #kaptcha-open: false #是否开启登录时验证码 (true/false)
+  no-login-urls: ${casic.sysUrl}/user/login,${casic.sysUrl}/user/appLogin,${casic.sysUrl}/kaptcha/base64,${casic.sysUrl}/config/baseConfig,/route/mockToken,/websocket/*,/webjars/**,/v2/api-docs,/v2/api-docs-ext,/doc.html,/v2/api-docs/swagger-ui.html,/swagger-resources
   #flowable数据源和多数据源配置
-  flowable:
-    datasource:
-      url: jdbc:mysql://localhost:3306/template_flowable?autoReconnect=true&useUnicode=true&characterEncoding=utf8&useSSL=false&allowMultiQueries=true&zeroDateTimeBehavior=convertToNull
-      username: root
-      password: Casic203!
-flowable:
-  checkProcessDefinitions: false #不校验process文件
+  db:
+    init:
+      enable: false
+  hikSdk: D:\robot\hiklib\HCNetSDK.dll
+  hikPlay: D:\robot\hiklib\PlayCtrl.dll
+  algorithm:
+    path:  D:\robot\path\
+    initPathName: init.exe
+    planPathName: search.exe
+  doc:
+    temp: D:\robot\path\report.docx
+  config:
+    export-path: D:\java\boot\guns-web-1.0.0-SNAPSHOT\export\
+    config-path: E:\Develop\IdeaProject\smartcity\casic-smartcity-dcms\casic-web\src\main\resources\config\
 logging:
   level.root: info
   level.com.casic: debug
+  level.com.casic.missiles.netty: error
+  level.com.casic.missiles.modular.neutron: error
+  level.org.springframework.web: info
   file:
-    path: logs/
\ No newline at end of file
+    path: D:\\robot\\logs
\ No newline at end of file
diff --git a/casic-web/src/main/resources/config/application.yml b/casic-web/src/main/resources/config/application.yml
index 035cb1f..d3833ab 100644
--- a/casic-web/src/main/resources/config/application.yml
+++ b/casic-web/src/main/resources/config/application.yml
@@ -20,7 +20,7 @@
     topic: /sensor_status,get_speed,/get_speed,/get_track_list_response,/get_track_response,/get_navigation_response
     completionTimeout: 2000
   redis:
-    host: 192.168.1.20
+    host: localhost
     port: 6379
     #    password: ew5T4K3#203lwh
     database: 3

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
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 a849528..4f34669 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
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index bdfc2d0..d7736a5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -148,7 +148,7 @@
     public void insertPsdAlarms() {
         times++;
         //先查询正在巡检任务信息
-        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
+        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 2);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
 
         long currentTimes = System.currentTimeMillis();
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 92c8c8e..6e94193 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
@@ -5,10 +5,7 @@
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 
 /**
  * 机器人操作类
@@ -76,4 +73,11 @@
     void reloadPcd(RobotInfo info);
 
     void startTrack(StartTrackRequest request);
+
+    /**
+     * 栅格寻点指令
+     * @param request 请求
+     * @return
+     */
+    ResponseDataDTO<Integer> targetGrid(TargetPointRequest 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 3bb475f..d8b3363 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.lang.Assert;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
@@ -25,7 +26,6 @@
 import io.swagger.annotations.ApiParam;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.apache.ibatis.annotations.Param;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.web.bind.annotation.*;
 import org.springframework.web.multipart.MultipartFile;
@@ -76,6 +76,13 @@
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
+    /**
+     * /{robotId}
+     *
+     * @param file
+     * @param robotId
+     * @return
+     */
     @SneakyThrows
     @ApiOperation(value = "PCD上传接口")
     @PostMapping(value = "/uploadPcd")
@@ -109,7 +116,12 @@
         robotInfoService.updateSpeed(robotInfo);
         return ResponseDataDTO.success();
     }
-
+    @ApiOperation(value = "设置任务启动模式", notes = "返回 1成功 0失败")
+    @PostMapping(value = "/setTaskMode")
+    public ResponseDataDTO setTaskMode(@RequestBody TaskModeRequest request) {
+        robotInfoService.setTaskMode(request);
+        return ResponseDataDTO.success();
+    }
     @ApiOperation(value = "机器人数据更新", notes = "1.pcd重载 2.路线及关键点数据重载")
     @PostMapping(value = "/reload")
     public ResponseDataDTO reload(@RequestBody BaseRobotCmdDTO request) {
@@ -149,6 +161,8 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
     }
 
+
+
     /**
      * 机器人请求id
      *
@@ -161,6 +175,16 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
     }
 
+    @ApiOperation(value = "寻栅格指令")
+    @PostMapping(value = "/targetGrid")
+    public ResponseDataDTO<Integer> targetGrid(@RequestBody TargetGridRequest request) {
+        TargetPointRequest targetPointRequest = new TargetPointRequest();
+        targetPointRequest.setRobotId(request.getRobotId());
+        targetPointRequest.setX(request.getEstimateGridX());
+        targetPointRequest.setY(request.getEstimateGridY());
+        return baseRobotService.targetGrid(targetPointRequest);
+    }
+
     /**
      * 机器人请求id
      *
@@ -174,6 +198,7 @@
         if (request.getStepLen() == null) {
             request.setStepLen(2);
         }
+        log.info(JSON.toJSONString(request));
         baseRobotService.startTrack(request);
         return ResponseDataDTO.success();
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
new file mode 100644
index 0000000..709bcd3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+@Data
+public class GridDTO {
+    /**
+     * 当前栅格x
+     */
+    private Integer currGridX;
+    /**
+     * 当前栅格y
+     */
+    private Integer currGridY;
+    /**
+     * 规划栅格x
+     */
+    private Integer estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private Integer estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
new file mode 100644
index 0000000..7eae335
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+@Data
+public class GridPushDTO {
+    /**
+     * 当前栅格x
+     */
+    private BigDecimal currGridX;
+    /**
+     * 当前栅格y
+     */
+    private BigDecimal currGridY;
+
+    /**
+     * 规划栅格x
+     */
+    private BigDecimal estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private BigDecimal estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index acbeb93..b9ad7a3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -23,4 +23,8 @@
     private BigDecimal gridWidth;
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     private BigDecimal resolution;
+    @ApiModelProperty(value = "新设原点X", dataType = "BigDecimal")
+    private BigDecimal newX;
+    @ApiModelProperty(value = "新设原点Y", dataType = "BigDecimal")
+    private BigDecimal newY;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
new file mode 100644
index 0000000..acc38f3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
@@ -0,0 +1,15 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+@Data
+public class TaskEndMsg implements Serializable {
+    private String robotId;
+    private String message;
+    /**
+     * 1 正常 0 异常
+     */
+    private Integer code;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 90e4dcf..d5ae18a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -154,7 +154,46 @@
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     @TableField("resolution")
     private BigDecimal resolution;
+    /**
+     * 新设定栅格原点X
+     */
+    @TableField("new_origin_x")
+    private BigDecimal newOriginX;
+    /**
+     * 新设定栅格原点Y
+     */
+    @TableField("new_origin_y")
+    private BigDecimal newOriginY;
 
+    /**
+     * 新设定栅格X
+     */
+    @TableField("new_grid_x")
+    private Integer newGridX;
+    /**
+     * 新设定栅格Y
+     */
+    @TableField("new_grid_y")
+    private Integer newGridY;
+
+    /**
+     * 裁剪右顶点X
+     */
+    @TableField("right_grid_x")
+    private Integer rightGridX;
+    @TableField("is_open")
+    private Integer isOpen;
+    /**
+     * 裁剪右顶点Y
+     */
+    @TableField("right_grid_y")
+    private Integer rightGridY;
+    public BigDecimal getNewX(){
+        return newOriginX;
+    }
+    public BigDecimal getNewY(){
+        return newOriginY;
+    }
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
index 2cb752f..3e741d7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
@@ -24,7 +24,10 @@
      *
      * @see com.casic.missiles.modular.robot.service.impl.TaskInfoServiceImpl
      */
-    HEAT_MAP("heat_map" , "机器人热力图");
+    HEAT_MAP("heat_map" , "机器人热力图"),
+    GRID("grid" , "栅格推送"),
+    TASK_END("task_end" , "任务结束");
+
     /**
      * 请求地址
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
index 88c9f79..3c93145 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -32,7 +32,6 @@
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         statusInfoService.saveCostMap(robotId, message);
-
         CostMapResolutionRequest costMapSet = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
         if(costMapSet != null){
             CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
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 8a71e0b..06f8ae6 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
@@ -30,10 +30,9 @@
     public void process(String robotId, String topic, MqttMessage message) {
 
         index.put(index_key, index.get("index") + 1);
-        if (index.get(index_key)>30) {
+        if (index.get(index_key)>1) {
             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 a9d7914..755997e 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
@@ -39,10 +39,8 @@
         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);
@@ -74,10 +72,12 @@
                     robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
                 }
             }
+
             //读取缓存信息
             sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
         } catch (Exception e) {
             e.printStackTrace();
         }
+
     }
-}
+}
\ No newline at end of file
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 7940a24..40a60a1 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,9 +1,13 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.exception.ServiceException;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.IBaseRobotService;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
@@ -11,6 +15,7 @@
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
+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.mqtt.config.MqttClientConnection;
@@ -32,11 +37,13 @@
     private final IRobotRouteOptService robotRouteOptService;
     private final IRobotInfoService robotInfoService;
     private final ITaskInfoService taskInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService, @Lazy IAlgorithmService algorithmService) {
         this.robotRouteOptService = robotRouteOptService;
         this.robotInfoService = robotInfoService;
         this.taskInfoService = taskInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
@@ -117,7 +124,7 @@
             //线路关键点读取
             if (requestDTO.getData() != null) {
                 for (RouteInfo routeInfo : requestDTO.getData()) {
-                    if("11-1 79-1".equals(routeInfo.getRouteName())){
+                    if ("11-1 79-1".equals(routeInfo.getRouteName())) {
                         continue;
                     }
                     TrackPointListRequest request = new TrackPointListRequest();
@@ -141,6 +148,7 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+
     @Transactional
     @Override
     public void startTrack(StartTrackRequest request) {
@@ -149,6 +157,25 @@
 //        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
     }
 
+    @Override
+    public ResponseDataDTO<Integer> targetGrid(TargetPointRequest request) {
+        PoseMessageResponseDTO responseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + request.getRobotId());
+        if(responseDTO==null){
+            throw new ServiceException(500,"请优先开启导航");
+        }
+        RobotInfo robotInfo = robotInfoService.getById(request.getRobotId());
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        //获取栅格中心点
+        GridPointDTO pointDTO =  algorithmService.convertGridCenterPoint(gridPointDTO,robotInfo.getResolution(),robotInfo);
+        request.setX(pointDTO.getX().toString());
+        request.setY(pointDTO.getY().toString());
+        request.setZ(responseDTO.getZ().toString());
+        request.setTheta(responseDTO.getTheta().toString());
+        //执行巡点指令
+        ResponseDataDTO<Integer> responseDataDTO = this.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
+        return responseDataDTO;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
new file mode 100644
index 0000000..7d69964
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
@@ -0,0 +1,19 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 获取循迹路线下发指令
+ */
+@Data
+public class TargetGridRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "栅格x坐标", dataType = "String")
+    private String estimateGridX;
+    @ApiModelProperty(value = "栅格y坐标", dataType = "String")
+    private String estimateGridY;
+    @ApiModelProperty(value = "z坐标", dataType = "String")
+    private String z;
+    @ApiModelProperty(value = "theta", dataType = "String")
+    private String theta;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
new file mode 100644
index 0000000..763656b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 导航下发指令
+ */
+@Data
+public class TaskModeRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "控制模式 1:手动 0:自动", dataType = "String")
+    private Integer isOpen;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index 8c95459..89697b8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -6,6 +6,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TaskModeRequest;
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 
 import java.util.List;
@@ -52,4 +53,6 @@
      * @param dto 栅格信息
      */
     void updateRobotGrid(String robotId, AppCostmapResponseDTO dto);
+
+    void setTaskMode(TaskModeRequest request);
 }
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 a4dbe0b..a6f5116 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
@@ -167,24 +167,35 @@
         y = y.subtract(robotInfo.getOriginY());
         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));
+
+        //todo  原点栅格转换,减去相对原点值
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewGridY())));
         return pointDTO;
     }
 
     /**
+     * do栅格转xy
      * 根据栅格读取栅格中心点位信息
      *
      * @param pointDTO 栅格信息
      * @return
      */
     public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo) {
+
+        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewGridY())));
+
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = resolution;
         //点位转换 转换后栅格－1 从1开始计算
         BigDecimal slamX = (pointDTO.getX().subtract(new BigDecimal(1))).multiply(scale);
         BigDecimal slamY = (pointDTO.getY().subtract(new BigDecimal(1))).multiply(scale);
+
         //中心栅格点位中心添加
         centerPoint.setX(slamX.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
         centerPoint.setY(slamY.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
+
         //加上栅格原点坐标
         centerPoint.setX(centerPoint.getX().add(robotInfo.getOriginX()));
         centerPoint.setY(centerPoint.getY().add(robotInfo.getOriginY()));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
index e2879ce..f825e84 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
@@ -9,6 +9,8 @@
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.data.redis.core.RedisTemplate;
 import org.springframework.stereotype.Service;
 
 @Service
@@ -18,7 +20,8 @@
     public RobotCacheServiceImpl(IRobotInfoService robotInfoService) {
         this.robotInfoService = robotInfoService;
     }
-
+    @Autowired
+    private RedisTemplate<String, Object> redisTemplate;
     @Override
     public synchronized boolean updateTaskId(Long robotId, Long taskId) {
         //读取当前机器人任务信息
@@ -83,12 +86,14 @@
 
     @Override
     public void updateCostMap(String robotId, AppCostmapResponseDTO msg) {
-        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
+        redisTemplate.opsForValue().set(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId,msg);
+//        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
     }
 
     @Override
     public AppCostmapResponseDTO getCostMap(String robotId) {
-        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+       return (AppCostmapResponseDTO) redisTemplate.opsForValue().get(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+//        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
     }
 
     @Override
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index fdded64..cdbbe89 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -12,11 +12,13 @@
 import com.casic.missiles.core.application.service.AbstractDictService;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dao.RobotInfoMapper;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.*;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.DataRecordRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TaskModeRequest;
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.*;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -51,16 +53,18 @@
     private final IDeviceInfoService deviceInfoService;
     private final IRobotPointInfoService pointInfoService;
     private final IBaseRobotService baseRobotService;
+    private final IAlgorithmService algorithmService;
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
-    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService, @Lazy IBaseRobotService baseRobotService) {
+    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService, @Lazy IBaseRobotService baseRobotService, @Lazy IAlgorithmService algorithmService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.dictService = dictService;
         this.routeInfoService = routeInfoService;
         this.deviceInfoService = deviceInfoService;
         this.pointInfoService = pointInfoService;
         this.baseRobotService = baseRobotService;
+        this.algorithmService = algorithmService;
     }
 
     @Transactional
@@ -96,15 +100,30 @@
         }
         if (robotInfo.getAlarmThreshold() != null) {
             update.set(RobotInfo::getAlarmThreshold, robotInfo.getAlarmThreshold());
+            update.set(RobotInfo::getMaxThreshold, robotInfo.getAlarmThreshold());
         }
         if (robotInfo.getGridHeight() != null && robotInfo.getGridWidth() != null) {
+            RobotInfo oldRobotInfo = getById(robotInfo.getId());
             update.set(RobotInfo::getGridHeight, robotInfo.getGridHeight());
             update.set(RobotInfo::getGridWidth, robotInfo.getGridWidth());
             update.set(RobotInfo::getResolution, robotInfo.getResolution());
+            update.set(RobotInfo::getNewOriginX, robotInfo.getNewX());
+            update.set(RobotInfo::getNewOriginY, robotInfo.getNewY());
+            //计算左下原点
+            oldRobotInfo.setNewGridX(0);
+            oldRobotInfo.setNewGridY(0);
+            GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(robotInfo.getNewX(), robotInfo.getNewY(), robotInfo.getResolution(), oldRobotInfo);
+            update.set(RobotInfo::getNewGridX, gridPointDTO.getX().intValue());
+            update.set(RobotInfo::getNewGridY, gridPointDTO.getY().intValue());
+            //计算右顶点
+            Integer rightX = robotInfo.getGridWidth().divide(robotInfo.getResolution(), 0, BigDecimal.ROUND_HALF_UP).intValue();
+            Integer rightY = robotInfo.getGridHeight().divide(robotInfo.getResolution(), 0, BigDecimal.ROUND_HALF_UP).intValue();
+            update.set(RobotInfo::getRightGridX, rightX);
+            update.set(RobotInfo::getRightGridY, rightY);
+
             //下发障碍物栅格
             sendCostMapResolution(robotInfo.getResolution(), robotInfo.getId());
-            //重新生成栅格地图
-            //sendChangePcd(robotInfo.getId());
+
         }
         update.eq(RobotInfo::getId, robotInfo.getId());
         update(update);
@@ -162,6 +181,16 @@
         update(lambdaUpdateWrapper);
     }
 
+    @Override
+    public void setTaskMode(TaskModeRequest request) {
+        if (request.getRobotId() != null) {
+            LambdaUpdateWrapper<RobotInfo> lambdaUpdateWrapper = new LambdaUpdateWrapper<>();
+            lambdaUpdateWrapper.set(RobotInfo::getIsOpen, request.getIsOpen());
+            lambdaUpdateWrapper.eq(RobotInfo::getId, request.getRobotId());
+            update(lambdaUpdateWrapper);
+        }
+    }
+
     @Transactional
     @Override
     public List<RobotInfo> list(Wrapper<RobotInfo> queryWrapper) {
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 46b5c3b..f52940c 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.collection.CollectionUtil;
 import cn.hutool.core.convert.Convert;
+import cn.hutool.core.io.FileUtil;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
@@ -13,9 +14,9 @@
 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.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO;
@@ -27,7 +28,6 @@
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
-import org.aspectj.util.FileUtil;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.context.annotation.Lazy;
@@ -38,8 +38,8 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.ArrayList;
-import java.util.Arrays;
 import java.util.List;
+import java.util.stream.Collectors;
 
 
 /**
@@ -81,6 +81,11 @@
     }
 
     private void wrapInfo(RobotStatusInfo statusInfo) {
+        // todo 报错
+        StopStateResponseDTO stopStateResponseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + statusInfo.getRobotId());
+        if (stopStateResponseDTO != null) {
+            statusInfo.setSoft(stopStateResponseDTO.getSoft());
+        }
         statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getDiscernType()));
 
         //暂停状态
@@ -262,6 +267,8 @@
      */
     @Value("${casic.algorithm.num:30}")
     private Integer num;
+    @Value("${casic.obstacle:60}")
+    private Integer obstacle;
 
     /**
      * 机器人栅格数据
@@ -276,7 +283,6 @@
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             //发送栅格分辨率设定
-
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
             robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
             //log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
@@ -290,24 +296,102 @@
                         } else {
                             dataNums.add(1);
                         }
+                    } else {
+                        dataNums.add(-1);
                     }
                 }
-                writeCache(dataNums,responseDTO.getMsg().getWidth(),responseDTO.getMsg().getHeight(),robotId);
+                writeCache(dataNums, responseDTO.getMsg().getWidth(), responseDTO.getMsg().getHeight(), robotId);
             }
         }
     }
 
-    private void writeCache(ArrayList<Integer> integers,Integer width,Integer height,String robotId) {
-        List<List<Integer>> arrays = CollectionUtil.split(integers,width);
+    private void writeCache(ArrayList<Integer> integers, Integer width, Integer height, String robotId) {
+        List<List<Integer>> arrays = CollectionUtil.split(integers, width);
         ArrayList<ArrayList<Integer>> arrayList = new ArrayList<>();
         for (List<Integer> array : arrays) {
-            arrayList.add((ArrayList)array);
+            ArrayList list =(ArrayList)array.stream().filter(integer -> integer>=0).collect(Collectors.toList());
+            arrayList.add(list);
         }
         CollectionUtil.reverse(arrayList);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId, arrayList);
-//        FileUtil.writeAsString(new File(path + "map.txt"), CollectionUtil.join(integers, " ").replaceAll("\\[", "").replaceAll("]", ""));
+        //写入栅格宽度
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId, height);
+
+        writeCost(arrayList,width,height,robotId);
+    }
+    /**
+     * slam经纬度转换为栅格
+     *
+     * @param x slam x
+     * @param y slam y
+     */
+    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, BigDecimal resolution, RobotInfo robotInfo) {
+        GridPointDTO pointDTO = new GridPointDTO();
+        BigDecimal scale = resolution;
+        //减去栅格原点坐标
+        x = x.subtract(robotInfo.getOriginX());
+        y = y.subtract(robotInfo.getOriginY());
+        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));
+
+        //todo  原点栅格转换,减去相对原点值
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewGridY())));
+        return pointDTO;
     }
 
+    private void writeCost(ArrayList<ArrayList<Integer>> costList,Integer width, Integer height,String robotId){
+        List<String> strs = new ArrayList<>();
+        List<String> strs2 = new ArrayList<>();
+        RobotInfo robotInfo = cacheService.getRobotInfo(Long.valueOf(robotId));
+        if(robotInfo==null||robotInfo.getGridWidth()==null||robotInfo.getResolution() ==null){
+            log.info("robot gridHeight is not found....");
+            return;
+        }
+
+        //计算左下角位置
+        Integer newX = robotInfo.getNewGridX();
+        Integer newY = height-robotInfo.getNewGridY();
+//        log.info("left point:({},{})",robotInfo.getNewGridX(),robotInfo.getNewGridY());
+        //计算右上角位置
+        Integer rightX = robotInfo.getRightGridX();
+        Integer rightY = height-robotInfo.getRightGridY();
+//        log.info("right point:({},{})",rightX,rightY);
+
+        //裁剪栅格
+        List<List<Integer>> newCostList = new ArrayList<>();
+        for (int i = 0; i < costList.size(); i++) {
+            if(i<=newY&&i>=rightY){
+                List<Integer> newList = new ArrayList<>();
+                List<Integer> sourceList= costList.get(i);
+                for (int j = 0; j < sourceList.size(); j++) {
+                    if(j>=newX&&j<=rightX){
+                        newList.add(sourceList.get(j));
+                    }
+                }
+                newCostList.add(newList);
+            }
+        }
+
+        for (List<Integer> list : newCostList) {
+            strs2.add(CollectionUtil.join(list, " "));
+        }
+
+        FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+        //行转列 为算法输入数据
+        if(CollectionUtil.isNotEmpty(newCostList)){
+            CollectionUtil.reverse(newCostList);
+            for (int i = 0; i < newCostList.get(0).size(); i++) {
+                ArrayList<Integer> ints = new ArrayList<>();
+                for (List<Integer> list : newCostList) {
+                    ints.add(list.get(i));
+                }
+                strs.add(CollectionUtil.join(ints, " "));
+            }
+        }
+
+        FileUtil.writeLines(strs, new File(path + "map3.txt"), "utf-8");
+    }
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
@@ -327,7 +411,6 @@
             json = json.substring(0, json.length() - 1);
         }
         json = json.replaceAll("\\\\", "");
-//        log.info(json);
         RobotResponseDTO<R> responseDTO = JSON.parseObject(json, cls);
         return responseDTO;
     }
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 f1262a2..cb7aa09 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
@@ -69,17 +69,6 @@
             } catch (Exception e) {
                 log.error("task error", e);
             }
-//            if (routeId != null) {
-//                RobotTrajectoryInfo info = new RobotTrajectoryInfo();
-//                info.setRobotId(Long.valueOf(robotId));
-//                info.setCreateTime(new Date());
-//                info.setPostionX(dto.getX());
-//                info.setPostionY(dto.getY());
-//                info.setPostionZ(dto.getZ());
-//                info.setTheta(dto.getTheta());
-//                save(info);
-
-//            }
         }
     }
 
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 fd49e2e..6a0e719 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
@@ -47,6 +47,7 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.*;
+import java.util.concurrent.atomic.AtomicInteger;
 
 
 /**
@@ -81,15 +82,16 @@
     /**
      * 5000 ms
      */
-    @Value("${casic.task.duration:3000}")
+    @Value("${casic.task.duration:2000}")
     private Integer stayDuration;
     @Value("${casic.algorithm.path:-1}")
     private String path;
     /**
      * 障碍物精度
      */
-    @Value("${casic.obstacle:10}")
+    @Value("${casic.obstacle:60}")
     private Integer obstacle;
+    private volatile AtomicInteger atomicInteger = new AtomicInteger();
 
     public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService, ITaskInfoImgService imgService, ITaskGridInfoService taskGridInfoService) {
         this.routeInfoService = routeInfoService;
@@ -128,7 +130,30 @@
         } catch (Exception e) {
             log.error(e.getMessage());
         }
-
+    }
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, GridPushDTO gridPushDTO) {
+        try {
+            WsMsgBaseDTO<GridPushDTO> wsMsgBaseDTO = new WsMsgBaseDTO<GridPushDTO>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(gridPushDTO);
+            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());
+        }
+    }
+    protected void sendTaskMsg(InstructStatusMsgEnums enums, String robotId, TaskEndMsg heatMap) {
+        try {
+            WsMsgBaseDTO<TaskEndMsg> wsMsgBaseDTO = new WsMsgBaseDTO<TaskEndMsg>();
+            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());
+        }
     }
 
     @Override
@@ -187,11 +212,11 @@
 
     private void openTask(StartTrackRequest request, String robotId) {
         QueryWrapper<RouteInfo> query = new QueryWrapper<>();
-        query.eq("target_id", request.getTrack_name());
-        List<RouteInfo> routeInfos = routeInfoService.list(query);
-        if (CollectionUtil.isEmpty(routeInfos)) {
-            throw new ServiceException(500, "路线不存在,请及时更新");
-        }
+//        query.eq("target_id", request.getTrack_name());
+//        List<RouteInfo> routeInfos = routeInfoService.list(query);
+//        if (CollectionUtil.isEmpty(routeInfos)) {
+//            throw new ServiceException(500, "路线不存在,请及时更新");
+//        }
 //        RouteInfo routeInfo = routeInfos.get(0);
         Integer isTask = 0;
         //开启寻源任务
@@ -201,12 +226,12 @@
         RobotInfo robotInfo = cacheService.getRobotInfo(Convert.toLong(robotId));
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_IS_TASK + robotId, isTask);
         //添加任务记录
-        TaskInfo taskInfo = addTaskByStartTrack( robotInfo, request);
+        TaskInfo taskInfo = addTaskByStartTrack(robotInfo, request);
         //No.3 更新器人执行任务信息
 //        Long currRouteId = routeInfo.getId();
         Long currTaskId = taskInfo.getId();
 
-        statusInfoService.updateCurrTask(robotId,  currTaskId);
+        statusInfoService.updateCurrTask(robotId, currTaskId);
         //算法初始化标志创建
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId, currTaskId);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_INIT + robotId, 0);
@@ -230,7 +255,7 @@
         robotCacheClean(robotId);
         //清楚规划任务锁
         CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_PLANING_FLAG + robotId);
-        CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID+ robotId);
+        CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId);
         //清空机器当前任务
         statusInfoService.updateCurrTask(robotId, null);
     }
@@ -304,7 +329,7 @@
         //No.1 任务初始化
         pathInit(longId, robotInfo, pointDTO, taskId, robotId, taskInfo.getStepLen());
         //No.2 路线规划
-        pathPlaning(longId, robotInfo, pointDTO, taskId, robotId, taskInfo,dto);
+        pathPlaning(longId, robotInfo, pointDTO, taskId, robotId, taskInfo, dto);
     }
 
     /**
@@ -329,7 +354,7 @@
      * @param taskId    任务ID
      * @param robotId   机器人ID
      */
-    private void pathPlaning(Long longId, RobotInfo robotInfo, GridPointDTO pointDTO, Long taskId, String robotId, TaskInfo taskInfo,PoseMessageResponseDTO curPoint) {
+    private void pathPlaning(Long longId, RobotInfo robotInfo, GridPointDTO pointDTO, Long taskId, String robotId, TaskInfo taskInfo, PoseMessageResponseDTO curPoint) {
         if (taskId != null) {
             //规划节点
             PointNextDTO pointNextDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId);
@@ -337,12 +362,24 @@
             Boolean flag = lockPlanIngFlag(robotId);
             //是否到达预期栅格
             if (!flag) {
-                log.info("未获取到规划任务,直接结束：{}",pointDTO);
                 return;
             }
+            log.info("curr point:{}", curPoint);
+            log.debug("curr pointGrid:{}", pointDTO);
+            log.debug("oldEstimateGrid:{}", oldEstimateGrid);
+
+            GridPushDTO gridPushDTO = new GridPushDTO();
+            gridPushDTO.setCurrGridX(pointDTO.getX());
+            gridPushDTO.setCurrGridY(pointDTO.getY());
+            if(oldEstimateGrid!=null){
+                gridPushDTO.setEstimateGridX(oldEstimateGrid.getX());
+                gridPushDTO.setEstimateGridY(oldEstimateGrid.getY());
+            }
+            sendWebSocket(InstructStatusMsgEnums.GRID, robotId, gridPushDTO);
+
             try {
-                log.debug("oldEstimateGrid:{}", oldEstimateGrid);
-                if (pointNextDTO == null || isEquals(pointDTO, oldEstimateGrid)) {
+                if (pointNextDTO == null || oldEstimateGrid == null || isEquals(pointDTO, oldEstimateGrid, robotInfo)) {
+                    atomicInteger = new AtomicInteger(0);
                     log.info("当前栅格变更......", pointDTO);
                     CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_POINT + robotId, pointDTO);
                     //算法调用获取热力图
@@ -358,19 +395,24 @@
                     //存储算法输出栅格信息
                     AlgorithmResponse response = algorithmService.pathPlanning(pathPlanDTO);
                     CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId, response.getPointNextDTO());
-                    sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
 
-                    //存储循迹任务信息
-                    TaskGridInfo taskGridInfo = new TaskGridInfo();
-                    taskGridInfo.setCreateTime(new Date());
-                    taskGridInfo.setUpdateTime(new Date());
-                    taskGridInfo.setCurGridX(pointDTO.getX().intValue());
-                    taskGridInfo.setCurGridY(pointDTO.getY().intValue());
-                    taskGridInfo.setNeutronCount(new BigDecimal(pathPlanDTO.getZNow()));
-                    taskGridInfo.setEstimateGridX(response.getPointNextDTO().getX());
-                    taskGridInfo.setEstimateGridY(response.getPointNextDTO().getY());
-                    taskGridInfo.setTaskId(taskId);
-                    taskGridInfoService.save(taskGridInfo);
+                    new Thread() {
+                        @Override
+                        public void run() {
+                            //存储循迹任务信息
+                            TaskGridInfo taskGridInfo = new TaskGridInfo();
+                            taskGridInfo.setCreateTime(new Date());
+                            taskGridInfo.setUpdateTime(new Date());
+                            taskGridInfo.setCurGridX(pointDTO.getX().intValue());
+                            taskGridInfo.setCurGridY(pointDTO.getY().intValue());
+                            taskGridInfo.setNeutronCount(new BigDecimal(pathPlanDTO.getZNow()));
+                            taskGridInfo.setEstimateGridX(response.getPointNextDTO().getX());
+                            taskGridInfo.setEstimateGridY(response.getPointNextDTO().getY());
+                            taskGridInfo.setTaskId(taskId);
+                            taskGridInfoService.save(taskGridInfo);
+                            sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
+                        }
+                    }.start();
 
                     try {
                         //停留时间阈值
@@ -381,11 +423,13 @@
 
                     //是否触发停止状态
                     if (!response.isEnd()) {
-                        log.debug("task planning-- xun dian robotId:{},taskId:{}", robotId, taskId);
                         //机器人寻点指令下发
-                        sendTargetPoint(robotInfo, response,curPoint);
+                        if (robotInfo.getIsOpen() == null || robotInfo.getIsOpen() == 0) {
+                            sendTargetPoint(robotInfo, response, curPoint);
+                        } else {
+                            log.debug("task mode isOpen:{}", robotInfo.getIsOpen());
+                        }
                     } else {
-                        log.debug("task stop-- robotId:{},taskId:{}", robotId, taskId);
                         //机器人停止指令下发
                         SoftwareStopRequest request = new SoftwareStopRequest();
                         request.setRobotId(robotInfo.getId());
@@ -394,6 +438,15 @@
 //                        baseRobotService.execCmdHandler(request, InstructCodeEnums.SOFTWARE_STOP);
                         //循迹任务结束
                         closeTask(null, robotId);
+                        TaskEndMsg endMsg = new TaskEndMsg();
+                        endMsg.setCode(1);
+                        endMsg.setRobotId(robotId);
+                        endMsg.setMessage("寻源结束");
+                        sendTaskMsg(InstructStatusMsgEnums.TASK_END, robotId, endMsg);
+                    }
+                } else {
+                    if (!isChange(pointDTO, oldEstimateGrid)) {
+                        atomicInteger.incrementAndGet();
                     }
                 }
             } catch (Exception e) {
@@ -429,37 +482,56 @@
         Integer initValue = cacheService.readTaskInit(longId);
         //No.1 任务初始化
         if (initValue != 1) {
-
             //执行初始化操作
             if (cacheService.updateTaskInit(longId, 1)) {
-
                 List<List<Integer>> costList = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId);
                 List<String> strs = new ArrayList<>();
                 List<String> strs2 = new ArrayList<>();
-                for (List<Integer> list : costList) {
+                Integer height = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId);
+                if (height == null) {
+                    throw new ServiceException(500, "未获取到栅格宽度信息");
+                }
+                Integer newX = robotInfo.getNewGridX();
+                Integer newY = height - robotInfo.getNewGridY();
+
+                //裁剪栅格
+                List<List<Integer>> newCostList = new ArrayList<>();
+                for (int i = 0; i < costList.size(); i++) {
+                    if (i <= newY) {
+                        List<Integer> newList = new ArrayList<>();
+                        List<Integer> sourceList = costList.get(i);
+                        for (int j = 0; j < sourceList.size(); j++) {
+                            if (j >= newX) {
+                                newList.add(sourceList.get(j));
+                            }
+                        }
+                        newCostList.add(newList);
+                    }
+                }
+                //数组转换
+                for (List<Integer> list : newCostList) {
                     strs2.add(CollectionUtil.join(list, " "));
                 }
                 FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+
                 //行转列 为算法输入数据
-                if(CollectionUtil.isNotEmpty(costList)){
-                    CollectionUtil.reverse(costList);
-                    for (int i = 0; i < costList.get(0).size(); i++) {
+                if (CollectionUtil.isNotEmpty(newCostList)) {
+                    CollectionUtil.reverse(newCostList);
+                    for (int i = 0; i < newCostList.get(0).size(); i++) {
                         ArrayList<Integer> ints = new ArrayList<>();
-                        for (List<Integer> list : costList) {
+                        for (List<Integer> list : newCostList) {
                             ints.add(list.get(i));
                         }
                         strs.add(CollectionUtil.join(ints, " "));
                     }
-//                    CollectionUtil.reverse(strs);
                 }
-
-
                 FileUtil.writeLines(strs, new File(path + "map.txt"), "utf-8");
 
-                PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId, stepLen);
                 //中子源计数率读取
+                PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId, stepLen);
                 pathInitDTO.setZNow(cacheService.getNeutronCount(longId));
                 log.info("init params:{}", JSON.toJSONString(pathInitDTO));
+
                 //执行1次算法 初始化操作
                 algorithmService.pathPlanningInit(pathInitDTO);
             }
@@ -551,7 +623,7 @@
      * @param robotInfo 机器人信息
      * @param response  算法输出数据
      */
-    private void sendTargetPoint(RobotInfo robotInfo, AlgorithmResponse response,PoseMessageResponseDTO curPoint) {
+    private void sendTargetPoint(RobotInfo robotInfo, AlgorithmResponse response, PoseMessageResponseDTO curPoint) {
         //读取已设置巡点目标信息
         PointNextDTO nextDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TARGET_POINT_ID + robotInfo.getId());
         //巡点
@@ -565,6 +637,7 @@
             request.setZ(curPoint.getZ().toString());
             request.setTheta(curPoint.getTheta().toString());
             request.setRobotId(robotInfo.getId());
+            log.info("下发寻源点位:{}", request);
             //执行巡点指令
             baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
             //重设寻点点位
@@ -632,7 +705,7 @@
         //读取
         Integer index = 1;
         LambdaQueryWrapper<TaskGridInfo> taskGridQuery = new LambdaQueryWrapper<>();
-        taskGridQuery.eq(TaskGridInfo::getTaskId,info.getId());
+        taskGridQuery.eq(TaskGridInfo::getTaskId, info.getId());
         taskGridQuery.orderByAsc(TaskGridInfo::getCreateTime);
         List<TaskGridInfo> taskGridInfos = taskGridInfoService.list(taskGridQuery);
         if (CollectionUtil.isNotEmpty(taskGridInfos)) {
@@ -735,12 +808,29 @@
         return true;
     }
 
-    private boolean isEquals(GridPointDTO pointDTO, GridPointDTO oldPointDTO) {
-        if(oldPointDTO==null||oldPointDTO.getX()==null){
+    /**
+     * 栅格判定方法
+     *
+     * @param pointDTO    当前栅格
+     * @param oldPointDTO 预期栅格
+     * @param robotInfo   机器信息
+     * @return
+     */
+    private boolean isEquals(GridPointDTO pointDTO, GridPointDTO oldPointDTO, RobotInfo robotInfo) {
+        if (oldPointDTO == null || oldPointDTO.getX() == null) {
             return false;
         }
-        if (pointDTO.getX().compareTo(oldPointDTO.getX()) == 0 && pointDTO.getY().compareTo(oldPointDTO.getY()) == 0) {
-            return true;
+        if (robotInfo.getResolution().compareTo(new BigDecimal(0.21)) > 0) {
+            //大于0.2则默认该点
+            if (pointDTO.getX().compareTo(oldPointDTO.getX()) == 0 && pointDTO.getY().compareTo(oldPointDTO.getY()) == 0) {
+                return true;
+            }
+        } else {
+            //小于0.2则可判定相邻栅格
+            if (pointDTO.getX().subtract(oldPointDTO.getX()).abs().intValue() <= 1 && pointDTO.getY().subtract(oldPointDTO.getY()).abs().intValue() <= 1) {
+                return true;
+            }
+
         }
         return false;
     }
@@ -756,7 +846,7 @@
         return pathInitDTO;
     }
 
-    private TaskInfo addTaskByStartTrack( RobotInfo robotInfo, StartTrackRequest request) {
+    private TaskInfo addTaskByStartTrack(RobotInfo robotInfo, StartTrackRequest request) {
         //No.2 新增任务信息
         TaskInfo taskInfo = new TaskInfo();
         String currDate = DateUtil.format(new Date(), "yyyyMMdd");
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
index 467b9c2..b8eebf0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
@@ -44,8 +44,8 @@
 
         ArrayList<String> invocation = new ArrayList<String>();
         invocation.add(exePath);
-        invocation.add("10");
-        invocation.add("10");
+        invocation.add("36");
+        invocation.add("18");
         invocation.add("5");
         invocation.add("0.16");
         invocation.add("Mission1");
@@ -58,8 +58,8 @@
         String planning = path + "search.exe";
         ArrayList<String> planInvocation = new ArrayList<String>();
         planInvocation.add(planning);
-        planInvocation.add("10");
-        planInvocation.add("1.0");
+        planInvocation.add("19");
+        planInvocation.add("8");
         planInvocation.add("0.2");
         planInvocation.add("Mission1");
         List<String> res = invokeJob(planInvocation);
diff --git a/casic-web/pom.xml b/casic-web/pom.xml
index 937b695..c793209 100644
--- a/casic-web/pom.xml
+++ b/casic-web/pom.xml
@@ -48,6 +48,11 @@
             <artifactId>spring-boot-starter-web</artifactId>
         </dependency>
         <dependency>
+            <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
             <groupId>org.springframework.boot</groupId>
             <artifactId>spring-boot-starter-actuator</artifactId>
             <exclusions>
diff --git a/casic-web/src/main/resources/config/application-dev.yml b/casic-web/src/main/resources/config/application-dev.yml
index c122d8d..455c4bf 100644
--- a/casic-web/src/main/resources/config/application-dev.yml
+++ b/casic-web/src/main/resources/config/application-dev.yml
@@ -4,9 +4,9 @@
 spring:
   datasource:
     driver-class-name: com.mysql.cj.jdbc.Driver
-    url: jdbc:mysql://111.198.10.15:11336/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
+    url: jdbc:mysql://localhost:3306/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
     username: root
-    password: Casic203
+    password: 123456
     druid:
       max-active: 50
       min-idle: 20
diff --git a/casic-web/src/main/resources/config/application-test.yml b/casic-web/src/main/resources/config/application-test.yml
index 534e2fb..67a0241 100644
--- a/casic-web/src/main/resources/config/application-test.yml
+++ b/casic-web/src/main/resources/config/application-test.yml
@@ -1,30 +1,48 @@
 server:
-  port: 11307
+  port: 8083
 ###################  spring配置  ###################
 spring:
   datasource:
-    url: jdbc:mysql://localhost:3306/casic_template?autoReconnect=true&useUnicode=true&characterEncoding=utf8&useSSL=false&allowMultiQueries=true&zeroDateTimeBehavior=convertToNull
+    driver-class-name: com.mysql.cj.jdbc.Driver
+    url: jdbc:mysql://localhost:3306/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
     username: root
-    password: Casic203!
-    initial-size: 2
-    min-idle: 1
-  jms:
-    pub-sub-domain: true
-#  session:
+    password: 123456
+    druid:
+      max-active: 50
+      min-idle: 20
+jms:
+  pub-sub-domain: true
+# session:
 #   store-type: redis
+# redis:
+#   host: 111.198.10.15
+#   port: 11412
+#   password: ew5T4K3#203lwh
+#   serializer: org.springframework.data.redis.serializer.StringRedisSerializer
+#   redisValueSerializer: org.springframework.data.redis.serializer.JdkSerializationRedisSerializer
 casic:
-  #  kaptcha-open: false #是否开启登录时验证码 (true/false)
-  nologin-urls: /user/login,/user/appLogin,/kaptcha/base64,/config/baseConfig,/route/mockToken,/workflow/**
+  #kaptcha-open: false #是否开启登录时验证码 (true/false)
+  no-login-urls: ${casic.sysUrl}/user/login,${casic.sysUrl}/user/appLogin,${casic.sysUrl}/kaptcha/base64,${casic.sysUrl}/config/baseConfig,/route/mockToken,/websocket/*,/webjars/**,/v2/api-docs,/v2/api-docs-ext,/doc.html,/v2/api-docs/swagger-ui.html,/swagger-resources
   #flowable数据源和多数据源配置
-  flowable:
-    datasource:
-      url: jdbc:mysql://localhost:3306/template_flowable?autoReconnect=true&useUnicode=true&characterEncoding=utf8&useSSL=false&allowMultiQueries=true&zeroDateTimeBehavior=convertToNull
-      username: root
-      password: Casic203!
-flowable:
-  checkProcessDefinitions: false #不校验process文件
+  db:
+    init:
+      enable: false
+  hikSdk: D:\robot\hiklib\HCNetSDK.dll
+  hikPlay: D:\robot\hiklib\PlayCtrl.dll
+  algorithm:
+    path:  D:\robot\path\
+    initPathName: init.exe
+    planPathName: search.exe
+  doc:
+    temp: D:\robot\path\report.docx
+  config:
+    export-path: D:\java\boot\guns-web-1.0.0-SNAPSHOT\export\
+    config-path: E:\Develop\IdeaProject\smartcity\casic-smartcity-dcms\casic-web\src\main\resources\config\
 logging:
   level.root: info
   level.com.casic: debug
+  level.com.casic.missiles.netty: error
+  level.com.casic.missiles.modular.neutron: error
+  level.org.springframework.web: info
   file:
-    path: logs/
\ No newline at end of file
+    path: D:\\robot\\logs
\ No newline at end of file
diff --git a/casic-web/src/main/resources/config/application.yml b/casic-web/src/main/resources/config/application.yml
index 035cb1f..d3833ab 100644
--- a/casic-web/src/main/resources/config/application.yml
+++ b/casic-web/src/main/resources/config/application.yml
@@ -20,7 +20,7 @@
     topic: /sensor_status,get_speed,/get_speed,/get_track_list_response,/get_track_response,/get_navigation_response
     completionTimeout: 2000
   redis:
-    host: 192.168.1.20
+    host: localhost
     port: 6379
     #    password: ew5T4K3#203lwh
     database: 3
diff --git a/casic-web/src/main/resources/config/path/Mission1/admatrix.txt b/casic-web/src/main/resources/config/path/Mission1/admatrix.txt
new file mode 100644
index 0000000..ce6f742
--- /dev/null
+++ b/casic-web/src/main/resources/config/path/Mission1/admatrix.txt
@@ -0,0 +1,2 @@
+0.000000000000000000e+00 0.000000000000000000e+00
+0.000000000000000000e+00 0.000000000000000000e+00

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
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 a849528..4f34669 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
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index bdfc2d0..d7736a5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -148,7 +148,7 @@
     public void insertPsdAlarms() {
         times++;
         //先查询正在巡检任务信息
-        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
+        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 2);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
 
         long currentTimes = System.currentTimeMillis();
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 92c8c8e..6e94193 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
@@ -5,10 +5,7 @@
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 
 /**
  * 机器人操作类
@@ -76,4 +73,11 @@
     void reloadPcd(RobotInfo info);
 
     void startTrack(StartTrackRequest request);
+
+    /**
+     * 栅格寻点指令
+     * @param request 请求
+     * @return
+     */
+    ResponseDataDTO<Integer> targetGrid(TargetPointRequest 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 3bb475f..d8b3363 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.lang.Assert;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
@@ -25,7 +26,6 @@
 import io.swagger.annotations.ApiParam;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.apache.ibatis.annotations.Param;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.web.bind.annotation.*;
 import org.springframework.web.multipart.MultipartFile;
@@ -76,6 +76,13 @@
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
+    /**
+     * /{robotId}
+     *
+     * @param file
+     * @param robotId
+     * @return
+     */
     @SneakyThrows
     @ApiOperation(value = "PCD上传接口")
     @PostMapping(value = "/uploadPcd")
@@ -109,7 +116,12 @@
         robotInfoService.updateSpeed(robotInfo);
         return ResponseDataDTO.success();
     }
-
+    @ApiOperation(value = "设置任务启动模式", notes = "返回 1成功 0失败")
+    @PostMapping(value = "/setTaskMode")
+    public ResponseDataDTO setTaskMode(@RequestBody TaskModeRequest request) {
+        robotInfoService.setTaskMode(request);
+        return ResponseDataDTO.success();
+    }
     @ApiOperation(value = "机器人数据更新", notes = "1.pcd重载 2.路线及关键点数据重载")
     @PostMapping(value = "/reload")
     public ResponseDataDTO reload(@RequestBody BaseRobotCmdDTO request) {
@@ -149,6 +161,8 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
     }
 
+
+
     /**
      * 机器人请求id
      *
@@ -161,6 +175,16 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
     }
 
+    @ApiOperation(value = "寻栅格指令")
+    @PostMapping(value = "/targetGrid")
+    public ResponseDataDTO<Integer> targetGrid(@RequestBody TargetGridRequest request) {
+        TargetPointRequest targetPointRequest = new TargetPointRequest();
+        targetPointRequest.setRobotId(request.getRobotId());
+        targetPointRequest.setX(request.getEstimateGridX());
+        targetPointRequest.setY(request.getEstimateGridY());
+        return baseRobotService.targetGrid(targetPointRequest);
+    }
+
     /**
      * 机器人请求id
      *
@@ -174,6 +198,7 @@
         if (request.getStepLen() == null) {
             request.setStepLen(2);
         }
+        log.info(JSON.toJSONString(request));
         baseRobotService.startTrack(request);
         return ResponseDataDTO.success();
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
new file mode 100644
index 0000000..709bcd3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+@Data
+public class GridDTO {
+    /**
+     * 当前栅格x
+     */
+    private Integer currGridX;
+    /**
+     * 当前栅格y
+     */
+    private Integer currGridY;
+    /**
+     * 规划栅格x
+     */
+    private Integer estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private Integer estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
new file mode 100644
index 0000000..7eae335
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+@Data
+public class GridPushDTO {
+    /**
+     * 当前栅格x
+     */
+    private BigDecimal currGridX;
+    /**
+     * 当前栅格y
+     */
+    private BigDecimal currGridY;
+
+    /**
+     * 规划栅格x
+     */
+    private BigDecimal estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private BigDecimal estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index acbeb93..b9ad7a3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -23,4 +23,8 @@
     private BigDecimal gridWidth;
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     private BigDecimal resolution;
+    @ApiModelProperty(value = "新设原点X", dataType = "BigDecimal")
+    private BigDecimal newX;
+    @ApiModelProperty(value = "新设原点Y", dataType = "BigDecimal")
+    private BigDecimal newY;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
new file mode 100644
index 0000000..acc38f3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
@@ -0,0 +1,15 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+@Data
+public class TaskEndMsg implements Serializable {
+    private String robotId;
+    private String message;
+    /**
+     * 1 正常 0 异常
+     */
+    private Integer code;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 90e4dcf..d5ae18a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -154,7 +154,46 @@
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     @TableField("resolution")
     private BigDecimal resolution;
+    /**
+     * 新设定栅格原点X
+     */
+    @TableField("new_origin_x")
+    private BigDecimal newOriginX;
+    /**
+     * 新设定栅格原点Y
+     */
+    @TableField("new_origin_y")
+    private BigDecimal newOriginY;
 
+    /**
+     * 新设定栅格X
+     */
+    @TableField("new_grid_x")
+    private Integer newGridX;
+    /**
+     * 新设定栅格Y
+     */
+    @TableField("new_grid_y")
+    private Integer newGridY;
+
+    /**
+     * 裁剪右顶点X
+     */
+    @TableField("right_grid_x")
+    private Integer rightGridX;
+    @TableField("is_open")
+    private Integer isOpen;
+    /**
+     * 裁剪右顶点Y
+     */
+    @TableField("right_grid_y")
+    private Integer rightGridY;
+    public BigDecimal getNewX(){
+        return newOriginX;
+    }
+    public BigDecimal getNewY(){
+        return newOriginY;
+    }
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
index 2cb752f..3e741d7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
@@ -24,7 +24,10 @@
      *
      * @see com.casic.missiles.modular.robot.service.impl.TaskInfoServiceImpl
      */
-    HEAT_MAP("heat_map" , "机器人热力图");
+    HEAT_MAP("heat_map" , "机器人热力图"),
+    GRID("grid" , "栅格推送"),
+    TASK_END("task_end" , "任务结束");
+
     /**
      * 请求地址
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
index 88c9f79..3c93145 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -32,7 +32,6 @@
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         statusInfoService.saveCostMap(robotId, message);
-
         CostMapResolutionRequest costMapSet = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
         if(costMapSet != null){
             CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
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 8a71e0b..06f8ae6 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
@@ -30,10 +30,9 @@
     public void process(String robotId, String topic, MqttMessage message) {
 
         index.put(index_key, index.get("index") + 1);
-        if (index.get(index_key)>30) {
+        if (index.get(index_key)>1) {
             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 a9d7914..755997e 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
@@ -39,10 +39,8 @@
         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);
@@ -74,10 +72,12 @@
                     robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
                 }
             }
+
             //读取缓存信息
             sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
         } catch (Exception e) {
             e.printStackTrace();
         }
+
     }
-}
+}
\ No newline at end of file
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 7940a24..40a60a1 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,9 +1,13 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.exception.ServiceException;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.IBaseRobotService;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
@@ -11,6 +15,7 @@
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
+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.mqtt.config.MqttClientConnection;
@@ -32,11 +37,13 @@
     private final IRobotRouteOptService robotRouteOptService;
     private final IRobotInfoService robotInfoService;
     private final ITaskInfoService taskInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService, @Lazy IAlgorithmService algorithmService) {
         this.robotRouteOptService = robotRouteOptService;
         this.robotInfoService = robotInfoService;
         this.taskInfoService = taskInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
@@ -117,7 +124,7 @@
             //线路关键点读取
             if (requestDTO.getData() != null) {
                 for (RouteInfo routeInfo : requestDTO.getData()) {
-                    if("11-1 79-1".equals(routeInfo.getRouteName())){
+                    if ("11-1 79-1".equals(routeInfo.getRouteName())) {
                         continue;
                     }
                     TrackPointListRequest request = new TrackPointListRequest();
@@ -141,6 +148,7 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+
     @Transactional
     @Override
     public void startTrack(StartTrackRequest request) {
@@ -149,6 +157,25 @@
 //        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
     }
 
+    @Override
+    public ResponseDataDTO<Integer> targetGrid(TargetPointRequest request) {
+        PoseMessageResponseDTO responseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + request.getRobotId());
+        if(responseDTO==null){
+            throw new ServiceException(500,"请优先开启导航");
+        }
+        RobotInfo robotInfo = robotInfoService.getById(request.getRobotId());
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        //获取栅格中心点
+        GridPointDTO pointDTO =  algorithmService.convertGridCenterPoint(gridPointDTO,robotInfo.getResolution(),robotInfo);
+        request.setX(pointDTO.getX().toString());
+        request.setY(pointDTO.getY().toString());
+        request.setZ(responseDTO.getZ().toString());
+        request.setTheta(responseDTO.getTheta().toString());
+        //执行巡点指令
+        ResponseDataDTO<Integer> responseDataDTO = this.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
+        return responseDataDTO;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
new file mode 100644
index 0000000..7d69964
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
@@ -0,0 +1,19 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 获取循迹路线下发指令
+ */
+@Data
+public class TargetGridRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "栅格x坐标", dataType = "String")
+    private String estimateGridX;
+    @ApiModelProperty(value = "栅格y坐标", dataType = "String")
+    private String estimateGridY;
+    @ApiModelProperty(value = "z坐标", dataType = "String")
+    private String z;
+    @ApiModelProperty(value = "theta", dataType = "String")
+    private String theta;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
new file mode 100644
index 0000000..763656b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 导航下发指令
+ */
+@Data
+public class TaskModeRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "控制模式 1:手动 0:自动", dataType = "String")
+    private Integer isOpen;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index 8c95459..89697b8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -6,6 +6,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TaskModeRequest;
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 
 import java.util.List;
@@ -52,4 +53,6 @@
      * @param dto 栅格信息
      */
     void updateRobotGrid(String robotId, AppCostmapResponseDTO dto);
+
+    void setTaskMode(TaskModeRequest request);
 }
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 a4dbe0b..a6f5116 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
@@ -167,24 +167,35 @@
         y = y.subtract(robotInfo.getOriginY());
         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));
+
+        //todo  原点栅格转换,减去相对原点值
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewGridY())));
         return pointDTO;
     }
 
     /**
+     * do栅格转xy
      * 根据栅格读取栅格中心点位信息
      *
      * @param pointDTO 栅格信息
      * @return
      */
     public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo) {
+
+        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewGridY())));
+
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = resolution;
         //点位转换 转换后栅格－1 从1开始计算
         BigDecimal slamX = (pointDTO.getX().subtract(new BigDecimal(1))).multiply(scale);
         BigDecimal slamY = (pointDTO.getY().subtract(new BigDecimal(1))).multiply(scale);
+
         //中心栅格点位中心添加
         centerPoint.setX(slamX.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
         centerPoint.setY(slamY.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
+
         //加上栅格原点坐标
         centerPoint.setX(centerPoint.getX().add(robotInfo.getOriginX()));
         centerPoint.setY(centerPoint.getY().add(robotInfo.getOriginY()));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
index e2879ce..f825e84 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
@@ -9,6 +9,8 @@
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.data.redis.core.RedisTemplate;
 import org.springframework.stereotype.Service;
 
 @Service
@@ -18,7 +20,8 @@
     public RobotCacheServiceImpl(IRobotInfoService robotInfoService) {
         this.robotInfoService = robotInfoService;
     }
-
+    @Autowired
+    private RedisTemplate<String, Object> redisTemplate;
     @Override
     public synchronized boolean updateTaskId(Long robotId, Long taskId) {
         //读取当前机器人任务信息
@@ -83,12 +86,14 @@
 
     @Override
     public void updateCostMap(String robotId, AppCostmapResponseDTO msg) {
-        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
+        redisTemplate.opsForValue().set(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId,msg);
+//        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
     }
 
     @Override
     public AppCostmapResponseDTO getCostMap(String robotId) {
-        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+       return (AppCostmapResponseDTO) redisTemplate.opsForValue().get(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+//        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
     }
 
     @Override
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index fdded64..cdbbe89 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -12,11 +12,13 @@
 import com.casic.missiles.core.application.service.AbstractDictService;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dao.RobotInfoMapper;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.*;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.DataRecordRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TaskModeRequest;
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.*;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -51,16 +53,18 @@
     private final IDeviceInfoService deviceInfoService;
     private final IRobotPointInfoService pointInfoService;
     private final IBaseRobotService baseRobotService;
+    private final IAlgorithmService algorithmService;
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
-    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService, @Lazy IBaseRobotService baseRobotService) {
+    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService, @Lazy IBaseRobotService baseRobotService, @Lazy IAlgorithmService algorithmService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.dictService = dictService;
         this.routeInfoService = routeInfoService;
         this.deviceInfoService = deviceInfoService;
         this.pointInfoService = pointInfoService;
         this.baseRobotService = baseRobotService;
+        this.algorithmService = algorithmService;
     }
 
     @Transactional
@@ -96,15 +100,30 @@
         }
         if (robotInfo.getAlarmThreshold() != null) {
             update.set(RobotInfo::getAlarmThreshold, robotInfo.getAlarmThreshold());
+            update.set(RobotInfo::getMaxThreshold, robotInfo.getAlarmThreshold());
         }
         if (robotInfo.getGridHeight() != null && robotInfo.getGridWidth() != null) {
+            RobotInfo oldRobotInfo = getById(robotInfo.getId());
             update.set(RobotInfo::getGridHeight, robotInfo.getGridHeight());
             update.set(RobotInfo::getGridWidth, robotInfo.getGridWidth());
             update.set(RobotInfo::getResolution, robotInfo.getResolution());
+            update.set(RobotInfo::getNewOriginX, robotInfo.getNewX());
+            update.set(RobotInfo::getNewOriginY, robotInfo.getNewY());
+            //计算左下原点
+            oldRobotInfo.setNewGridX(0);
+            oldRobotInfo.setNewGridY(0);
+            GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(robotInfo.getNewX(), robotInfo.getNewY(), robotInfo.getResolution(), oldRobotInfo);
+            update.set(RobotInfo::getNewGridX, gridPointDTO.getX().intValue());
+            update.set(RobotInfo::getNewGridY, gridPointDTO.getY().intValue());
+            //计算右顶点
+            Integer rightX = robotInfo.getGridWidth().divide(robotInfo.getResolution(), 0, BigDecimal.ROUND_HALF_UP).intValue();
+            Integer rightY = robotInfo.getGridHeight().divide(robotInfo.getResolution(), 0, BigDecimal.ROUND_HALF_UP).intValue();
+            update.set(RobotInfo::getRightGridX, rightX);
+            update.set(RobotInfo::getRightGridY, rightY);
+
             //下发障碍物栅格
             sendCostMapResolution(robotInfo.getResolution(), robotInfo.getId());
-            //重新生成栅格地图
-            //sendChangePcd(robotInfo.getId());
+
         }
         update.eq(RobotInfo::getId, robotInfo.getId());
         update(update);
@@ -162,6 +181,16 @@
         update(lambdaUpdateWrapper);
     }
 
+    @Override
+    public void setTaskMode(TaskModeRequest request) {
+        if (request.getRobotId() != null) {
+            LambdaUpdateWrapper<RobotInfo> lambdaUpdateWrapper = new LambdaUpdateWrapper<>();
+            lambdaUpdateWrapper.set(RobotInfo::getIsOpen, request.getIsOpen());
+            lambdaUpdateWrapper.eq(RobotInfo::getId, request.getRobotId());
+            update(lambdaUpdateWrapper);
+        }
+    }
+
     @Transactional
     @Override
     public List<RobotInfo> list(Wrapper<RobotInfo> queryWrapper) {
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 46b5c3b..f52940c 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.collection.CollectionUtil;
 import cn.hutool.core.convert.Convert;
+import cn.hutool.core.io.FileUtil;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
@@ -13,9 +14,9 @@
 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.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO;
@@ -27,7 +28,6 @@
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
-import org.aspectj.util.FileUtil;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.context.annotation.Lazy;
@@ -38,8 +38,8 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.ArrayList;
-import java.util.Arrays;
 import java.util.List;
+import java.util.stream.Collectors;
 
 
 /**
@@ -81,6 +81,11 @@
     }
 
     private void wrapInfo(RobotStatusInfo statusInfo) {
+        // todo 报错
+        StopStateResponseDTO stopStateResponseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + statusInfo.getRobotId());
+        if (stopStateResponseDTO != null) {
+            statusInfo.setSoft(stopStateResponseDTO.getSoft());
+        }
         statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getDiscernType()));
 
         //暂停状态
@@ -262,6 +267,8 @@
      */
     @Value("${casic.algorithm.num:30}")
     private Integer num;
+    @Value("${casic.obstacle:60}")
+    private Integer obstacle;
 
     /**
      * 机器人栅格数据
@@ -276,7 +283,6 @@
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             //发送栅格分辨率设定
-
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
             robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
             //log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
@@ -290,24 +296,102 @@
                         } else {
                             dataNums.add(1);
                         }
+                    } else {
+                        dataNums.add(-1);
                     }
                 }
-                writeCache(dataNums,responseDTO.getMsg().getWidth(),responseDTO.getMsg().getHeight(),robotId);
+                writeCache(dataNums, responseDTO.getMsg().getWidth(), responseDTO.getMsg().getHeight(), robotId);
             }
         }
     }
 
-    private void writeCache(ArrayList<Integer> integers,Integer width,Integer height,String robotId) {
-        List<List<Integer>> arrays = CollectionUtil.split(integers,width);
+    private void writeCache(ArrayList<Integer> integers, Integer width, Integer height, String robotId) {
+        List<List<Integer>> arrays = CollectionUtil.split(integers, width);
         ArrayList<ArrayList<Integer>> arrayList = new ArrayList<>();
         for (List<Integer> array : arrays) {
-            arrayList.add((ArrayList)array);
+            ArrayList list =(ArrayList)array.stream().filter(integer -> integer>=0).collect(Collectors.toList());
+            arrayList.add(list);
         }
         CollectionUtil.reverse(arrayList);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId, arrayList);
-//        FileUtil.writeAsString(new File(path + "map.txt"), CollectionUtil.join(integers, " ").replaceAll("\\[", "").replaceAll("]", ""));
+        //写入栅格宽度
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId, height);
+
+        writeCost(arrayList,width,height,robotId);
+    }
+    /**
+     * slam经纬度转换为栅格
+     *
+     * @param x slam x
+     * @param y slam y
+     */
+    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, BigDecimal resolution, RobotInfo robotInfo) {
+        GridPointDTO pointDTO = new GridPointDTO();
+        BigDecimal scale = resolution;
+        //减去栅格原点坐标
+        x = x.subtract(robotInfo.getOriginX());
+        y = y.subtract(robotInfo.getOriginY());
+        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));
+
+        //todo  原点栅格转换,减去相对原点值
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewGridY())));
+        return pointDTO;
     }
 
+    private void writeCost(ArrayList<ArrayList<Integer>> costList,Integer width, Integer height,String robotId){
+        List<String> strs = new ArrayList<>();
+        List<String> strs2 = new ArrayList<>();
+        RobotInfo robotInfo = cacheService.getRobotInfo(Long.valueOf(robotId));
+        if(robotInfo==null||robotInfo.getGridWidth()==null||robotInfo.getResolution() ==null){
+            log.info("robot gridHeight is not found....");
+            return;
+        }
+
+        //计算左下角位置
+        Integer newX = robotInfo.getNewGridX();
+        Integer newY = height-robotInfo.getNewGridY();
+//        log.info("left point:({},{})",robotInfo.getNewGridX(),robotInfo.getNewGridY());
+        //计算右上角位置
+        Integer rightX = robotInfo.getRightGridX();
+        Integer rightY = height-robotInfo.getRightGridY();
+//        log.info("right point:({},{})",rightX,rightY);
+
+        //裁剪栅格
+        List<List<Integer>> newCostList = new ArrayList<>();
+        for (int i = 0; i < costList.size(); i++) {
+            if(i<=newY&&i>=rightY){
+                List<Integer> newList = new ArrayList<>();
+                List<Integer> sourceList= costList.get(i);
+                for (int j = 0; j < sourceList.size(); j++) {
+                    if(j>=newX&&j<=rightX){
+                        newList.add(sourceList.get(j));
+                    }
+                }
+                newCostList.add(newList);
+            }
+        }
+
+        for (List<Integer> list : newCostList) {
+            strs2.add(CollectionUtil.join(list, " "));
+        }
+
+        FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+        //行转列 为算法输入数据
+        if(CollectionUtil.isNotEmpty(newCostList)){
+            CollectionUtil.reverse(newCostList);
+            for (int i = 0; i < newCostList.get(0).size(); i++) {
+                ArrayList<Integer> ints = new ArrayList<>();
+                for (List<Integer> list : newCostList) {
+                    ints.add(list.get(i));
+                }
+                strs.add(CollectionUtil.join(ints, " "));
+            }
+        }
+
+        FileUtil.writeLines(strs, new File(path + "map3.txt"), "utf-8");
+    }
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
@@ -327,7 +411,6 @@
             json = json.substring(0, json.length() - 1);
         }
         json = json.replaceAll("\\\\", "");
-//        log.info(json);
         RobotResponseDTO<R> responseDTO = JSON.parseObject(json, cls);
         return responseDTO;
     }
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 f1262a2..cb7aa09 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
@@ -69,17 +69,6 @@
             } catch (Exception e) {
                 log.error("task error", e);
             }
-//            if (routeId != null) {
-//                RobotTrajectoryInfo info = new RobotTrajectoryInfo();
-//                info.setRobotId(Long.valueOf(robotId));
-//                info.setCreateTime(new Date());
-//                info.setPostionX(dto.getX());
-//                info.setPostionY(dto.getY());
-//                info.setPostionZ(dto.getZ());
-//                info.setTheta(dto.getTheta());
-//                save(info);
-
-//            }
         }
     }
 
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 fd49e2e..6a0e719 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
@@ -47,6 +47,7 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.*;
+import java.util.concurrent.atomic.AtomicInteger;
 
 
 /**
@@ -81,15 +82,16 @@
     /**
      * 5000 ms
      */
-    @Value("${casic.task.duration:3000}")
+    @Value("${casic.task.duration:2000}")
     private Integer stayDuration;
     @Value("${casic.algorithm.path:-1}")
     private String path;
     /**
      * 障碍物精度
      */
-    @Value("${casic.obstacle:10}")
+    @Value("${casic.obstacle:60}")
     private Integer obstacle;
+    private volatile AtomicInteger atomicInteger = new AtomicInteger();
 
     public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService, ITaskInfoImgService imgService, ITaskGridInfoService taskGridInfoService) {
         this.routeInfoService = routeInfoService;
@@ -128,7 +130,30 @@
         } catch (Exception e) {
             log.error(e.getMessage());
         }
-
+    }
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, GridPushDTO gridPushDTO) {
+        try {
+            WsMsgBaseDTO<GridPushDTO> wsMsgBaseDTO = new WsMsgBaseDTO<GridPushDTO>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(gridPushDTO);
+            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());
+        }
+    }
+    protected void sendTaskMsg(InstructStatusMsgEnums enums, String robotId, TaskEndMsg heatMap) {
+        try {
+            WsMsgBaseDTO<TaskEndMsg> wsMsgBaseDTO = new WsMsgBaseDTO<TaskEndMsg>();
+            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());
+        }
     }
 
     @Override
@@ -187,11 +212,11 @@
 
     private void openTask(StartTrackRequest request, String robotId) {
         QueryWrapper<RouteInfo> query = new QueryWrapper<>();
-        query.eq("target_id", request.getTrack_name());
-        List<RouteInfo> routeInfos = routeInfoService.list(query);
-        if (CollectionUtil.isEmpty(routeInfos)) {
-            throw new ServiceException(500, "路线不存在,请及时更新");
-        }
+//        query.eq("target_id", request.getTrack_name());
+//        List<RouteInfo> routeInfos = routeInfoService.list(query);
+//        if (CollectionUtil.isEmpty(routeInfos)) {
+//            throw new ServiceException(500, "路线不存在,请及时更新");
+//        }
 //        RouteInfo routeInfo = routeInfos.get(0);
         Integer isTask = 0;
         //开启寻源任务
@@ -201,12 +226,12 @@
         RobotInfo robotInfo = cacheService.getRobotInfo(Convert.toLong(robotId));
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_IS_TASK + robotId, isTask);
         //添加任务记录
-        TaskInfo taskInfo = addTaskByStartTrack( robotInfo, request);
+        TaskInfo taskInfo = addTaskByStartTrack(robotInfo, request);
         //No.3 更新器人执行任务信息
 //        Long currRouteId = routeInfo.getId();
         Long currTaskId = taskInfo.getId();
 
-        statusInfoService.updateCurrTask(robotId,  currTaskId);
+        statusInfoService.updateCurrTask(robotId, currTaskId);
         //算法初始化标志创建
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId, currTaskId);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_INIT + robotId, 0);
@@ -230,7 +255,7 @@
         robotCacheClean(robotId);
         //清楚规划任务锁
         CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_PLANING_FLAG + robotId);
-        CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID+ robotId);
+        CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId);
         //清空机器当前任务
         statusInfoService.updateCurrTask(robotId, null);
     }
@@ -304,7 +329,7 @@
         //No.1 任务初始化
         pathInit(longId, robotInfo, pointDTO, taskId, robotId, taskInfo.getStepLen());
         //No.2 路线规划
-        pathPlaning(longId, robotInfo, pointDTO, taskId, robotId, taskInfo,dto);
+        pathPlaning(longId, robotInfo, pointDTO, taskId, robotId, taskInfo, dto);
     }
 
     /**
@@ -329,7 +354,7 @@
      * @param taskId    任务ID
      * @param robotId   机器人ID
      */
-    private void pathPlaning(Long longId, RobotInfo robotInfo, GridPointDTO pointDTO, Long taskId, String robotId, TaskInfo taskInfo,PoseMessageResponseDTO curPoint) {
+    private void pathPlaning(Long longId, RobotInfo robotInfo, GridPointDTO pointDTO, Long taskId, String robotId, TaskInfo taskInfo, PoseMessageResponseDTO curPoint) {
         if (taskId != null) {
             //规划节点
             PointNextDTO pointNextDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId);
@@ -337,12 +362,24 @@
             Boolean flag = lockPlanIngFlag(robotId);
             //是否到达预期栅格
             if (!flag) {
-                log.info("未获取到规划任务,直接结束：{}",pointDTO);
                 return;
             }
+            log.info("curr point:{}", curPoint);
+            log.debug("curr pointGrid:{}", pointDTO);
+            log.debug("oldEstimateGrid:{}", oldEstimateGrid);
+
+            GridPushDTO gridPushDTO = new GridPushDTO();
+            gridPushDTO.setCurrGridX(pointDTO.getX());
+            gridPushDTO.setCurrGridY(pointDTO.getY());
+            if(oldEstimateGrid!=null){
+                gridPushDTO.setEstimateGridX(oldEstimateGrid.getX());
+                gridPushDTO.setEstimateGridY(oldEstimateGrid.getY());
+            }
+            sendWebSocket(InstructStatusMsgEnums.GRID, robotId, gridPushDTO);
+
             try {
-                log.debug("oldEstimateGrid:{}", oldEstimateGrid);
-                if (pointNextDTO == null || isEquals(pointDTO, oldEstimateGrid)) {
+                if (pointNextDTO == null || oldEstimateGrid == null || isEquals(pointDTO, oldEstimateGrid, robotInfo)) {
+                    atomicInteger = new AtomicInteger(0);
                     log.info("当前栅格变更......", pointDTO);
                     CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_POINT + robotId, pointDTO);
                     //算法调用获取热力图
@@ -358,19 +395,24 @@
                     //存储算法输出栅格信息
                     AlgorithmResponse response = algorithmService.pathPlanning(pathPlanDTO);
                     CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId, response.getPointNextDTO());
-                    sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
 
-                    //存储循迹任务信息
-                    TaskGridInfo taskGridInfo = new TaskGridInfo();
-                    taskGridInfo.setCreateTime(new Date());
-                    taskGridInfo.setUpdateTime(new Date());
-                    taskGridInfo.setCurGridX(pointDTO.getX().intValue());
-                    taskGridInfo.setCurGridY(pointDTO.getY().intValue());
-                    taskGridInfo.setNeutronCount(new BigDecimal(pathPlanDTO.getZNow()));
-                    taskGridInfo.setEstimateGridX(response.getPointNextDTO().getX());
-                    taskGridInfo.setEstimateGridY(response.getPointNextDTO().getY());
-                    taskGridInfo.setTaskId(taskId);
-                    taskGridInfoService.save(taskGridInfo);
+                    new Thread() {
+                        @Override
+                        public void run() {
+                            //存储循迹任务信息
+                            TaskGridInfo taskGridInfo = new TaskGridInfo();
+                            taskGridInfo.setCreateTime(new Date());
+                            taskGridInfo.setUpdateTime(new Date());
+                            taskGridInfo.setCurGridX(pointDTO.getX().intValue());
+                            taskGridInfo.setCurGridY(pointDTO.getY().intValue());
+                            taskGridInfo.setNeutronCount(new BigDecimal(pathPlanDTO.getZNow()));
+                            taskGridInfo.setEstimateGridX(response.getPointNextDTO().getX());
+                            taskGridInfo.setEstimateGridY(response.getPointNextDTO().getY());
+                            taskGridInfo.setTaskId(taskId);
+                            taskGridInfoService.save(taskGridInfo);
+                            sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
+                        }
+                    }.start();
 
                     try {
                         //停留时间阈值
@@ -381,11 +423,13 @@
 
                     //是否触发停止状态
                     if (!response.isEnd()) {
-                        log.debug("task planning-- xun dian robotId:{},taskId:{}", robotId, taskId);
                         //机器人寻点指令下发
-                        sendTargetPoint(robotInfo, response,curPoint);
+                        if (robotInfo.getIsOpen() == null || robotInfo.getIsOpen() == 0) {
+                            sendTargetPoint(robotInfo, response, curPoint);
+                        } else {
+                            log.debug("task mode isOpen:{}", robotInfo.getIsOpen());
+                        }
                     } else {
-                        log.debug("task stop-- robotId:{},taskId:{}", robotId, taskId);
                         //机器人停止指令下发
                         SoftwareStopRequest request = new SoftwareStopRequest();
                         request.setRobotId(robotInfo.getId());
@@ -394,6 +438,15 @@
 //                        baseRobotService.execCmdHandler(request, InstructCodeEnums.SOFTWARE_STOP);
                         //循迹任务结束
                         closeTask(null, robotId);
+                        TaskEndMsg endMsg = new TaskEndMsg();
+                        endMsg.setCode(1);
+                        endMsg.setRobotId(robotId);
+                        endMsg.setMessage("寻源结束");
+                        sendTaskMsg(InstructStatusMsgEnums.TASK_END, robotId, endMsg);
+                    }
+                } else {
+                    if (!isChange(pointDTO, oldEstimateGrid)) {
+                        atomicInteger.incrementAndGet();
                     }
                 }
             } catch (Exception e) {
@@ -429,37 +482,56 @@
         Integer initValue = cacheService.readTaskInit(longId);
         //No.1 任务初始化
         if (initValue != 1) {
-
             //执行初始化操作
             if (cacheService.updateTaskInit(longId, 1)) {
-
                 List<List<Integer>> costList = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId);
                 List<String> strs = new ArrayList<>();
                 List<String> strs2 = new ArrayList<>();
-                for (List<Integer> list : costList) {
+                Integer height = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId);
+                if (height == null) {
+                    throw new ServiceException(500, "未获取到栅格宽度信息");
+                }
+                Integer newX = robotInfo.getNewGridX();
+                Integer newY = height - robotInfo.getNewGridY();
+
+                //裁剪栅格
+                List<List<Integer>> newCostList = new ArrayList<>();
+                for (int i = 0; i < costList.size(); i++) {
+                    if (i <= newY) {
+                        List<Integer> newList = new ArrayList<>();
+                        List<Integer> sourceList = costList.get(i);
+                        for (int j = 0; j < sourceList.size(); j++) {
+                            if (j >= newX) {
+                                newList.add(sourceList.get(j));
+                            }
+                        }
+                        newCostList.add(newList);
+                    }
+                }
+                //数组转换
+                for (List<Integer> list : newCostList) {
                     strs2.add(CollectionUtil.join(list, " "));
                 }
                 FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+
                 //行转列 为算法输入数据
-                if(CollectionUtil.isNotEmpty(costList)){
-                    CollectionUtil.reverse(costList);
-                    for (int i = 0; i < costList.get(0).size(); i++) {
+                if (CollectionUtil.isNotEmpty(newCostList)) {
+                    CollectionUtil.reverse(newCostList);
+                    for (int i = 0; i < newCostList.get(0).size(); i++) {
                         ArrayList<Integer> ints = new ArrayList<>();
-                        for (List<Integer> list : costList) {
+                        for (List<Integer> list : newCostList) {
                             ints.add(list.get(i));
                         }
                         strs.add(CollectionUtil.join(ints, " "));
                     }
-//                    CollectionUtil.reverse(strs);
                 }
-
-
                 FileUtil.writeLines(strs, new File(path + "map.txt"), "utf-8");
 
-                PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId, stepLen);
                 //中子源计数率读取
+                PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId, stepLen);
                 pathInitDTO.setZNow(cacheService.getNeutronCount(longId));
                 log.info("init params:{}", JSON.toJSONString(pathInitDTO));
+
                 //执行1次算法 初始化操作
                 algorithmService.pathPlanningInit(pathInitDTO);
             }
@@ -551,7 +623,7 @@
      * @param robotInfo 机器人信息
      * @param response  算法输出数据
      */
-    private void sendTargetPoint(RobotInfo robotInfo, AlgorithmResponse response,PoseMessageResponseDTO curPoint) {
+    private void sendTargetPoint(RobotInfo robotInfo, AlgorithmResponse response, PoseMessageResponseDTO curPoint) {
         //读取已设置巡点目标信息
         PointNextDTO nextDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TARGET_POINT_ID + robotInfo.getId());
         //巡点
@@ -565,6 +637,7 @@
             request.setZ(curPoint.getZ().toString());
             request.setTheta(curPoint.getTheta().toString());
             request.setRobotId(robotInfo.getId());
+            log.info("下发寻源点位:{}", request);
             //执行巡点指令
             baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
             //重设寻点点位
@@ -632,7 +705,7 @@
         //读取
         Integer index = 1;
         LambdaQueryWrapper<TaskGridInfo> taskGridQuery = new LambdaQueryWrapper<>();
-        taskGridQuery.eq(TaskGridInfo::getTaskId,info.getId());
+        taskGridQuery.eq(TaskGridInfo::getTaskId, info.getId());
         taskGridQuery.orderByAsc(TaskGridInfo::getCreateTime);
         List<TaskGridInfo> taskGridInfos = taskGridInfoService.list(taskGridQuery);
         if (CollectionUtil.isNotEmpty(taskGridInfos)) {
@@ -735,12 +808,29 @@
         return true;
     }
 
-    private boolean isEquals(GridPointDTO pointDTO, GridPointDTO oldPointDTO) {
-        if(oldPointDTO==null||oldPointDTO.getX()==null){
+    /**
+     * 栅格判定方法
+     *
+     * @param pointDTO    当前栅格
+     * @param oldPointDTO 预期栅格
+     * @param robotInfo   机器信息
+     * @return
+     */
+    private boolean isEquals(GridPointDTO pointDTO, GridPointDTO oldPointDTO, RobotInfo robotInfo) {
+        if (oldPointDTO == null || oldPointDTO.getX() == null) {
             return false;
         }
-        if (pointDTO.getX().compareTo(oldPointDTO.getX()) == 0 && pointDTO.getY().compareTo(oldPointDTO.getY()) == 0) {
-            return true;
+        if (robotInfo.getResolution().compareTo(new BigDecimal(0.21)) > 0) {
+            //大于0.2则默认该点
+            if (pointDTO.getX().compareTo(oldPointDTO.getX()) == 0 && pointDTO.getY().compareTo(oldPointDTO.getY()) == 0) {
+                return true;
+            }
+        } else {
+            //小于0.2则可判定相邻栅格
+            if (pointDTO.getX().subtract(oldPointDTO.getX()).abs().intValue() <= 1 && pointDTO.getY().subtract(oldPointDTO.getY()).abs().intValue() <= 1) {
+                return true;
+            }
+
         }
         return false;
     }
@@ -756,7 +846,7 @@
         return pathInitDTO;
     }
 
-    private TaskInfo addTaskByStartTrack( RobotInfo robotInfo, StartTrackRequest request) {
+    private TaskInfo addTaskByStartTrack(RobotInfo robotInfo, StartTrackRequest request) {
         //No.2 新增任务信息
         TaskInfo taskInfo = new TaskInfo();
         String currDate = DateUtil.format(new Date(), "yyyyMMdd");
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
index 467b9c2..b8eebf0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
@@ -44,8 +44,8 @@
 
         ArrayList<String> invocation = new ArrayList<String>();
         invocation.add(exePath);
-        invocation.add("10");
-        invocation.add("10");
+        invocation.add("36");
+        invocation.add("18");
         invocation.add("5");
         invocation.add("0.16");
         invocation.add("Mission1");
@@ -58,8 +58,8 @@
         String planning = path + "search.exe";
         ArrayList<String> planInvocation = new ArrayList<String>();
         planInvocation.add(planning);
-        planInvocation.add("10");
-        planInvocation.add("1.0");
+        planInvocation.add("19");
+        planInvocation.add("8");
         planInvocation.add("0.2");
         planInvocation.add("Mission1");
         List<String> res = invokeJob(planInvocation);
diff --git a/casic-web/pom.xml b/casic-web/pom.xml
index 937b695..c793209 100644
--- a/casic-web/pom.xml
+++ b/casic-web/pom.xml
@@ -48,6 +48,11 @@
             <artifactId>spring-boot-starter-web</artifactId>
         </dependency>
         <dependency>
+            <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
             <groupId>org.springframework.boot</groupId>
             <artifactId>spring-boot-starter-actuator</artifactId>
             <exclusions>
diff --git a/casic-web/src/main/resources/config/application-dev.yml b/casic-web/src/main/resources/config/application-dev.yml
index c122d8d..455c4bf 100644
--- a/casic-web/src/main/resources/config/application-dev.yml
+++ b/casic-web/src/main/resources/config/application-dev.yml
@@ -4,9 +4,9 @@
 spring:
   datasource:
     driver-class-name: com.mysql.cj.jdbc.Driver
-    url: jdbc:mysql://111.198.10.15:11336/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
+    url: jdbc:mysql://localhost:3306/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
     username: root
-    password: Casic203
+    password: 123456
     druid:
       max-active: 50
       min-idle: 20
diff --git a/casic-web/src/main/resources/config/application-test.yml b/casic-web/src/main/resources/config/application-test.yml
index 534e2fb..67a0241 100644
--- a/casic-web/src/main/resources/config/application-test.yml
+++ b/casic-web/src/main/resources/config/application-test.yml
@@ -1,30 +1,48 @@
 server:
-  port: 11307
+  port: 8083
 ###################  spring配置  ###################
 spring:
   datasource:
-    url: jdbc:mysql://localhost:3306/casic_template?autoReconnect=true&useUnicode=true&characterEncoding=utf8&useSSL=false&allowMultiQueries=true&zeroDateTimeBehavior=convertToNull
+    driver-class-name: com.mysql.cj.jdbc.Driver
+    url: jdbc:mysql://localhost:3306/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
     username: root
-    password: Casic203!
-    initial-size: 2
-    min-idle: 1
-  jms:
-    pub-sub-domain: true
-#  session:
+    password: 123456
+    druid:
+      max-active: 50
+      min-idle: 20
+jms:
+  pub-sub-domain: true
+# session:
 #   store-type: redis
+# redis:
+#   host: 111.198.10.15
+#   port: 11412
+#   password: ew5T4K3#203lwh
+#   serializer: org.springframework.data.redis.serializer.StringRedisSerializer
+#   redisValueSerializer: org.springframework.data.redis.serializer.JdkSerializationRedisSerializer
 casic:
-  #  kaptcha-open: false #是否开启登录时验证码 (true/false)
-  nologin-urls: /user/login,/user/appLogin,/kaptcha/base64,/config/baseConfig,/route/mockToken,/workflow/**
+  #kaptcha-open: false #是否开启登录时验证码 (true/false)
+  no-login-urls: ${casic.sysUrl}/user/login,${casic.sysUrl}/user/appLogin,${casic.sysUrl}/kaptcha/base64,${casic.sysUrl}/config/baseConfig,/route/mockToken,/websocket/*,/webjars/**,/v2/api-docs,/v2/api-docs-ext,/doc.html,/v2/api-docs/swagger-ui.html,/swagger-resources
   #flowable数据源和多数据源配置
-  flowable:
-    datasource:
-      url: jdbc:mysql://localhost:3306/template_flowable?autoReconnect=true&useUnicode=true&characterEncoding=utf8&useSSL=false&allowMultiQueries=true&zeroDateTimeBehavior=convertToNull
-      username: root
-      password: Casic203!
-flowable:
-  checkProcessDefinitions: false #不校验process文件
+  db:
+    init:
+      enable: false
+  hikSdk: D:\robot\hiklib\HCNetSDK.dll
+  hikPlay: D:\robot\hiklib\PlayCtrl.dll
+  algorithm:
+    path:  D:\robot\path\
+    initPathName: init.exe
+    planPathName: search.exe
+  doc:
+    temp: D:\robot\path\report.docx
+  config:
+    export-path: D:\java\boot\guns-web-1.0.0-SNAPSHOT\export\
+    config-path: E:\Develop\IdeaProject\smartcity\casic-smartcity-dcms\casic-web\src\main\resources\config\
 logging:
   level.root: info
   level.com.casic: debug
+  level.com.casic.missiles.netty: error
+  level.com.casic.missiles.modular.neutron: error
+  level.org.springframework.web: info
   file:
-    path: logs/
\ No newline at end of file
+    path: D:\\robot\\logs
\ No newline at end of file
diff --git a/casic-web/src/main/resources/config/application.yml b/casic-web/src/main/resources/config/application.yml
index 035cb1f..d3833ab 100644
--- a/casic-web/src/main/resources/config/application.yml
+++ b/casic-web/src/main/resources/config/application.yml
@@ -20,7 +20,7 @@
     topic: /sensor_status,get_speed,/get_speed,/get_track_list_response,/get_track_response,/get_navigation_response
     completionTimeout: 2000
   redis:
-    host: 192.168.1.20
+    host: localhost
     port: 6379
     #    password: ew5T4K3#203lwh
     database: 3
diff --git a/casic-web/src/main/resources/config/path/Mission1/admatrix.txt b/casic-web/src/main/resources/config/path/Mission1/admatrix.txt
new file mode 100644
index 0000000..ce6f742
--- /dev/null
+++ b/casic-web/src/main/resources/config/path/Mission1/admatrix.txt
@@ -0,0 +1,2 @@
+0.000000000000000000e+00 0.000000000000000000e+00
+0.000000000000000000e+00 0.000000000000000000e+00
diff --git a/casic-web/src/main/resources/config/path/Mission1/expandmap.txt b/casic-web/src/main/resources/config/path/Mission1/expandmap.txt
new file mode 100644
index 0000000..647a4b8
--- /dev/null
+++ b/casic-web/src/main/resources/config/path/Mission1/expandmap.txt
@@ -0,0 +1,36 @@
+0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00
+0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00
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diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
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 a849528..4f34669 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
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index bdfc2d0..d7736a5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -148,7 +148,7 @@
     public void insertPsdAlarms() {
         times++;
         //先查询正在巡检任务信息
-        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
+        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 2);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
 
         long currentTimes = System.currentTimeMillis();
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 92c8c8e..6e94193 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
@@ -5,10 +5,7 @@
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 
 /**
  * 机器人操作类
@@ -76,4 +73,11 @@
     void reloadPcd(RobotInfo info);
 
     void startTrack(StartTrackRequest request);
+
+    /**
+     * 栅格寻点指令
+     * @param request 请求
+     * @return
+     */
+    ResponseDataDTO<Integer> targetGrid(TargetPointRequest 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 3bb475f..d8b3363 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.lang.Assert;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
@@ -25,7 +26,6 @@
 import io.swagger.annotations.ApiParam;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.apache.ibatis.annotations.Param;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.web.bind.annotation.*;
 import org.springframework.web.multipart.MultipartFile;
@@ -76,6 +76,13 @@
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
+    /**
+     * /{robotId}
+     *
+     * @param file
+     * @param robotId
+     * @return
+     */
     @SneakyThrows
     @ApiOperation(value = "PCD上传接口")
     @PostMapping(value = "/uploadPcd")
@@ -109,7 +116,12 @@
         robotInfoService.updateSpeed(robotInfo);
         return ResponseDataDTO.success();
     }
-
+    @ApiOperation(value = "设置任务启动模式", notes = "返回 1成功 0失败")
+    @PostMapping(value = "/setTaskMode")
+    public ResponseDataDTO setTaskMode(@RequestBody TaskModeRequest request) {
+        robotInfoService.setTaskMode(request);
+        return ResponseDataDTO.success();
+    }
     @ApiOperation(value = "机器人数据更新", notes = "1.pcd重载 2.路线及关键点数据重载")
     @PostMapping(value = "/reload")
     public ResponseDataDTO reload(@RequestBody BaseRobotCmdDTO request) {
@@ -149,6 +161,8 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
     }
 
+
+
     /**
      * 机器人请求id
      *
@@ -161,6 +175,16 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
     }
 
+    @ApiOperation(value = "寻栅格指令")
+    @PostMapping(value = "/targetGrid")
+    public ResponseDataDTO<Integer> targetGrid(@RequestBody TargetGridRequest request) {
+        TargetPointRequest targetPointRequest = new TargetPointRequest();
+        targetPointRequest.setRobotId(request.getRobotId());
+        targetPointRequest.setX(request.getEstimateGridX());
+        targetPointRequest.setY(request.getEstimateGridY());
+        return baseRobotService.targetGrid(targetPointRequest);
+    }
+
     /**
      * 机器人请求id
      *
@@ -174,6 +198,7 @@
         if (request.getStepLen() == null) {
             request.setStepLen(2);
         }
+        log.info(JSON.toJSONString(request));
         baseRobotService.startTrack(request);
         return ResponseDataDTO.success();
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
new file mode 100644
index 0000000..709bcd3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+@Data
+public class GridDTO {
+    /**
+     * 当前栅格x
+     */
+    private Integer currGridX;
+    /**
+     * 当前栅格y
+     */
+    private Integer currGridY;
+    /**
+     * 规划栅格x
+     */
+    private Integer estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private Integer estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
new file mode 100644
index 0000000..7eae335
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+@Data
+public class GridPushDTO {
+    /**
+     * 当前栅格x
+     */
+    private BigDecimal currGridX;
+    /**
+     * 当前栅格y
+     */
+    private BigDecimal currGridY;
+
+    /**
+     * 规划栅格x
+     */
+    private BigDecimal estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private BigDecimal estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index acbeb93..b9ad7a3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -23,4 +23,8 @@
     private BigDecimal gridWidth;
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     private BigDecimal resolution;
+    @ApiModelProperty(value = "新设原点X", dataType = "BigDecimal")
+    private BigDecimal newX;
+    @ApiModelProperty(value = "新设原点Y", dataType = "BigDecimal")
+    private BigDecimal newY;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
new file mode 100644
index 0000000..acc38f3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
@@ -0,0 +1,15 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+@Data
+public class TaskEndMsg implements Serializable {
+    private String robotId;
+    private String message;
+    /**
+     * 1 正常 0 异常
+     */
+    private Integer code;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 90e4dcf..d5ae18a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -154,7 +154,46 @@
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     @TableField("resolution")
     private BigDecimal resolution;
+    /**
+     * 新设定栅格原点X
+     */
+    @TableField("new_origin_x")
+    private BigDecimal newOriginX;
+    /**
+     * 新设定栅格原点Y
+     */
+    @TableField("new_origin_y")
+    private BigDecimal newOriginY;
 
+    /**
+     * 新设定栅格X
+     */
+    @TableField("new_grid_x")
+    private Integer newGridX;
+    /**
+     * 新设定栅格Y
+     */
+    @TableField("new_grid_y")
+    private Integer newGridY;
+
+    /**
+     * 裁剪右顶点X
+     */
+    @TableField("right_grid_x")
+    private Integer rightGridX;
+    @TableField("is_open")
+    private Integer isOpen;
+    /**
+     * 裁剪右顶点Y
+     */
+    @TableField("right_grid_y")
+    private Integer rightGridY;
+    public BigDecimal getNewX(){
+        return newOriginX;
+    }
+    public BigDecimal getNewY(){
+        return newOriginY;
+    }
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
index 2cb752f..3e741d7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
@@ -24,7 +24,10 @@
      *
      * @see com.casic.missiles.modular.robot.service.impl.TaskInfoServiceImpl
      */
-    HEAT_MAP("heat_map" , "机器人热力图");
+    HEAT_MAP("heat_map" , "机器人热力图"),
+    GRID("grid" , "栅格推送"),
+    TASK_END("task_end" , "任务结束");
+
     /**
      * 请求地址
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
index 88c9f79..3c93145 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -32,7 +32,6 @@
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         statusInfoService.saveCostMap(robotId, message);
-
         CostMapResolutionRequest costMapSet = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
         if(costMapSet != null){
             CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
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 8a71e0b..06f8ae6 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
@@ -30,10 +30,9 @@
     public void process(String robotId, String topic, MqttMessage message) {
 
         index.put(index_key, index.get("index") + 1);
-        if (index.get(index_key)>30) {
+        if (index.get(index_key)>1) {
             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 a9d7914..755997e 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
@@ -39,10 +39,8 @@
         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);
@@ -74,10 +72,12 @@
                     robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
                 }
             }
+
             //读取缓存信息
             sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
         } catch (Exception e) {
             e.printStackTrace();
         }
+
     }
-}
+}
\ No newline at end of file
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 7940a24..40a60a1 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,9 +1,13 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.exception.ServiceException;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.IBaseRobotService;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
@@ -11,6 +15,7 @@
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
+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.mqtt.config.MqttClientConnection;
@@ -32,11 +37,13 @@
     private final IRobotRouteOptService robotRouteOptService;
     private final IRobotInfoService robotInfoService;
     private final ITaskInfoService taskInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService, @Lazy IAlgorithmService algorithmService) {
         this.robotRouteOptService = robotRouteOptService;
         this.robotInfoService = robotInfoService;
         this.taskInfoService = taskInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
@@ -117,7 +124,7 @@
             //线路关键点读取
             if (requestDTO.getData() != null) {
                 for (RouteInfo routeInfo : requestDTO.getData()) {
-                    if("11-1 79-1".equals(routeInfo.getRouteName())){
+                    if ("11-1 79-1".equals(routeInfo.getRouteName())) {
                         continue;
                     }
                     TrackPointListRequest request = new TrackPointListRequest();
@@ -141,6 +148,7 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+
     @Transactional
     @Override
     public void startTrack(StartTrackRequest request) {
@@ -149,6 +157,25 @@
 //        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
     }
 
+    @Override
+    public ResponseDataDTO<Integer> targetGrid(TargetPointRequest request) {
+        PoseMessageResponseDTO responseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + request.getRobotId());
+        if(responseDTO==null){
+            throw new ServiceException(500,"请优先开启导航");
+        }
+        RobotInfo robotInfo = robotInfoService.getById(request.getRobotId());
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        //获取栅格中心点
+        GridPointDTO pointDTO =  algorithmService.convertGridCenterPoint(gridPointDTO,robotInfo.getResolution(),robotInfo);
+        request.setX(pointDTO.getX().toString());
+        request.setY(pointDTO.getY().toString());
+        request.setZ(responseDTO.getZ().toString());
+        request.setTheta(responseDTO.getTheta().toString());
+        //执行巡点指令
+        ResponseDataDTO<Integer> responseDataDTO = this.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
+        return responseDataDTO;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
new file mode 100644
index 0000000..7d69964
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
@@ -0,0 +1,19 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 获取循迹路线下发指令
+ */
+@Data
+public class TargetGridRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "栅格x坐标", dataType = "String")
+    private String estimateGridX;
+    @ApiModelProperty(value = "栅格y坐标", dataType = "String")
+    private String estimateGridY;
+    @ApiModelProperty(value = "z坐标", dataType = "String")
+    private String z;
+    @ApiModelProperty(value = "theta", dataType = "String")
+    private String theta;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
new file mode 100644
index 0000000..763656b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 导航下发指令
+ */
+@Data
+public class TaskModeRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "控制模式 1:手动 0:自动", dataType = "String")
+    private Integer isOpen;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index 8c95459..89697b8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -6,6 +6,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TaskModeRequest;
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 
 import java.util.List;
@@ -52,4 +53,6 @@
      * @param dto 栅格信息
      */
     void updateRobotGrid(String robotId, AppCostmapResponseDTO dto);
+
+    void setTaskMode(TaskModeRequest request);
 }
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 a4dbe0b..a6f5116 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
@@ -167,24 +167,35 @@
         y = y.subtract(robotInfo.getOriginY());
         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));
+
+        //todo  原点栅格转换,减去相对原点值
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewGridY())));
         return pointDTO;
     }
 
     /**
+     * do栅格转xy
      * 根据栅格读取栅格中心点位信息
      *
      * @param pointDTO 栅格信息
      * @return
      */
     public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo) {
+
+        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewGridY())));
+
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = resolution;
         //点位转换 转换后栅格－1 从1开始计算
         BigDecimal slamX = (pointDTO.getX().subtract(new BigDecimal(1))).multiply(scale);
         BigDecimal slamY = (pointDTO.getY().subtract(new BigDecimal(1))).multiply(scale);
+
         //中心栅格点位中心添加
         centerPoint.setX(slamX.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
         centerPoint.setY(slamY.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
+
         //加上栅格原点坐标
         centerPoint.setX(centerPoint.getX().add(robotInfo.getOriginX()));
         centerPoint.setY(centerPoint.getY().add(robotInfo.getOriginY()));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
index e2879ce..f825e84 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
@@ -9,6 +9,8 @@
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.data.redis.core.RedisTemplate;
 import org.springframework.stereotype.Service;
 
 @Service
@@ -18,7 +20,8 @@
     public RobotCacheServiceImpl(IRobotInfoService robotInfoService) {
         this.robotInfoService = robotInfoService;
     }
-
+    @Autowired
+    private RedisTemplate<String, Object> redisTemplate;
     @Override
     public synchronized boolean updateTaskId(Long robotId, Long taskId) {
         //读取当前机器人任务信息
@@ -83,12 +86,14 @@
 
     @Override
     public void updateCostMap(String robotId, AppCostmapResponseDTO msg) {
-        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
+        redisTemplate.opsForValue().set(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId,msg);
+//        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
     }
 
     @Override
     public AppCostmapResponseDTO getCostMap(String robotId) {
-        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+       return (AppCostmapResponseDTO) redisTemplate.opsForValue().get(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+//        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
     }
 
     @Override
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index fdded64..cdbbe89 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -12,11 +12,13 @@
 import com.casic.missiles.core.application.service.AbstractDictService;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dao.RobotInfoMapper;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.*;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.DataRecordRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TaskModeRequest;
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.*;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -51,16 +53,18 @@
     private final IDeviceInfoService deviceInfoService;
     private final IRobotPointInfoService pointInfoService;
     private final IBaseRobotService baseRobotService;
+    private final IAlgorithmService algorithmService;
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
-    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService, @Lazy IBaseRobotService baseRobotService) {
+    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService, @Lazy IBaseRobotService baseRobotService, @Lazy IAlgorithmService algorithmService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.dictService = dictService;
         this.routeInfoService = routeInfoService;
         this.deviceInfoService = deviceInfoService;
         this.pointInfoService = pointInfoService;
         this.baseRobotService = baseRobotService;
+        this.algorithmService = algorithmService;
     }
 
     @Transactional
@@ -96,15 +100,30 @@
         }
         if (robotInfo.getAlarmThreshold() != null) {
             update.set(RobotInfo::getAlarmThreshold, robotInfo.getAlarmThreshold());
+            update.set(RobotInfo::getMaxThreshold, robotInfo.getAlarmThreshold());
         }
         if (robotInfo.getGridHeight() != null && robotInfo.getGridWidth() != null) {
+            RobotInfo oldRobotInfo = getById(robotInfo.getId());
             update.set(RobotInfo::getGridHeight, robotInfo.getGridHeight());
             update.set(RobotInfo::getGridWidth, robotInfo.getGridWidth());
             update.set(RobotInfo::getResolution, robotInfo.getResolution());
+            update.set(RobotInfo::getNewOriginX, robotInfo.getNewX());
+            update.set(RobotInfo::getNewOriginY, robotInfo.getNewY());
+            //计算左下原点
+            oldRobotInfo.setNewGridX(0);
+            oldRobotInfo.setNewGridY(0);
+            GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(robotInfo.getNewX(), robotInfo.getNewY(), robotInfo.getResolution(), oldRobotInfo);
+            update.set(RobotInfo::getNewGridX, gridPointDTO.getX().intValue());
+            update.set(RobotInfo::getNewGridY, gridPointDTO.getY().intValue());
+            //计算右顶点
+            Integer rightX = robotInfo.getGridWidth().divide(robotInfo.getResolution(), 0, BigDecimal.ROUND_HALF_UP).intValue();
+            Integer rightY = robotInfo.getGridHeight().divide(robotInfo.getResolution(), 0, BigDecimal.ROUND_HALF_UP).intValue();
+            update.set(RobotInfo::getRightGridX, rightX);
+            update.set(RobotInfo::getRightGridY, rightY);
+
             //下发障碍物栅格
             sendCostMapResolution(robotInfo.getResolution(), robotInfo.getId());
-            //重新生成栅格地图
-            //sendChangePcd(robotInfo.getId());
+
         }
         update.eq(RobotInfo::getId, robotInfo.getId());
         update(update);
@@ -162,6 +181,16 @@
         update(lambdaUpdateWrapper);
     }
 
+    @Override
+    public void setTaskMode(TaskModeRequest request) {
+        if (request.getRobotId() != null) {
+            LambdaUpdateWrapper<RobotInfo> lambdaUpdateWrapper = new LambdaUpdateWrapper<>();
+            lambdaUpdateWrapper.set(RobotInfo::getIsOpen, request.getIsOpen());
+            lambdaUpdateWrapper.eq(RobotInfo::getId, request.getRobotId());
+            update(lambdaUpdateWrapper);
+        }
+    }
+
     @Transactional
     @Override
     public List<RobotInfo> list(Wrapper<RobotInfo> queryWrapper) {
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 46b5c3b..f52940c 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.collection.CollectionUtil;
 import cn.hutool.core.convert.Convert;
+import cn.hutool.core.io.FileUtil;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
@@ -13,9 +14,9 @@
 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.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO;
@@ -27,7 +28,6 @@
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
-import org.aspectj.util.FileUtil;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.context.annotation.Lazy;
@@ -38,8 +38,8 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.ArrayList;
-import java.util.Arrays;
 import java.util.List;
+import java.util.stream.Collectors;
 
 
 /**
@@ -81,6 +81,11 @@
     }
 
     private void wrapInfo(RobotStatusInfo statusInfo) {
+        // todo 报错
+        StopStateResponseDTO stopStateResponseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + statusInfo.getRobotId());
+        if (stopStateResponseDTO != null) {
+            statusInfo.setSoft(stopStateResponseDTO.getSoft());
+        }
         statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getDiscernType()));
 
         //暂停状态
@@ -262,6 +267,8 @@
      */
     @Value("${casic.algorithm.num:30}")
     private Integer num;
+    @Value("${casic.obstacle:60}")
+    private Integer obstacle;
 
     /**
      * 机器人栅格数据
@@ -276,7 +283,6 @@
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             //发送栅格分辨率设定
-
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
             robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
             //log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
@@ -290,24 +296,102 @@
                         } else {
                             dataNums.add(1);
                         }
+                    } else {
+                        dataNums.add(-1);
                     }
                 }
-                writeCache(dataNums,responseDTO.getMsg().getWidth(),responseDTO.getMsg().getHeight(),robotId);
+                writeCache(dataNums, responseDTO.getMsg().getWidth(), responseDTO.getMsg().getHeight(), robotId);
             }
         }
     }
 
-    private void writeCache(ArrayList<Integer> integers,Integer width,Integer height,String robotId) {
-        List<List<Integer>> arrays = CollectionUtil.split(integers,width);
+    private void writeCache(ArrayList<Integer> integers, Integer width, Integer height, String robotId) {
+        List<List<Integer>> arrays = CollectionUtil.split(integers, width);
         ArrayList<ArrayList<Integer>> arrayList = new ArrayList<>();
         for (List<Integer> array : arrays) {
-            arrayList.add((ArrayList)array);
+            ArrayList list =(ArrayList)array.stream().filter(integer -> integer>=0).collect(Collectors.toList());
+            arrayList.add(list);
         }
         CollectionUtil.reverse(arrayList);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId, arrayList);
-//        FileUtil.writeAsString(new File(path + "map.txt"), CollectionUtil.join(integers, " ").replaceAll("\\[", "").replaceAll("]", ""));
+        //写入栅格宽度
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId, height);
+
+        writeCost(arrayList,width,height,robotId);
+    }
+    /**
+     * slam经纬度转换为栅格
+     *
+     * @param x slam x
+     * @param y slam y
+     */
+    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, BigDecimal resolution, RobotInfo robotInfo) {
+        GridPointDTO pointDTO = new GridPointDTO();
+        BigDecimal scale = resolution;
+        //减去栅格原点坐标
+        x = x.subtract(robotInfo.getOriginX());
+        y = y.subtract(robotInfo.getOriginY());
+        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));
+
+        //todo  原点栅格转换,减去相对原点值
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewGridY())));
+        return pointDTO;
     }
 
+    private void writeCost(ArrayList<ArrayList<Integer>> costList,Integer width, Integer height,String robotId){
+        List<String> strs = new ArrayList<>();
+        List<String> strs2 = new ArrayList<>();
+        RobotInfo robotInfo = cacheService.getRobotInfo(Long.valueOf(robotId));
+        if(robotInfo==null||robotInfo.getGridWidth()==null||robotInfo.getResolution() ==null){
+            log.info("robot gridHeight is not found....");
+            return;
+        }
+
+        //计算左下角位置
+        Integer newX = robotInfo.getNewGridX();
+        Integer newY = height-robotInfo.getNewGridY();
+//        log.info("left point:({},{})",robotInfo.getNewGridX(),robotInfo.getNewGridY());
+        //计算右上角位置
+        Integer rightX = robotInfo.getRightGridX();
+        Integer rightY = height-robotInfo.getRightGridY();
+//        log.info("right point:({},{})",rightX,rightY);
+
+        //裁剪栅格
+        List<List<Integer>> newCostList = new ArrayList<>();
+        for (int i = 0; i < costList.size(); i++) {
+            if(i<=newY&&i>=rightY){
+                List<Integer> newList = new ArrayList<>();
+                List<Integer> sourceList= costList.get(i);
+                for (int j = 0; j < sourceList.size(); j++) {
+                    if(j>=newX&&j<=rightX){
+                        newList.add(sourceList.get(j));
+                    }
+                }
+                newCostList.add(newList);
+            }
+        }
+
+        for (List<Integer> list : newCostList) {
+            strs2.add(CollectionUtil.join(list, " "));
+        }
+
+        FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+        //行转列 为算法输入数据
+        if(CollectionUtil.isNotEmpty(newCostList)){
+            CollectionUtil.reverse(newCostList);
+            for (int i = 0; i < newCostList.get(0).size(); i++) {
+                ArrayList<Integer> ints = new ArrayList<>();
+                for (List<Integer> list : newCostList) {
+                    ints.add(list.get(i));
+                }
+                strs.add(CollectionUtil.join(ints, " "));
+            }
+        }
+
+        FileUtil.writeLines(strs, new File(path + "map3.txt"), "utf-8");
+    }
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
@@ -327,7 +411,6 @@
             json = json.substring(0, json.length() - 1);
         }
         json = json.replaceAll("\\\\", "");
-//        log.info(json);
         RobotResponseDTO<R> responseDTO = JSON.parseObject(json, cls);
         return responseDTO;
     }
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 f1262a2..cb7aa09 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
@@ -69,17 +69,6 @@
             } catch (Exception e) {
                 log.error("task error", e);
             }
-//            if (routeId != null) {
-//                RobotTrajectoryInfo info = new RobotTrajectoryInfo();
-//                info.setRobotId(Long.valueOf(robotId));
-//                info.setCreateTime(new Date());
-//                info.setPostionX(dto.getX());
-//                info.setPostionY(dto.getY());
-//                info.setPostionZ(dto.getZ());
-//                info.setTheta(dto.getTheta());
-//                save(info);
-
-//            }
         }
     }
 
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 fd49e2e..6a0e719 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
@@ -47,6 +47,7 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.*;
+import java.util.concurrent.atomic.AtomicInteger;
 
 
 /**
@@ -81,15 +82,16 @@
     /**
      * 5000 ms
      */
-    @Value("${casic.task.duration:3000}")
+    @Value("${casic.task.duration:2000}")
     private Integer stayDuration;
     @Value("${casic.algorithm.path:-1}")
     private String path;
     /**
      * 障碍物精度
      */
-    @Value("${casic.obstacle:10}")
+    @Value("${casic.obstacle:60}")
     private Integer obstacle;
+    private volatile AtomicInteger atomicInteger = new AtomicInteger();
 
     public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService, ITaskInfoImgService imgService, ITaskGridInfoService taskGridInfoService) {
         this.routeInfoService = routeInfoService;
@@ -128,7 +130,30 @@
         } catch (Exception e) {
             log.error(e.getMessage());
         }
-
+    }
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, GridPushDTO gridPushDTO) {
+        try {
+            WsMsgBaseDTO<GridPushDTO> wsMsgBaseDTO = new WsMsgBaseDTO<GridPushDTO>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(gridPushDTO);
+            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());
+        }
+    }
+    protected void sendTaskMsg(InstructStatusMsgEnums enums, String robotId, TaskEndMsg heatMap) {
+        try {
+            WsMsgBaseDTO<TaskEndMsg> wsMsgBaseDTO = new WsMsgBaseDTO<TaskEndMsg>();
+            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());
+        }
     }
 
     @Override
@@ -187,11 +212,11 @@
 
     private void openTask(StartTrackRequest request, String robotId) {
         QueryWrapper<RouteInfo> query = new QueryWrapper<>();
-        query.eq("target_id", request.getTrack_name());
-        List<RouteInfo> routeInfos = routeInfoService.list(query);
-        if (CollectionUtil.isEmpty(routeInfos)) {
-            throw new ServiceException(500, "路线不存在,请及时更新");
-        }
+//        query.eq("target_id", request.getTrack_name());
+//        List<RouteInfo> routeInfos = routeInfoService.list(query);
+//        if (CollectionUtil.isEmpty(routeInfos)) {
+//            throw new ServiceException(500, "路线不存在,请及时更新");
+//        }
 //        RouteInfo routeInfo = routeInfos.get(0);
         Integer isTask = 0;
         //开启寻源任务
@@ -201,12 +226,12 @@
         RobotInfo robotInfo = cacheService.getRobotInfo(Convert.toLong(robotId));
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_IS_TASK + robotId, isTask);
         //添加任务记录
-        TaskInfo taskInfo = addTaskByStartTrack( robotInfo, request);
+        TaskInfo taskInfo = addTaskByStartTrack(robotInfo, request);
         //No.3 更新器人执行任务信息
 //        Long currRouteId = routeInfo.getId();
         Long currTaskId = taskInfo.getId();
 
-        statusInfoService.updateCurrTask(robotId,  currTaskId);
+        statusInfoService.updateCurrTask(robotId, currTaskId);
         //算法初始化标志创建
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId, currTaskId);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_INIT + robotId, 0);
@@ -230,7 +255,7 @@
         robotCacheClean(robotId);
         //清楚规划任务锁
         CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_PLANING_FLAG + robotId);
-        CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID+ robotId);
+        CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId);
         //清空机器当前任务
         statusInfoService.updateCurrTask(robotId, null);
     }
@@ -304,7 +329,7 @@
         //No.1 任务初始化
         pathInit(longId, robotInfo, pointDTO, taskId, robotId, taskInfo.getStepLen());
         //No.2 路线规划
-        pathPlaning(longId, robotInfo, pointDTO, taskId, robotId, taskInfo,dto);
+        pathPlaning(longId, robotInfo, pointDTO, taskId, robotId, taskInfo, dto);
     }
 
     /**
@@ -329,7 +354,7 @@
      * @param taskId    任务ID
      * @param robotId   机器人ID
      */
-    private void pathPlaning(Long longId, RobotInfo robotInfo, GridPointDTO pointDTO, Long taskId, String robotId, TaskInfo taskInfo,PoseMessageResponseDTO curPoint) {
+    private void pathPlaning(Long longId, RobotInfo robotInfo, GridPointDTO pointDTO, Long taskId, String robotId, TaskInfo taskInfo, PoseMessageResponseDTO curPoint) {
         if (taskId != null) {
             //规划节点
             PointNextDTO pointNextDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId);
@@ -337,12 +362,24 @@
             Boolean flag = lockPlanIngFlag(robotId);
             //是否到达预期栅格
             if (!flag) {
-                log.info("未获取到规划任务,直接结束：{}",pointDTO);
                 return;
             }
+            log.info("curr point:{}", curPoint);
+            log.debug("curr pointGrid:{}", pointDTO);
+            log.debug("oldEstimateGrid:{}", oldEstimateGrid);
+
+            GridPushDTO gridPushDTO = new GridPushDTO();
+            gridPushDTO.setCurrGridX(pointDTO.getX());
+            gridPushDTO.setCurrGridY(pointDTO.getY());
+            if(oldEstimateGrid!=null){
+                gridPushDTO.setEstimateGridX(oldEstimateGrid.getX());
+                gridPushDTO.setEstimateGridY(oldEstimateGrid.getY());
+            }
+            sendWebSocket(InstructStatusMsgEnums.GRID, robotId, gridPushDTO);
+
             try {
-                log.debug("oldEstimateGrid:{}", oldEstimateGrid);
-                if (pointNextDTO == null || isEquals(pointDTO, oldEstimateGrid)) {
+                if (pointNextDTO == null || oldEstimateGrid == null || isEquals(pointDTO, oldEstimateGrid, robotInfo)) {
+                    atomicInteger = new AtomicInteger(0);
                     log.info("当前栅格变更......", pointDTO);
                     CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_POINT + robotId, pointDTO);
                     //算法调用获取热力图
@@ -358,19 +395,24 @@
                     //存储算法输出栅格信息
                     AlgorithmResponse response = algorithmService.pathPlanning(pathPlanDTO);
                     CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId, response.getPointNextDTO());
-                    sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
 
-                    //存储循迹任务信息
-                    TaskGridInfo taskGridInfo = new TaskGridInfo();
-                    taskGridInfo.setCreateTime(new Date());
-                    taskGridInfo.setUpdateTime(new Date());
-                    taskGridInfo.setCurGridX(pointDTO.getX().intValue());
-                    taskGridInfo.setCurGridY(pointDTO.getY().intValue());
-                    taskGridInfo.setNeutronCount(new BigDecimal(pathPlanDTO.getZNow()));
-                    taskGridInfo.setEstimateGridX(response.getPointNextDTO().getX());
-                    taskGridInfo.setEstimateGridY(response.getPointNextDTO().getY());
-                    taskGridInfo.setTaskId(taskId);
-                    taskGridInfoService.save(taskGridInfo);
+                    new Thread() {
+                        @Override
+                        public void run() {
+                            //存储循迹任务信息
+                            TaskGridInfo taskGridInfo = new TaskGridInfo();
+                            taskGridInfo.setCreateTime(new Date());
+                            taskGridInfo.setUpdateTime(new Date());
+                            taskGridInfo.setCurGridX(pointDTO.getX().intValue());
+                            taskGridInfo.setCurGridY(pointDTO.getY().intValue());
+                            taskGridInfo.setNeutronCount(new BigDecimal(pathPlanDTO.getZNow()));
+                            taskGridInfo.setEstimateGridX(response.getPointNextDTO().getX());
+                            taskGridInfo.setEstimateGridY(response.getPointNextDTO().getY());
+                            taskGridInfo.setTaskId(taskId);
+                            taskGridInfoService.save(taskGridInfo);
+                            sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
+                        }
+                    }.start();
 
                     try {
                         //停留时间阈值
@@ -381,11 +423,13 @@
 
                     //是否触发停止状态
                     if (!response.isEnd()) {
-                        log.debug("task planning-- xun dian robotId:{},taskId:{}", robotId, taskId);
                         //机器人寻点指令下发
-                        sendTargetPoint(robotInfo, response,curPoint);
+                        if (robotInfo.getIsOpen() == null || robotInfo.getIsOpen() == 0) {
+                            sendTargetPoint(robotInfo, response, curPoint);
+                        } else {
+                            log.debug("task mode isOpen:{}", robotInfo.getIsOpen());
+                        }
                     } else {
-                        log.debug("task stop-- robotId:{},taskId:{}", robotId, taskId);
                         //机器人停止指令下发
                         SoftwareStopRequest request = new SoftwareStopRequest();
                         request.setRobotId(robotInfo.getId());
@@ -394,6 +438,15 @@
 //                        baseRobotService.execCmdHandler(request, InstructCodeEnums.SOFTWARE_STOP);
                         //循迹任务结束
                         closeTask(null, robotId);
+                        TaskEndMsg endMsg = new TaskEndMsg();
+                        endMsg.setCode(1);
+                        endMsg.setRobotId(robotId);
+                        endMsg.setMessage("寻源结束");
+                        sendTaskMsg(InstructStatusMsgEnums.TASK_END, robotId, endMsg);
+                    }
+                } else {
+                    if (!isChange(pointDTO, oldEstimateGrid)) {
+                        atomicInteger.incrementAndGet();
                     }
                 }
             } catch (Exception e) {
@@ -429,37 +482,56 @@
         Integer initValue = cacheService.readTaskInit(longId);
         //No.1 任务初始化
         if (initValue != 1) {
-
             //执行初始化操作
             if (cacheService.updateTaskInit(longId, 1)) {
-
                 List<List<Integer>> costList = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId);
                 List<String> strs = new ArrayList<>();
                 List<String> strs2 = new ArrayList<>();
-                for (List<Integer> list : costList) {
+                Integer height = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId);
+                if (height == null) {
+                    throw new ServiceException(500, "未获取到栅格宽度信息");
+                }
+                Integer newX = robotInfo.getNewGridX();
+                Integer newY = height - robotInfo.getNewGridY();
+
+                //裁剪栅格
+                List<List<Integer>> newCostList = new ArrayList<>();
+                for (int i = 0; i < costList.size(); i++) {
+                    if (i <= newY) {
+                        List<Integer> newList = new ArrayList<>();
+                        List<Integer> sourceList = costList.get(i);
+                        for (int j = 0; j < sourceList.size(); j++) {
+                            if (j >= newX) {
+                                newList.add(sourceList.get(j));
+                            }
+                        }
+                        newCostList.add(newList);
+                    }
+                }
+                //数组转换
+                for (List<Integer> list : newCostList) {
                     strs2.add(CollectionUtil.join(list, " "));
                 }
                 FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+
                 //行转列 为算法输入数据
-                if(CollectionUtil.isNotEmpty(costList)){
-                    CollectionUtil.reverse(costList);
-                    for (int i = 0; i < costList.get(0).size(); i++) {
+                if (CollectionUtil.isNotEmpty(newCostList)) {
+                    CollectionUtil.reverse(newCostList);
+                    for (int i = 0; i < newCostList.get(0).size(); i++) {
                         ArrayList<Integer> ints = new ArrayList<>();
-                        for (List<Integer> list : costList) {
+                        for (List<Integer> list : newCostList) {
                             ints.add(list.get(i));
                         }
                         strs.add(CollectionUtil.join(ints, " "));
                     }
-//                    CollectionUtil.reverse(strs);
                 }
-
-
                 FileUtil.writeLines(strs, new File(path + "map.txt"), "utf-8");
 
-                PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId, stepLen);
                 //中子源计数率读取
+                PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId, stepLen);
                 pathInitDTO.setZNow(cacheService.getNeutronCount(longId));
                 log.info("init params:{}", JSON.toJSONString(pathInitDTO));
+
                 //执行1次算法 初始化操作
                 algorithmService.pathPlanningInit(pathInitDTO);
             }
@@ -551,7 +623,7 @@
      * @param robotInfo 机器人信息
      * @param response  算法输出数据
      */
-    private void sendTargetPoint(RobotInfo robotInfo, AlgorithmResponse response,PoseMessageResponseDTO curPoint) {
+    private void sendTargetPoint(RobotInfo robotInfo, AlgorithmResponse response, PoseMessageResponseDTO curPoint) {
         //读取已设置巡点目标信息
         PointNextDTO nextDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TARGET_POINT_ID + robotInfo.getId());
         //巡点
@@ -565,6 +637,7 @@
             request.setZ(curPoint.getZ().toString());
             request.setTheta(curPoint.getTheta().toString());
             request.setRobotId(robotInfo.getId());
+            log.info("下发寻源点位:{}", request);
             //执行巡点指令
             baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
             //重设寻点点位
@@ -632,7 +705,7 @@
         //读取
         Integer index = 1;
         LambdaQueryWrapper<TaskGridInfo> taskGridQuery = new LambdaQueryWrapper<>();
-        taskGridQuery.eq(TaskGridInfo::getTaskId,info.getId());
+        taskGridQuery.eq(TaskGridInfo::getTaskId, info.getId());
         taskGridQuery.orderByAsc(TaskGridInfo::getCreateTime);
         List<TaskGridInfo> taskGridInfos = taskGridInfoService.list(taskGridQuery);
         if (CollectionUtil.isNotEmpty(taskGridInfos)) {
@@ -735,12 +808,29 @@
         return true;
     }
 
-    private boolean isEquals(GridPointDTO pointDTO, GridPointDTO oldPointDTO) {
-        if(oldPointDTO==null||oldPointDTO.getX()==null){
+    /**
+     * 栅格判定方法
+     *
+     * @param pointDTO    当前栅格
+     * @param oldPointDTO 预期栅格
+     * @param robotInfo   机器信息
+     * @return
+     */
+    private boolean isEquals(GridPointDTO pointDTO, GridPointDTO oldPointDTO, RobotInfo robotInfo) {
+        if (oldPointDTO == null || oldPointDTO.getX() == null) {
             return false;
         }
-        if (pointDTO.getX().compareTo(oldPointDTO.getX()) == 0 && pointDTO.getY().compareTo(oldPointDTO.getY()) == 0) {
-            return true;
+        if (robotInfo.getResolution().compareTo(new BigDecimal(0.21)) > 0) {
+            //大于0.2则默认该点
+            if (pointDTO.getX().compareTo(oldPointDTO.getX()) == 0 && pointDTO.getY().compareTo(oldPointDTO.getY()) == 0) {
+                return true;
+            }
+        } else {
+            //小于0.2则可判定相邻栅格
+            if (pointDTO.getX().subtract(oldPointDTO.getX()).abs().intValue() <= 1 && pointDTO.getY().subtract(oldPointDTO.getY()).abs().intValue() <= 1) {
+                return true;
+            }
+
         }
         return false;
     }
@@ -756,7 +846,7 @@
         return pathInitDTO;
     }
 
-    private TaskInfo addTaskByStartTrack( RobotInfo robotInfo, StartTrackRequest request) {
+    private TaskInfo addTaskByStartTrack(RobotInfo robotInfo, StartTrackRequest request) {
         //No.2 新增任务信息
         TaskInfo taskInfo = new TaskInfo();
         String currDate = DateUtil.format(new Date(), "yyyyMMdd");
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
index 467b9c2..b8eebf0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
@@ -44,8 +44,8 @@
 
         ArrayList<String> invocation = new ArrayList<String>();
         invocation.add(exePath);
-        invocation.add("10");
-        invocation.add("10");
+        invocation.add("36");
+        invocation.add("18");
         invocation.add("5");
         invocation.add("0.16");
         invocation.add("Mission1");
@@ -58,8 +58,8 @@
         String planning = path + "search.exe";
         ArrayList<String> planInvocation = new ArrayList<String>();
         planInvocation.add(planning);
-        planInvocation.add("10");
-        planInvocation.add("1.0");
+        planInvocation.add("19");
+        planInvocation.add("8");
         planInvocation.add("0.2");
         planInvocation.add("Mission1");
         List<String> res = invokeJob(planInvocation);
diff --git a/casic-web/pom.xml b/casic-web/pom.xml
index 937b695..c793209 100644
--- a/casic-web/pom.xml
+++ b/casic-web/pom.xml
@@ -48,6 +48,11 @@
             <artifactId>spring-boot-starter-web</artifactId>
         </dependency>
         <dependency>
+            <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
             <groupId>org.springframework.boot</groupId>
             <artifactId>spring-boot-starter-actuator</artifactId>
             <exclusions>
diff --git a/casic-web/src/main/resources/config/application-dev.yml b/casic-web/src/main/resources/config/application-dev.yml
index c122d8d..455c4bf 100644
--- a/casic-web/src/main/resources/config/application-dev.yml
+++ b/casic-web/src/main/resources/config/application-dev.yml
@@ -4,9 +4,9 @@
 spring:
   datasource:
     driver-class-name: com.mysql.cj.jdbc.Driver
-    url: jdbc:mysql://111.198.10.15:11336/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
+    url: jdbc:mysql://localhost:3306/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
     username: root
-    password: Casic203
+    password: 123456
     druid:
       max-active: 50
       min-idle: 20
diff --git a/casic-web/src/main/resources/config/application-test.yml b/casic-web/src/main/resources/config/application-test.yml
index 534e2fb..67a0241 100644
--- a/casic-web/src/main/resources/config/application-test.yml
+++ b/casic-web/src/main/resources/config/application-test.yml
@@ -1,30 +1,48 @@
 server:
-  port: 11307
+  port: 8083
 ###################  spring配置  ###################
 spring:
   datasource:
-    url: jdbc:mysql://localhost:3306/casic_template?autoReconnect=true&useUnicode=true&characterEncoding=utf8&useSSL=false&allowMultiQueries=true&zeroDateTimeBehavior=convertToNull
+    driver-class-name: com.mysql.cj.jdbc.Driver
+    url: jdbc:mysql://localhost:3306/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
     username: root
-    password: Casic203!
-    initial-size: 2
-    min-idle: 1
-  jms:
-    pub-sub-domain: true
-#  session:
+    password: 123456
+    druid:
+      max-active: 50
+      min-idle: 20
+jms:
+  pub-sub-domain: true
+# session:
 #   store-type: redis
+# redis:
+#   host: 111.198.10.15
+#   port: 11412
+#   password: ew5T4K3#203lwh
+#   serializer: org.springframework.data.redis.serializer.StringRedisSerializer
+#   redisValueSerializer: org.springframework.data.redis.serializer.JdkSerializationRedisSerializer
 casic:
-  #  kaptcha-open: false #是否开启登录时验证码 (true/false)
-  nologin-urls: /user/login,/user/appLogin,/kaptcha/base64,/config/baseConfig,/route/mockToken,/workflow/**
+  #kaptcha-open: false #是否开启登录时验证码 (true/false)
+  no-login-urls: ${casic.sysUrl}/user/login,${casic.sysUrl}/user/appLogin,${casic.sysUrl}/kaptcha/base64,${casic.sysUrl}/config/baseConfig,/route/mockToken,/websocket/*,/webjars/**,/v2/api-docs,/v2/api-docs-ext,/doc.html,/v2/api-docs/swagger-ui.html,/swagger-resources
   #flowable数据源和多数据源配置
-  flowable:
-    datasource:
-      url: jdbc:mysql://localhost:3306/template_flowable?autoReconnect=true&useUnicode=true&characterEncoding=utf8&useSSL=false&allowMultiQueries=true&zeroDateTimeBehavior=convertToNull
-      username: root
-      password: Casic203!
-flowable:
-  checkProcessDefinitions: false #不校验process文件
+  db:
+    init:
+      enable: false
+  hikSdk: D:\robot\hiklib\HCNetSDK.dll
+  hikPlay: D:\robot\hiklib\PlayCtrl.dll
+  algorithm:
+    path:  D:\robot\path\
+    initPathName: init.exe
+    planPathName: search.exe
+  doc:
+    temp: D:\robot\path\report.docx
+  config:
+    export-path: D:\java\boot\guns-web-1.0.0-SNAPSHOT\export\
+    config-path: E:\Develop\IdeaProject\smartcity\casic-smartcity-dcms\casic-web\src\main\resources\config\
 logging:
   level.root: info
   level.com.casic: debug
+  level.com.casic.missiles.netty: error
+  level.com.casic.missiles.modular.neutron: error
+  level.org.springframework.web: info
   file:
-    path: logs/
\ No newline at end of file
+    path: D:\\robot\\logs
\ No newline at end of file
diff --git a/casic-web/src/main/resources/config/application.yml b/casic-web/src/main/resources/config/application.yml
index 035cb1f..d3833ab 100644
--- a/casic-web/src/main/resources/config/application.yml
+++ b/casic-web/src/main/resources/config/application.yml
@@ -20,7 +20,7 @@
     topic: /sensor_status,get_speed,/get_speed,/get_track_list_response,/get_track_response,/get_navigation_response
     completionTimeout: 2000
   redis:
-    host: 192.168.1.20
+    host: localhost
     port: 6379
     #    password: ew5T4K3#203lwh
     database: 3
diff --git a/casic-web/src/main/resources/config/path/Mission1/admatrix.txt b/casic-web/src/main/resources/config/path/Mission1/admatrix.txt
new file mode 100644
index 0000000..ce6f742
--- /dev/null
+++ b/casic-web/src/main/resources/config/path/Mission1/admatrix.txt
@@ -0,0 +1,2 @@
+0.000000000000000000e+00 0.000000000000000000e+00
+0.000000000000000000e+00 0.000000000000000000e+00
diff --git a/casic-web/src/main/resources/config/path/Mission1/expandmap.txt b/casic-web/src/main/resources/config/path/Mission1/expandmap.txt
new file mode 100644
index 0000000..647a4b8
--- /dev/null
+++ b/casic-web/src/main/resources/config/path/Mission1/expandmap.txt
@@ -0,0 +1,36 @@
+0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00
+0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00
+0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00
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diff --git a/casic-web/src/main/resources/config/path/Mission1/separate_img.png b/casic-web/src/main/resources/config/path/Mission1/separate_img.png
new file mode 100644
index 0000000..8fc19f9
--- /dev/null
+++ b/casic-web/src/main/resources/config/path/Mission1/separate_img.png
Binary files differ

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
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 a849528..4f34669 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
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index bdfc2d0..d7736a5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -148,7 +148,7 @@
     public void insertPsdAlarms() {
         times++;
         //先查询正在巡检任务信息
-        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
+        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 2);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
 
         long currentTimes = System.currentTimeMillis();
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 92c8c8e..6e94193 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
@@ -5,10 +5,7 @@
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 
 /**
  * 机器人操作类
@@ -76,4 +73,11 @@
     void reloadPcd(RobotInfo info);
 
     void startTrack(StartTrackRequest request);
+
+    /**
+     * 栅格寻点指令
+     * @param request 请求
+     * @return
+     */
+    ResponseDataDTO<Integer> targetGrid(TargetPointRequest 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 3bb475f..d8b3363 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.lang.Assert;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
@@ -25,7 +26,6 @@
 import io.swagger.annotations.ApiParam;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.apache.ibatis.annotations.Param;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.web.bind.annotation.*;
 import org.springframework.web.multipart.MultipartFile;
@@ -76,6 +76,13 @@
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
+    /**
+     * /{robotId}
+     *
+     * @param file
+     * @param robotId
+     * @return
+     */
     @SneakyThrows
     @ApiOperation(value = "PCD上传接口")
     @PostMapping(value = "/uploadPcd")
@@ -109,7 +116,12 @@
         robotInfoService.updateSpeed(robotInfo);
         return ResponseDataDTO.success();
     }
-
+    @ApiOperation(value = "设置任务启动模式", notes = "返回 1成功 0失败")
+    @PostMapping(value = "/setTaskMode")
+    public ResponseDataDTO setTaskMode(@RequestBody TaskModeRequest request) {
+        robotInfoService.setTaskMode(request);
+        return ResponseDataDTO.success();
+    }
     @ApiOperation(value = "机器人数据更新", notes = "1.pcd重载 2.路线及关键点数据重载")
     @PostMapping(value = "/reload")
     public ResponseDataDTO reload(@RequestBody BaseRobotCmdDTO request) {
@@ -149,6 +161,8 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
     }
 
+
+
     /**
      * 机器人请求id
      *
@@ -161,6 +175,16 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
     }
 
+    @ApiOperation(value = "寻栅格指令")
+    @PostMapping(value = "/targetGrid")
+    public ResponseDataDTO<Integer> targetGrid(@RequestBody TargetGridRequest request) {
+        TargetPointRequest targetPointRequest = new TargetPointRequest();
+        targetPointRequest.setRobotId(request.getRobotId());
+        targetPointRequest.setX(request.getEstimateGridX());
+        targetPointRequest.setY(request.getEstimateGridY());
+        return baseRobotService.targetGrid(targetPointRequest);
+    }
+
     /**
      * 机器人请求id
      *
@@ -174,6 +198,7 @@
         if (request.getStepLen() == null) {
             request.setStepLen(2);
         }
+        log.info(JSON.toJSONString(request));
         baseRobotService.startTrack(request);
         return ResponseDataDTO.success();
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
new file mode 100644
index 0000000..709bcd3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+@Data
+public class GridDTO {
+    /**
+     * 当前栅格x
+     */
+    private Integer currGridX;
+    /**
+     * 当前栅格y
+     */
+    private Integer currGridY;
+    /**
+     * 规划栅格x
+     */
+    private Integer estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private Integer estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
new file mode 100644
index 0000000..7eae335
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+@Data
+public class GridPushDTO {
+    /**
+     * 当前栅格x
+     */
+    private BigDecimal currGridX;
+    /**
+     * 当前栅格y
+     */
+    private BigDecimal currGridY;
+
+    /**
+     * 规划栅格x
+     */
+    private BigDecimal estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private BigDecimal estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index acbeb93..b9ad7a3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -23,4 +23,8 @@
     private BigDecimal gridWidth;
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     private BigDecimal resolution;
+    @ApiModelProperty(value = "新设原点X", dataType = "BigDecimal")
+    private BigDecimal newX;
+    @ApiModelProperty(value = "新设原点Y", dataType = "BigDecimal")
+    private BigDecimal newY;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
new file mode 100644
index 0000000..acc38f3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
@@ -0,0 +1,15 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+@Data
+public class TaskEndMsg implements Serializable {
+    private String robotId;
+    private String message;
+    /**
+     * 1 正常 0 异常
+     */
+    private Integer code;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 90e4dcf..d5ae18a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -154,7 +154,46 @@
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     @TableField("resolution")
     private BigDecimal resolution;
+    /**
+     * 新设定栅格原点X
+     */
+    @TableField("new_origin_x")
+    private BigDecimal newOriginX;
+    /**
+     * 新设定栅格原点Y
+     */
+    @TableField("new_origin_y")
+    private BigDecimal newOriginY;
 
+    /**
+     * 新设定栅格X
+     */
+    @TableField("new_grid_x")
+    private Integer newGridX;
+    /**
+     * 新设定栅格Y
+     */
+    @TableField("new_grid_y")
+    private Integer newGridY;
+
+    /**
+     * 裁剪右顶点X
+     */
+    @TableField("right_grid_x")
+    private Integer rightGridX;
+    @TableField("is_open")
+    private Integer isOpen;
+    /**
+     * 裁剪右顶点Y
+     */
+    @TableField("right_grid_y")
+    private Integer rightGridY;
+    public BigDecimal getNewX(){
+        return newOriginX;
+    }
+    public BigDecimal getNewY(){
+        return newOriginY;
+    }
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
index 2cb752f..3e741d7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
@@ -24,7 +24,10 @@
      *
      * @see com.casic.missiles.modular.robot.service.impl.TaskInfoServiceImpl
      */
-    HEAT_MAP("heat_map" , "机器人热力图");
+    HEAT_MAP("heat_map" , "机器人热力图"),
+    GRID("grid" , "栅格推送"),
+    TASK_END("task_end" , "任务结束");
+
     /**
      * 请求地址
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
index 88c9f79..3c93145 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -32,7 +32,6 @@
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         statusInfoService.saveCostMap(robotId, message);
-
         CostMapResolutionRequest costMapSet = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
         if(costMapSet != null){
             CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
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 8a71e0b..06f8ae6 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
@@ -30,10 +30,9 @@
     public void process(String robotId, String topic, MqttMessage message) {
 
         index.put(index_key, index.get("index") + 1);
-        if (index.get(index_key)>30) {
+        if (index.get(index_key)>1) {
             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 a9d7914..755997e 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
@@ -39,10 +39,8 @@
         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);
@@ -74,10 +72,12 @@
                     robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
                 }
             }
+
             //读取缓存信息
             sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
         } catch (Exception e) {
             e.printStackTrace();
         }
+
     }
-}
+}
\ No newline at end of file
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 7940a24..40a60a1 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,9 +1,13 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.exception.ServiceException;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.IBaseRobotService;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
@@ -11,6 +15,7 @@
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
+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.mqtt.config.MqttClientConnection;
@@ -32,11 +37,13 @@
     private final IRobotRouteOptService robotRouteOptService;
     private final IRobotInfoService robotInfoService;
     private final ITaskInfoService taskInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService, @Lazy IAlgorithmService algorithmService) {
         this.robotRouteOptService = robotRouteOptService;
         this.robotInfoService = robotInfoService;
         this.taskInfoService = taskInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
@@ -117,7 +124,7 @@
             //线路关键点读取
             if (requestDTO.getData() != null) {
                 for (RouteInfo routeInfo : requestDTO.getData()) {
-                    if("11-1 79-1".equals(routeInfo.getRouteName())){
+                    if ("11-1 79-1".equals(routeInfo.getRouteName())) {
                         continue;
                     }
                     TrackPointListRequest request = new TrackPointListRequest();
@@ -141,6 +148,7 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+
     @Transactional
     @Override
     public void startTrack(StartTrackRequest request) {
@@ -149,6 +157,25 @@
 //        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
     }
 
+    @Override
+    public ResponseDataDTO<Integer> targetGrid(TargetPointRequest request) {
+        PoseMessageResponseDTO responseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + request.getRobotId());
+        if(responseDTO==null){
+            throw new ServiceException(500,"请优先开启导航");
+        }
+        RobotInfo robotInfo = robotInfoService.getById(request.getRobotId());
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        //获取栅格中心点
+        GridPointDTO pointDTO =  algorithmService.convertGridCenterPoint(gridPointDTO,robotInfo.getResolution(),robotInfo);
+        request.setX(pointDTO.getX().toString());
+        request.setY(pointDTO.getY().toString());
+        request.setZ(responseDTO.getZ().toString());
+        request.setTheta(responseDTO.getTheta().toString());
+        //执行巡点指令
+        ResponseDataDTO<Integer> responseDataDTO = this.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
+        return responseDataDTO;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
new file mode 100644
index 0000000..7d69964
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
@@ -0,0 +1,19 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 获取循迹路线下发指令
+ */
+@Data
+public class TargetGridRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "栅格x坐标", dataType = "String")
+    private String estimateGridX;
+    @ApiModelProperty(value = "栅格y坐标", dataType = "String")
+    private String estimateGridY;
+    @ApiModelProperty(value = "z坐标", dataType = "String")
+    private String z;
+    @ApiModelProperty(value = "theta", dataType = "String")
+    private String theta;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
new file mode 100644
index 0000000..763656b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 导航下发指令
+ */
+@Data
+public class TaskModeRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "控制模式 1:手动 0:自动", dataType = "String")
+    private Integer isOpen;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index 8c95459..89697b8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -6,6 +6,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TaskModeRequest;
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 
 import java.util.List;
@@ -52,4 +53,6 @@
      * @param dto 栅格信息
      */
     void updateRobotGrid(String robotId, AppCostmapResponseDTO dto);
+
+    void setTaskMode(TaskModeRequest request);
 }
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 a4dbe0b..a6f5116 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
@@ -167,24 +167,35 @@
         y = y.subtract(robotInfo.getOriginY());
         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));
+
+        //todo  原点栅格转换,减去相对原点值
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewGridY())));
         return pointDTO;
     }
 
     /**
+     * do栅格转xy
      * 根据栅格读取栅格中心点位信息
      *
      * @param pointDTO 栅格信息
      * @return
      */
     public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo) {
+
+        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewGridY())));
+
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = resolution;
         //点位转换 转换后栅格－1 从1开始计算
         BigDecimal slamX = (pointDTO.getX().subtract(new BigDecimal(1))).multiply(scale);
         BigDecimal slamY = (pointDTO.getY().subtract(new BigDecimal(1))).multiply(scale);
+
         //中心栅格点位中心添加
         centerPoint.setX(slamX.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
         centerPoint.setY(slamY.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
+
         //加上栅格原点坐标
         centerPoint.setX(centerPoint.getX().add(robotInfo.getOriginX()));
         centerPoint.setY(centerPoint.getY().add(robotInfo.getOriginY()));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
index e2879ce..f825e84 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
@@ -9,6 +9,8 @@
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.data.redis.core.RedisTemplate;
 import org.springframework.stereotype.Service;
 
 @Service
@@ -18,7 +20,8 @@
     public RobotCacheServiceImpl(IRobotInfoService robotInfoService) {
         this.robotInfoService = robotInfoService;
     }
-
+    @Autowired
+    private RedisTemplate<String, Object> redisTemplate;
     @Override
     public synchronized boolean updateTaskId(Long robotId, Long taskId) {
         //读取当前机器人任务信息
@@ -83,12 +86,14 @@
 
     @Override
     public void updateCostMap(String robotId, AppCostmapResponseDTO msg) {
-        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
+        redisTemplate.opsForValue().set(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId,msg);
+//        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
     }
 
     @Override
     public AppCostmapResponseDTO getCostMap(String robotId) {
-        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+       return (AppCostmapResponseDTO) redisTemplate.opsForValue().get(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+//        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
     }
 
     @Override
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index fdded64..cdbbe89 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -12,11 +12,13 @@
 import com.casic.missiles.core.application.service.AbstractDictService;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dao.RobotInfoMapper;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.*;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.DataRecordRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TaskModeRequest;
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.*;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -51,16 +53,18 @@
     private final IDeviceInfoService deviceInfoService;
     private final IRobotPointInfoService pointInfoService;
     private final IBaseRobotService baseRobotService;
+    private final IAlgorithmService algorithmService;
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
-    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService, @Lazy IBaseRobotService baseRobotService) {
+    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService, @Lazy IBaseRobotService baseRobotService, @Lazy IAlgorithmService algorithmService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.dictService = dictService;
         this.routeInfoService = routeInfoService;
         this.deviceInfoService = deviceInfoService;
         this.pointInfoService = pointInfoService;
         this.baseRobotService = baseRobotService;
+        this.algorithmService = algorithmService;
     }
 
     @Transactional
@@ -96,15 +100,30 @@
         }
         if (robotInfo.getAlarmThreshold() != null) {
             update.set(RobotInfo::getAlarmThreshold, robotInfo.getAlarmThreshold());
+            update.set(RobotInfo::getMaxThreshold, robotInfo.getAlarmThreshold());
         }
         if (robotInfo.getGridHeight() != null && robotInfo.getGridWidth() != null) {
+            RobotInfo oldRobotInfo = getById(robotInfo.getId());
             update.set(RobotInfo::getGridHeight, robotInfo.getGridHeight());
             update.set(RobotInfo::getGridWidth, robotInfo.getGridWidth());
             update.set(RobotInfo::getResolution, robotInfo.getResolution());
+            update.set(RobotInfo::getNewOriginX, robotInfo.getNewX());
+            update.set(RobotInfo::getNewOriginY, robotInfo.getNewY());
+            //计算左下原点
+            oldRobotInfo.setNewGridX(0);
+            oldRobotInfo.setNewGridY(0);
+            GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(robotInfo.getNewX(), robotInfo.getNewY(), robotInfo.getResolution(), oldRobotInfo);
+            update.set(RobotInfo::getNewGridX, gridPointDTO.getX().intValue());
+            update.set(RobotInfo::getNewGridY, gridPointDTO.getY().intValue());
+            //计算右顶点
+            Integer rightX = robotInfo.getGridWidth().divide(robotInfo.getResolution(), 0, BigDecimal.ROUND_HALF_UP).intValue();
+            Integer rightY = robotInfo.getGridHeight().divide(robotInfo.getResolution(), 0, BigDecimal.ROUND_HALF_UP).intValue();
+            update.set(RobotInfo::getRightGridX, rightX);
+            update.set(RobotInfo::getRightGridY, rightY);
+
             //下发障碍物栅格
             sendCostMapResolution(robotInfo.getResolution(), robotInfo.getId());
-            //重新生成栅格地图
-            //sendChangePcd(robotInfo.getId());
+
         }
         update.eq(RobotInfo::getId, robotInfo.getId());
         update(update);
@@ -162,6 +181,16 @@
         update(lambdaUpdateWrapper);
     }
 
+    @Override
+    public void setTaskMode(TaskModeRequest request) {
+        if (request.getRobotId() != null) {
+            LambdaUpdateWrapper<RobotInfo> lambdaUpdateWrapper = new LambdaUpdateWrapper<>();
+            lambdaUpdateWrapper.set(RobotInfo::getIsOpen, request.getIsOpen());
+            lambdaUpdateWrapper.eq(RobotInfo::getId, request.getRobotId());
+            update(lambdaUpdateWrapper);
+        }
+    }
+
     @Transactional
     @Override
     public List<RobotInfo> list(Wrapper<RobotInfo> queryWrapper) {
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 46b5c3b..f52940c 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.collection.CollectionUtil;
 import cn.hutool.core.convert.Convert;
+import cn.hutool.core.io.FileUtil;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
@@ -13,9 +14,9 @@
 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.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO;
@@ -27,7 +28,6 @@
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
-import org.aspectj.util.FileUtil;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.context.annotation.Lazy;
@@ -38,8 +38,8 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.ArrayList;
-import java.util.Arrays;
 import java.util.List;
+import java.util.stream.Collectors;
 
 
 /**
@@ -81,6 +81,11 @@
     }
 
     private void wrapInfo(RobotStatusInfo statusInfo) {
+        // todo 报错
+        StopStateResponseDTO stopStateResponseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + statusInfo.getRobotId());
+        if (stopStateResponseDTO != null) {
+            statusInfo.setSoft(stopStateResponseDTO.getSoft());
+        }
         statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getDiscernType()));
 
         //暂停状态
@@ -262,6 +267,8 @@
      */
     @Value("${casic.algorithm.num:30}")
     private Integer num;
+    @Value("${casic.obstacle:60}")
+    private Integer obstacle;
 
     /**
      * 机器人栅格数据
@@ -276,7 +283,6 @@
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             //发送栅格分辨率设定
-
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
             robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
             //log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
@@ -290,24 +296,102 @@
                         } else {
                             dataNums.add(1);
                         }
+                    } else {
+                        dataNums.add(-1);
                     }
                 }
-                writeCache(dataNums,responseDTO.getMsg().getWidth(),responseDTO.getMsg().getHeight(),robotId);
+                writeCache(dataNums, responseDTO.getMsg().getWidth(), responseDTO.getMsg().getHeight(), robotId);
             }
         }
     }
 
-    private void writeCache(ArrayList<Integer> integers,Integer width,Integer height,String robotId) {
-        List<List<Integer>> arrays = CollectionUtil.split(integers,width);
+    private void writeCache(ArrayList<Integer> integers, Integer width, Integer height, String robotId) {
+        List<List<Integer>> arrays = CollectionUtil.split(integers, width);
         ArrayList<ArrayList<Integer>> arrayList = new ArrayList<>();
         for (List<Integer> array : arrays) {
-            arrayList.add((ArrayList)array);
+            ArrayList list =(ArrayList)array.stream().filter(integer -> integer>=0).collect(Collectors.toList());
+            arrayList.add(list);
         }
         CollectionUtil.reverse(arrayList);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId, arrayList);
-//        FileUtil.writeAsString(new File(path + "map.txt"), CollectionUtil.join(integers, " ").replaceAll("\\[", "").replaceAll("]", ""));
+        //写入栅格宽度
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId, height);
+
+        writeCost(arrayList,width,height,robotId);
+    }
+    /**
+     * slam经纬度转换为栅格
+     *
+     * @param x slam x
+     * @param y slam y
+     */
+    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, BigDecimal resolution, RobotInfo robotInfo) {
+        GridPointDTO pointDTO = new GridPointDTO();
+        BigDecimal scale = resolution;
+        //减去栅格原点坐标
+        x = x.subtract(robotInfo.getOriginX());
+        y = y.subtract(robotInfo.getOriginY());
+        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));
+
+        //todo  原点栅格转换,减去相对原点值
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewGridY())));
+        return pointDTO;
     }
 
+    private void writeCost(ArrayList<ArrayList<Integer>> costList,Integer width, Integer height,String robotId){
+        List<String> strs = new ArrayList<>();
+        List<String> strs2 = new ArrayList<>();
+        RobotInfo robotInfo = cacheService.getRobotInfo(Long.valueOf(robotId));
+        if(robotInfo==null||robotInfo.getGridWidth()==null||robotInfo.getResolution() ==null){
+            log.info("robot gridHeight is not found....");
+            return;
+        }
+
+        //计算左下角位置
+        Integer newX = robotInfo.getNewGridX();
+        Integer newY = height-robotInfo.getNewGridY();
+//        log.info("left point:({},{})",robotInfo.getNewGridX(),robotInfo.getNewGridY());
+        //计算右上角位置
+        Integer rightX = robotInfo.getRightGridX();
+        Integer rightY = height-robotInfo.getRightGridY();
+//        log.info("right point:({},{})",rightX,rightY);
+
+        //裁剪栅格
+        List<List<Integer>> newCostList = new ArrayList<>();
+        for (int i = 0; i < costList.size(); i++) {
+            if(i<=newY&&i>=rightY){
+                List<Integer> newList = new ArrayList<>();
+                List<Integer> sourceList= costList.get(i);
+                for (int j = 0; j < sourceList.size(); j++) {
+                    if(j>=newX&&j<=rightX){
+                        newList.add(sourceList.get(j));
+                    }
+                }
+                newCostList.add(newList);
+            }
+        }
+
+        for (List<Integer> list : newCostList) {
+            strs2.add(CollectionUtil.join(list, " "));
+        }
+
+        FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+        //行转列 为算法输入数据
+        if(CollectionUtil.isNotEmpty(newCostList)){
+            CollectionUtil.reverse(newCostList);
+            for (int i = 0; i < newCostList.get(0).size(); i++) {
+                ArrayList<Integer> ints = new ArrayList<>();
+                for (List<Integer> list : newCostList) {
+                    ints.add(list.get(i));
+                }
+                strs.add(CollectionUtil.join(ints, " "));
+            }
+        }
+
+        FileUtil.writeLines(strs, new File(path + "map3.txt"), "utf-8");
+    }
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
@@ -327,7 +411,6 @@
             json = json.substring(0, json.length() - 1);
         }
         json = json.replaceAll("\\\\", "");
-//        log.info(json);
         RobotResponseDTO<R> responseDTO = JSON.parseObject(json, cls);
         return responseDTO;
     }
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 f1262a2..cb7aa09 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
@@ -69,17 +69,6 @@
             } catch (Exception e) {
                 log.error("task error", e);
             }
-//            if (routeId != null) {
-//                RobotTrajectoryInfo info = new RobotTrajectoryInfo();
-//                info.setRobotId(Long.valueOf(robotId));
-//                info.setCreateTime(new Date());
-//                info.setPostionX(dto.getX());
-//                info.setPostionY(dto.getY());
-//                info.setPostionZ(dto.getZ());
-//                info.setTheta(dto.getTheta());
-//                save(info);
-
-//            }
         }
     }
 
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 fd49e2e..6a0e719 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
@@ -47,6 +47,7 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.*;
+import java.util.concurrent.atomic.AtomicInteger;
 
 
 /**
@@ -81,15 +82,16 @@
     /**
      * 5000 ms
      */
-    @Value("${casic.task.duration:3000}")
+    @Value("${casic.task.duration:2000}")
     private Integer stayDuration;
     @Value("${casic.algorithm.path:-1}")
     private String path;
     /**
      * 障碍物精度
      */
-    @Value("${casic.obstacle:10}")
+    @Value("${casic.obstacle:60}")
     private Integer obstacle;
+    private volatile AtomicInteger atomicInteger = new AtomicInteger();
 
     public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService, ITaskInfoImgService imgService, ITaskGridInfoService taskGridInfoService) {
         this.routeInfoService = routeInfoService;
@@ -128,7 +130,30 @@
         } catch (Exception e) {
             log.error(e.getMessage());
         }
-
+    }
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, GridPushDTO gridPushDTO) {
+        try {
+            WsMsgBaseDTO<GridPushDTO> wsMsgBaseDTO = new WsMsgBaseDTO<GridPushDTO>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(gridPushDTO);
+            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());
+        }
+    }
+    protected void sendTaskMsg(InstructStatusMsgEnums enums, String robotId, TaskEndMsg heatMap) {
+        try {
+            WsMsgBaseDTO<TaskEndMsg> wsMsgBaseDTO = new WsMsgBaseDTO<TaskEndMsg>();
+            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());
+        }
     }
 
     @Override
@@ -187,11 +212,11 @@
 
     private void openTask(StartTrackRequest request, String robotId) {
         QueryWrapper<RouteInfo> query = new QueryWrapper<>();
-        query.eq("target_id", request.getTrack_name());
-        List<RouteInfo> routeInfos = routeInfoService.list(query);
-        if (CollectionUtil.isEmpty(routeInfos)) {
-            throw new ServiceException(500, "路线不存在,请及时更新");
-        }
+//        query.eq("target_id", request.getTrack_name());
+//        List<RouteInfo> routeInfos = routeInfoService.list(query);
+//        if (CollectionUtil.isEmpty(routeInfos)) {
+//            throw new ServiceException(500, "路线不存在,请及时更新");
+//        }
 //        RouteInfo routeInfo = routeInfos.get(0);
         Integer isTask = 0;
         //开启寻源任务
@@ -201,12 +226,12 @@
         RobotInfo robotInfo = cacheService.getRobotInfo(Convert.toLong(robotId));
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_IS_TASK + robotId, isTask);
         //添加任务记录
-        TaskInfo taskInfo = addTaskByStartTrack( robotInfo, request);
+        TaskInfo taskInfo = addTaskByStartTrack(robotInfo, request);
         //No.3 更新器人执行任务信息
 //        Long currRouteId = routeInfo.getId();
         Long currTaskId = taskInfo.getId();
 
-        statusInfoService.updateCurrTask(robotId,  currTaskId);
+        statusInfoService.updateCurrTask(robotId, currTaskId);
         //算法初始化标志创建
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId, currTaskId);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_INIT + robotId, 0);
@@ -230,7 +255,7 @@
         robotCacheClean(robotId);
         //清楚规划任务锁
         CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_PLANING_FLAG + robotId);
-        CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID+ robotId);
+        CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId);
         //清空机器当前任务
         statusInfoService.updateCurrTask(robotId, null);
     }
@@ -304,7 +329,7 @@
         //No.1 任务初始化
         pathInit(longId, robotInfo, pointDTO, taskId, robotId, taskInfo.getStepLen());
         //No.2 路线规划
-        pathPlaning(longId, robotInfo, pointDTO, taskId, robotId, taskInfo,dto);
+        pathPlaning(longId, robotInfo, pointDTO, taskId, robotId, taskInfo, dto);
     }
 
     /**
@@ -329,7 +354,7 @@
      * @param taskId    任务ID
      * @param robotId   机器人ID
      */
-    private void pathPlaning(Long longId, RobotInfo robotInfo, GridPointDTO pointDTO, Long taskId, String robotId, TaskInfo taskInfo,PoseMessageResponseDTO curPoint) {
+    private void pathPlaning(Long longId, RobotInfo robotInfo, GridPointDTO pointDTO, Long taskId, String robotId, TaskInfo taskInfo, PoseMessageResponseDTO curPoint) {
         if (taskId != null) {
             //规划节点
             PointNextDTO pointNextDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId);
@@ -337,12 +362,24 @@
             Boolean flag = lockPlanIngFlag(robotId);
             //是否到达预期栅格
             if (!flag) {
-                log.info("未获取到规划任务,直接结束：{}",pointDTO);
                 return;
             }
+            log.info("curr point:{}", curPoint);
+            log.debug("curr pointGrid:{}", pointDTO);
+            log.debug("oldEstimateGrid:{}", oldEstimateGrid);
+
+            GridPushDTO gridPushDTO = new GridPushDTO();
+            gridPushDTO.setCurrGridX(pointDTO.getX());
+            gridPushDTO.setCurrGridY(pointDTO.getY());
+            if(oldEstimateGrid!=null){
+                gridPushDTO.setEstimateGridX(oldEstimateGrid.getX());
+                gridPushDTO.setEstimateGridY(oldEstimateGrid.getY());
+            }
+            sendWebSocket(InstructStatusMsgEnums.GRID, robotId, gridPushDTO);
+
             try {
-                log.debug("oldEstimateGrid:{}", oldEstimateGrid);
-                if (pointNextDTO == null || isEquals(pointDTO, oldEstimateGrid)) {
+                if (pointNextDTO == null || oldEstimateGrid == null || isEquals(pointDTO, oldEstimateGrid, robotInfo)) {
+                    atomicInteger = new AtomicInteger(0);
                     log.info("当前栅格变更......", pointDTO);
                     CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_POINT + robotId, pointDTO);
                     //算法调用获取热力图
@@ -358,19 +395,24 @@
                     //存储算法输出栅格信息
                     AlgorithmResponse response = algorithmService.pathPlanning(pathPlanDTO);
                     CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId, response.getPointNextDTO());
-                    sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
 
-                    //存储循迹任务信息
-                    TaskGridInfo taskGridInfo = new TaskGridInfo();
-                    taskGridInfo.setCreateTime(new Date());
-                    taskGridInfo.setUpdateTime(new Date());
-                    taskGridInfo.setCurGridX(pointDTO.getX().intValue());
-                    taskGridInfo.setCurGridY(pointDTO.getY().intValue());
-                    taskGridInfo.setNeutronCount(new BigDecimal(pathPlanDTO.getZNow()));
-                    taskGridInfo.setEstimateGridX(response.getPointNextDTO().getX());
-                    taskGridInfo.setEstimateGridY(response.getPointNextDTO().getY());
-                    taskGridInfo.setTaskId(taskId);
-                    taskGridInfoService.save(taskGridInfo);
+                    new Thread() {
+                        @Override
+                        public void run() {
+                            //存储循迹任务信息
+                            TaskGridInfo taskGridInfo = new TaskGridInfo();
+                            taskGridInfo.setCreateTime(new Date());
+                            taskGridInfo.setUpdateTime(new Date());
+                            taskGridInfo.setCurGridX(pointDTO.getX().intValue());
+                            taskGridInfo.setCurGridY(pointDTO.getY().intValue());
+                            taskGridInfo.setNeutronCount(new BigDecimal(pathPlanDTO.getZNow()));
+                            taskGridInfo.setEstimateGridX(response.getPointNextDTO().getX());
+                            taskGridInfo.setEstimateGridY(response.getPointNextDTO().getY());
+                            taskGridInfo.setTaskId(taskId);
+                            taskGridInfoService.save(taskGridInfo);
+                            sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
+                        }
+                    }.start();
 
                     try {
                         //停留时间阈值
@@ -381,11 +423,13 @@
 
                     //是否触发停止状态
                     if (!response.isEnd()) {
-                        log.debug("task planning-- xun dian robotId:{},taskId:{}", robotId, taskId);
                         //机器人寻点指令下发
-                        sendTargetPoint(robotInfo, response,curPoint);
+                        if (robotInfo.getIsOpen() == null || robotInfo.getIsOpen() == 0) {
+                            sendTargetPoint(robotInfo, response, curPoint);
+                        } else {
+                            log.debug("task mode isOpen:{}", robotInfo.getIsOpen());
+                        }
                     } else {
-                        log.debug("task stop-- robotId:{},taskId:{}", robotId, taskId);
                         //机器人停止指令下发
                         SoftwareStopRequest request = new SoftwareStopRequest();
                         request.setRobotId(robotInfo.getId());
@@ -394,6 +438,15 @@
 //                        baseRobotService.execCmdHandler(request, InstructCodeEnums.SOFTWARE_STOP);
                         //循迹任务结束
                         closeTask(null, robotId);
+                        TaskEndMsg endMsg = new TaskEndMsg();
+                        endMsg.setCode(1);
+                        endMsg.setRobotId(robotId);
+                        endMsg.setMessage("寻源结束");
+                        sendTaskMsg(InstructStatusMsgEnums.TASK_END, robotId, endMsg);
+                    }
+                } else {
+                    if (!isChange(pointDTO, oldEstimateGrid)) {
+                        atomicInteger.incrementAndGet();
                     }
                 }
             } catch (Exception e) {
@@ -429,37 +482,56 @@
         Integer initValue = cacheService.readTaskInit(longId);
         //No.1 任务初始化
         if (initValue != 1) {
-
             //执行初始化操作
             if (cacheService.updateTaskInit(longId, 1)) {
-
                 List<List<Integer>> costList = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId);
                 List<String> strs = new ArrayList<>();
                 List<String> strs2 = new ArrayList<>();
-                for (List<Integer> list : costList) {
+                Integer height = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId);
+                if (height == null) {
+                    throw new ServiceException(500, "未获取到栅格宽度信息");
+                }
+                Integer newX = robotInfo.getNewGridX();
+                Integer newY = height - robotInfo.getNewGridY();
+
+                //裁剪栅格
+                List<List<Integer>> newCostList = new ArrayList<>();
+                for (int i = 0; i < costList.size(); i++) {
+                    if (i <= newY) {
+                        List<Integer> newList = new ArrayList<>();
+                        List<Integer> sourceList = costList.get(i);
+                        for (int j = 0; j < sourceList.size(); j++) {
+                            if (j >= newX) {
+                                newList.add(sourceList.get(j));
+                            }
+                        }
+                        newCostList.add(newList);
+                    }
+                }
+                //数组转换
+                for (List<Integer> list : newCostList) {
                     strs2.add(CollectionUtil.join(list, " "));
                 }
                 FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+
                 //行转列 为算法输入数据
-                if(CollectionUtil.isNotEmpty(costList)){
-                    CollectionUtil.reverse(costList);
-                    for (int i = 0; i < costList.get(0).size(); i++) {
+                if (CollectionUtil.isNotEmpty(newCostList)) {
+                    CollectionUtil.reverse(newCostList);
+                    for (int i = 0; i < newCostList.get(0).size(); i++) {
                         ArrayList<Integer> ints = new ArrayList<>();
-                        for (List<Integer> list : costList) {
+                        for (List<Integer> list : newCostList) {
                             ints.add(list.get(i));
                         }
                         strs.add(CollectionUtil.join(ints, " "));
                     }
-//                    CollectionUtil.reverse(strs);
                 }
-
-
                 FileUtil.writeLines(strs, new File(path + "map.txt"), "utf-8");
 
-                PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId, stepLen);
                 //中子源计数率读取
+                PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId, stepLen);
                 pathInitDTO.setZNow(cacheService.getNeutronCount(longId));
                 log.info("init params:{}", JSON.toJSONString(pathInitDTO));
+
                 //执行1次算法 初始化操作
                 algorithmService.pathPlanningInit(pathInitDTO);
             }
@@ -551,7 +623,7 @@
      * @param robotInfo 机器人信息
      * @param response  算法输出数据
      */
-    private void sendTargetPoint(RobotInfo robotInfo, AlgorithmResponse response,PoseMessageResponseDTO curPoint) {
+    private void sendTargetPoint(RobotInfo robotInfo, AlgorithmResponse response, PoseMessageResponseDTO curPoint) {
         //读取已设置巡点目标信息
         PointNextDTO nextDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TARGET_POINT_ID + robotInfo.getId());
         //巡点
@@ -565,6 +637,7 @@
             request.setZ(curPoint.getZ().toString());
             request.setTheta(curPoint.getTheta().toString());
             request.setRobotId(robotInfo.getId());
+            log.info("下发寻源点位:{}", request);
             //执行巡点指令
             baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
             //重设寻点点位
@@ -632,7 +705,7 @@
         //读取
         Integer index = 1;
         LambdaQueryWrapper<TaskGridInfo> taskGridQuery = new LambdaQueryWrapper<>();
-        taskGridQuery.eq(TaskGridInfo::getTaskId,info.getId());
+        taskGridQuery.eq(TaskGridInfo::getTaskId, info.getId());
         taskGridQuery.orderByAsc(TaskGridInfo::getCreateTime);
         List<TaskGridInfo> taskGridInfos = taskGridInfoService.list(taskGridQuery);
         if (CollectionUtil.isNotEmpty(taskGridInfos)) {
@@ -735,12 +808,29 @@
         return true;
     }
 
-    private boolean isEquals(GridPointDTO pointDTO, GridPointDTO oldPointDTO) {
-        if(oldPointDTO==null||oldPointDTO.getX()==null){
+    /**
+     * 栅格判定方法
+     *
+     * @param pointDTO    当前栅格
+     * @param oldPointDTO 预期栅格
+     * @param robotInfo   机器信息
+     * @return
+     */
+    private boolean isEquals(GridPointDTO pointDTO, GridPointDTO oldPointDTO, RobotInfo robotInfo) {
+        if (oldPointDTO == null || oldPointDTO.getX() == null) {
             return false;
         }
-        if (pointDTO.getX().compareTo(oldPointDTO.getX()) == 0 && pointDTO.getY().compareTo(oldPointDTO.getY()) == 0) {
-            return true;
+        if (robotInfo.getResolution().compareTo(new BigDecimal(0.21)) > 0) {
+            //大于0.2则默认该点
+            if (pointDTO.getX().compareTo(oldPointDTO.getX()) == 0 && pointDTO.getY().compareTo(oldPointDTO.getY()) == 0) {
+                return true;
+            }
+        } else {
+            //小于0.2则可判定相邻栅格
+            if (pointDTO.getX().subtract(oldPointDTO.getX()).abs().intValue() <= 1 && pointDTO.getY().subtract(oldPointDTO.getY()).abs().intValue() <= 1) {
+                return true;
+            }
+
         }
         return false;
     }
@@ -756,7 +846,7 @@
         return pathInitDTO;
     }
 
-    private TaskInfo addTaskByStartTrack( RobotInfo robotInfo, StartTrackRequest request) {
+    private TaskInfo addTaskByStartTrack(RobotInfo robotInfo, StartTrackRequest request) {
         //No.2 新增任务信息
         TaskInfo taskInfo = new TaskInfo();
         String currDate = DateUtil.format(new Date(), "yyyyMMdd");
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
index 467b9c2..b8eebf0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
@@ -44,8 +44,8 @@
 
         ArrayList<String> invocation = new ArrayList<String>();
         invocation.add(exePath);
-        invocation.add("10");
-        invocation.add("10");
+        invocation.add("36");
+        invocation.add("18");
         invocation.add("5");
         invocation.add("0.16");
         invocation.add("Mission1");
@@ -58,8 +58,8 @@
         String planning = path + "search.exe";
         ArrayList<String> planInvocation = new ArrayList<String>();
         planInvocation.add(planning);
-        planInvocation.add("10");
-        planInvocation.add("1.0");
+        planInvocation.add("19");
+        planInvocation.add("8");
         planInvocation.add("0.2");
         planInvocation.add("Mission1");
         List<String> res = invokeJob(planInvocation);
diff --git a/casic-web/pom.xml b/casic-web/pom.xml
index 937b695..c793209 100644
--- a/casic-web/pom.xml
+++ b/casic-web/pom.xml
@@ -48,6 +48,11 @@
             <artifactId>spring-boot-starter-web</artifactId>
         </dependency>
         <dependency>
+            <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
             <groupId>org.springframework.boot</groupId>
             <artifactId>spring-boot-starter-actuator</artifactId>
             <exclusions>
diff --git a/casic-web/src/main/resources/config/application-dev.yml b/casic-web/src/main/resources/config/application-dev.yml
index c122d8d..455c4bf 100644
--- a/casic-web/src/main/resources/config/application-dev.yml
+++ b/casic-web/src/main/resources/config/application-dev.yml
@@ -4,9 +4,9 @@
 spring:
   datasource:
     driver-class-name: com.mysql.cj.jdbc.Driver
-    url: jdbc:mysql://111.198.10.15:11336/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
+    url: jdbc:mysql://localhost:3306/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
     username: root
-    password: Casic203
+    password: 123456
     druid:
       max-active: 50
       min-idle: 20
diff --git a/casic-web/src/main/resources/config/application-test.yml b/casic-web/src/main/resources/config/application-test.yml
index 534e2fb..67a0241 100644
--- a/casic-web/src/main/resources/config/application-test.yml
+++ b/casic-web/src/main/resources/config/application-test.yml
@@ -1,30 +1,48 @@
 server:
-  port: 11307
+  port: 8083
 ###################  spring配置  ###################
 spring:
   datasource:
-    url: jdbc:mysql://localhost:3306/casic_template?autoReconnect=true&useUnicode=true&characterEncoding=utf8&useSSL=false&allowMultiQueries=true&zeroDateTimeBehavior=convertToNull
+    driver-class-name: com.mysql.cj.jdbc.Driver
+    url: jdbc:mysql://localhost:3306/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
     username: root
-    password: Casic203!
-    initial-size: 2
-    min-idle: 1
-  jms:
-    pub-sub-domain: true
-#  session:
+    password: 123456
+    druid:
+      max-active: 50
+      min-idle: 20
+jms:
+  pub-sub-domain: true
+# session:
 #   store-type: redis
+# redis:
+#   host: 111.198.10.15
+#   port: 11412
+#   password: ew5T4K3#203lwh
+#   serializer: org.springframework.data.redis.serializer.StringRedisSerializer
+#   redisValueSerializer: org.springframework.data.redis.serializer.JdkSerializationRedisSerializer
 casic:
-  #  kaptcha-open: false #是否开启登录时验证码 (true/false)
-  nologin-urls: /user/login,/user/appLogin,/kaptcha/base64,/config/baseConfig,/route/mockToken,/workflow/**
+  #kaptcha-open: false #是否开启登录时验证码 (true/false)
+  no-login-urls: ${casic.sysUrl}/user/login,${casic.sysUrl}/user/appLogin,${casic.sysUrl}/kaptcha/base64,${casic.sysUrl}/config/baseConfig,/route/mockToken,/websocket/*,/webjars/**,/v2/api-docs,/v2/api-docs-ext,/doc.html,/v2/api-docs/swagger-ui.html,/swagger-resources
   #flowable数据源和多数据源配置
-  flowable:
-    datasource:
-      url: jdbc:mysql://localhost:3306/template_flowable?autoReconnect=true&useUnicode=true&characterEncoding=utf8&useSSL=false&allowMultiQueries=true&zeroDateTimeBehavior=convertToNull
-      username: root
-      password: Casic203!
-flowable:
-  checkProcessDefinitions: false #不校验process文件
+  db:
+    init:
+      enable: false
+  hikSdk: D:\robot\hiklib\HCNetSDK.dll
+  hikPlay: D:\robot\hiklib\PlayCtrl.dll
+  algorithm:
+    path:  D:\robot\path\
+    initPathName: init.exe
+    planPathName: search.exe
+  doc:
+    temp: D:\robot\path\report.docx
+  config:
+    export-path: D:\java\boot\guns-web-1.0.0-SNAPSHOT\export\
+    config-path: E:\Develop\IdeaProject\smartcity\casic-smartcity-dcms\casic-web\src\main\resources\config\
 logging:
   level.root: info
   level.com.casic: debug
+  level.com.casic.missiles.netty: error
+  level.com.casic.missiles.modular.neutron: error
+  level.org.springframework.web: info
   file:
-    path: logs/
\ No newline at end of file
+    path: D:\\robot\\logs
\ No newline at end of file
diff --git a/casic-web/src/main/resources/config/application.yml b/casic-web/src/main/resources/config/application.yml
index 035cb1f..d3833ab 100644
--- a/casic-web/src/main/resources/config/application.yml
+++ b/casic-web/src/main/resources/config/application.yml
@@ -20,7 +20,7 @@
     topic: /sensor_status,get_speed,/get_speed,/get_track_list_response,/get_track_response,/get_navigation_response
     completionTimeout: 2000
   redis:
-    host: 192.168.1.20
+    host: localhost
     port: 6379
     #    password: ew5T4K3#203lwh
     database: 3
diff --git a/casic-web/src/main/resources/config/path/Mission1/admatrix.txt b/casic-web/src/main/resources/config/path/Mission1/admatrix.txt
new file mode 100644
index 0000000..ce6f742
--- /dev/null
+++ b/casic-web/src/main/resources/config/path/Mission1/admatrix.txt
@@ -0,0 +1,2 @@
+0.000000000000000000e+00 0.000000000000000000e+00
+0.000000000000000000e+00 0.000000000000000000e+00
diff --git a/casic-web/src/main/resources/config/path/Mission1/expandmap.txt b/casic-web/src/main/resources/config/path/Mission1/expandmap.txt
new file mode 100644
index 0000000..647a4b8
--- /dev/null
+++ b/casic-web/src/main/resources/config/path/Mission1/expandmap.txt
@@ -0,0 +1,36 @@
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diff --git a/casic-web/src/main/resources/config/path/Mission1/separate_img.png b/casic-web/src/main/resources/config/path/Mission1/separate_img.png
new file mode 100644
index 0000000..8fc19f9
--- /dev/null
+++ b/casic-web/src/main/resources/config/path/Mission1/separate_img.png
Binary files differ
diff --git a/casic-web/src/main/resources/config/path/Mission1/separate_img.txt b/casic-web/src/main/resources/config/path/Mission1/separate_img.txt
new file mode 100644
index 0000000..e00f995
--- /dev/null
+++ b/casic-web/src/main/resources/config/path/Mission1/separate_img.txt
@@ -0,0 +1,36 @@
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diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
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 a849528..4f34669 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
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index bdfc2d0..d7736a5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -148,7 +148,7 @@
     public void insertPsdAlarms() {
         times++;
         //先查询正在巡检任务信息
-        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
+        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 2);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
 
         long currentTimes = System.currentTimeMillis();
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 92c8c8e..6e94193 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
@@ -5,10 +5,7 @@
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 
 /**
  * 机器人操作类
@@ -76,4 +73,11 @@
     void reloadPcd(RobotInfo info);
 
     void startTrack(StartTrackRequest request);
+
+    /**
+     * 栅格寻点指令
+     * @param request 请求
+     * @return
+     */
+    ResponseDataDTO<Integer> targetGrid(TargetPointRequest 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 3bb475f..d8b3363 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.lang.Assert;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
@@ -25,7 +26,6 @@
 import io.swagger.annotations.ApiParam;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.apache.ibatis.annotations.Param;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.web.bind.annotation.*;
 import org.springframework.web.multipart.MultipartFile;
@@ -76,6 +76,13 @@
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
+    /**
+     * /{robotId}
+     *
+     * @param file
+     * @param robotId
+     * @return
+     */
     @SneakyThrows
     @ApiOperation(value = "PCD上传接口")
     @PostMapping(value = "/uploadPcd")
@@ -109,7 +116,12 @@
         robotInfoService.updateSpeed(robotInfo);
         return ResponseDataDTO.success();
     }
-
+    @ApiOperation(value = "设置任务启动模式", notes = "返回 1成功 0失败")
+    @PostMapping(value = "/setTaskMode")
+    public ResponseDataDTO setTaskMode(@RequestBody TaskModeRequest request) {
+        robotInfoService.setTaskMode(request);
+        return ResponseDataDTO.success();
+    }
     @ApiOperation(value = "机器人数据更新", notes = "1.pcd重载 2.路线及关键点数据重载")
     @PostMapping(value = "/reload")
     public ResponseDataDTO reload(@RequestBody BaseRobotCmdDTO request) {
@@ -149,6 +161,8 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
     }
 
+
+
     /**
      * 机器人请求id
      *
@@ -161,6 +175,16 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
     }
 
+    @ApiOperation(value = "寻栅格指令")
+    @PostMapping(value = "/targetGrid")
+    public ResponseDataDTO<Integer> targetGrid(@RequestBody TargetGridRequest request) {
+        TargetPointRequest targetPointRequest = new TargetPointRequest();
+        targetPointRequest.setRobotId(request.getRobotId());
+        targetPointRequest.setX(request.getEstimateGridX());
+        targetPointRequest.setY(request.getEstimateGridY());
+        return baseRobotService.targetGrid(targetPointRequest);
+    }
+
     /**
      * 机器人请求id
      *
@@ -174,6 +198,7 @@
         if (request.getStepLen() == null) {
             request.setStepLen(2);
         }
+        log.info(JSON.toJSONString(request));
         baseRobotService.startTrack(request);
         return ResponseDataDTO.success();
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
new file mode 100644
index 0000000..709bcd3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+@Data
+public class GridDTO {
+    /**
+     * 当前栅格x
+     */
+    private Integer currGridX;
+    /**
+     * 当前栅格y
+     */
+    private Integer currGridY;
+    /**
+     * 规划栅格x
+     */
+    private Integer estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private Integer estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
new file mode 100644
index 0000000..7eae335
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+@Data
+public class GridPushDTO {
+    /**
+     * 当前栅格x
+     */
+    private BigDecimal currGridX;
+    /**
+     * 当前栅格y
+     */
+    private BigDecimal currGridY;
+
+    /**
+     * 规划栅格x
+     */
+    private BigDecimal estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private BigDecimal estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index acbeb93..b9ad7a3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -23,4 +23,8 @@
     private BigDecimal gridWidth;
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     private BigDecimal resolution;
+    @ApiModelProperty(value = "新设原点X", dataType = "BigDecimal")
+    private BigDecimal newX;
+    @ApiModelProperty(value = "新设原点Y", dataType = "BigDecimal")
+    private BigDecimal newY;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
new file mode 100644
index 0000000..acc38f3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
@@ -0,0 +1,15 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+@Data
+public class TaskEndMsg implements Serializable {
+    private String robotId;
+    private String message;
+    /**
+     * 1 正常 0 异常
+     */
+    private Integer code;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 90e4dcf..d5ae18a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -154,7 +154,46 @@
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     @TableField("resolution")
     private BigDecimal resolution;
+    /**
+     * 新设定栅格原点X
+     */
+    @TableField("new_origin_x")
+    private BigDecimal newOriginX;
+    /**
+     * 新设定栅格原点Y
+     */
+    @TableField("new_origin_y")
+    private BigDecimal newOriginY;
 
+    /**
+     * 新设定栅格X
+     */
+    @TableField("new_grid_x")
+    private Integer newGridX;
+    /**
+     * 新设定栅格Y
+     */
+    @TableField("new_grid_y")
+    private Integer newGridY;
+
+    /**
+     * 裁剪右顶点X
+     */
+    @TableField("right_grid_x")
+    private Integer rightGridX;
+    @TableField("is_open")
+    private Integer isOpen;
+    /**
+     * 裁剪右顶点Y
+     */
+    @TableField("right_grid_y")
+    private Integer rightGridY;
+    public BigDecimal getNewX(){
+        return newOriginX;
+    }
+    public BigDecimal getNewY(){
+        return newOriginY;
+    }
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
index 2cb752f..3e741d7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
@@ -24,7 +24,10 @@
      *
      * @see com.casic.missiles.modular.robot.service.impl.TaskInfoServiceImpl
      */
-    HEAT_MAP("heat_map" , "机器人热力图");
+    HEAT_MAP("heat_map" , "机器人热力图"),
+    GRID("grid" , "栅格推送"),
+    TASK_END("task_end" , "任务结束");
+
     /**
      * 请求地址
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
index 88c9f79..3c93145 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -32,7 +32,6 @@
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         statusInfoService.saveCostMap(robotId, message);
-
         CostMapResolutionRequest costMapSet = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
         if(costMapSet != null){
             CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
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 8a71e0b..06f8ae6 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
@@ -30,10 +30,9 @@
     public void process(String robotId, String topic, MqttMessage message) {
 
         index.put(index_key, index.get("index") + 1);
-        if (index.get(index_key)>30) {
+        if (index.get(index_key)>1) {
             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 a9d7914..755997e 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
@@ -39,10 +39,8 @@
         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);
@@ -74,10 +72,12 @@
                     robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
                 }
             }
+
             //读取缓存信息
             sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
         } catch (Exception e) {
             e.printStackTrace();
         }
+
     }
-}
+}
\ No newline at end of file
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 7940a24..40a60a1 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,9 +1,13 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.exception.ServiceException;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.IBaseRobotService;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
@@ -11,6 +15,7 @@
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
+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.mqtt.config.MqttClientConnection;
@@ -32,11 +37,13 @@
     private final IRobotRouteOptService robotRouteOptService;
     private final IRobotInfoService robotInfoService;
     private final ITaskInfoService taskInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService, @Lazy IAlgorithmService algorithmService) {
         this.robotRouteOptService = robotRouteOptService;
         this.robotInfoService = robotInfoService;
         this.taskInfoService = taskInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
@@ -117,7 +124,7 @@
             //线路关键点读取
             if (requestDTO.getData() != null) {
                 for (RouteInfo routeInfo : requestDTO.getData()) {
-                    if("11-1 79-1".equals(routeInfo.getRouteName())){
+                    if ("11-1 79-1".equals(routeInfo.getRouteName())) {
                         continue;
                     }
                     TrackPointListRequest request = new TrackPointListRequest();
@@ -141,6 +148,7 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+
     @Transactional
     @Override
     public void startTrack(StartTrackRequest request) {
@@ -149,6 +157,25 @@
 //        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
     }
 
+    @Override
+    public ResponseDataDTO<Integer> targetGrid(TargetPointRequest request) {
+        PoseMessageResponseDTO responseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + request.getRobotId());
+        if(responseDTO==null){
+            throw new ServiceException(500,"请优先开启导航");
+        }
+        RobotInfo robotInfo = robotInfoService.getById(request.getRobotId());
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        //获取栅格中心点
+        GridPointDTO pointDTO =  algorithmService.convertGridCenterPoint(gridPointDTO,robotInfo.getResolution(),robotInfo);
+        request.setX(pointDTO.getX().toString());
+        request.setY(pointDTO.getY().toString());
+        request.setZ(responseDTO.getZ().toString());
+        request.setTheta(responseDTO.getTheta().toString());
+        //执行巡点指令
+        ResponseDataDTO<Integer> responseDataDTO = this.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
+        return responseDataDTO;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
new file mode 100644
index 0000000..7d69964
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
@@ -0,0 +1,19 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 获取循迹路线下发指令
+ */
+@Data
+public class TargetGridRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "栅格x坐标", dataType = "String")
+    private String estimateGridX;
+    @ApiModelProperty(value = "栅格y坐标", dataType = "String")
+    private String estimateGridY;
+    @ApiModelProperty(value = "z坐标", dataType = "String")
+    private String z;
+    @ApiModelProperty(value = "theta", dataType = "String")
+    private String theta;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
new file mode 100644
index 0000000..763656b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 导航下发指令
+ */
+@Data
+public class TaskModeRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "控制模式 1:手动 0:自动", dataType = "String")
+    private Integer isOpen;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index 8c95459..89697b8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -6,6 +6,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TaskModeRequest;
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 
 import java.util.List;
@@ -52,4 +53,6 @@
      * @param dto 栅格信息
      */
     void updateRobotGrid(String robotId, AppCostmapResponseDTO dto);
+
+    void setTaskMode(TaskModeRequest request);
 }
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 a4dbe0b..a6f5116 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
@@ -167,24 +167,35 @@
         y = y.subtract(robotInfo.getOriginY());
         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));
+
+        //todo  原点栅格转换,减去相对原点值
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewGridY())));
         return pointDTO;
     }
 
     /**
+     * do栅格转xy
      * 根据栅格读取栅格中心点位信息
      *
      * @param pointDTO 栅格信息
      * @return
      */
     public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo) {
+
+        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewGridY())));
+
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = resolution;
         //点位转换 转换后栅格－1 从1开始计算
         BigDecimal slamX = (pointDTO.getX().subtract(new BigDecimal(1))).multiply(scale);
         BigDecimal slamY = (pointDTO.getY().subtract(new BigDecimal(1))).multiply(scale);
+
         //中心栅格点位中心添加
         centerPoint.setX(slamX.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
         centerPoint.setY(slamY.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
+
         //加上栅格原点坐标
         centerPoint.setX(centerPoint.getX().add(robotInfo.getOriginX()));
         centerPoint.setY(centerPoint.getY().add(robotInfo.getOriginY()));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
index e2879ce..f825e84 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
@@ -9,6 +9,8 @@
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.data.redis.core.RedisTemplate;
 import org.springframework.stereotype.Service;
 
 @Service
@@ -18,7 +20,8 @@
     public RobotCacheServiceImpl(IRobotInfoService robotInfoService) {
         this.robotInfoService = robotInfoService;
     }
-
+    @Autowired
+    private RedisTemplate<String, Object> redisTemplate;
     @Override
     public synchronized boolean updateTaskId(Long robotId, Long taskId) {
         //读取当前机器人任务信息
@@ -83,12 +86,14 @@
 
     @Override
     public void updateCostMap(String robotId, AppCostmapResponseDTO msg) {
-        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
+        redisTemplate.opsForValue().set(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId,msg);
+//        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
     }
 
     @Override
     public AppCostmapResponseDTO getCostMap(String robotId) {
-        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+       return (AppCostmapResponseDTO) redisTemplate.opsForValue().get(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+//        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
     }
 
     @Override
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index fdded64..cdbbe89 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -12,11 +12,13 @@
 import com.casic.missiles.core.application.service.AbstractDictService;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dao.RobotInfoMapper;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.*;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.DataRecordRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TaskModeRequest;
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.*;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -51,16 +53,18 @@
     private final IDeviceInfoService deviceInfoService;
     private final IRobotPointInfoService pointInfoService;
     private final IBaseRobotService baseRobotService;
+    private final IAlgorithmService algorithmService;
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
-    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService, @Lazy IBaseRobotService baseRobotService) {
+    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService, @Lazy IBaseRobotService baseRobotService, @Lazy IAlgorithmService algorithmService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.dictService = dictService;
         this.routeInfoService = routeInfoService;
         this.deviceInfoService = deviceInfoService;
         this.pointInfoService = pointInfoService;
         this.baseRobotService = baseRobotService;
+        this.algorithmService = algorithmService;
     }
 
     @Transactional
@@ -96,15 +100,30 @@
         }
         if (robotInfo.getAlarmThreshold() != null) {
             update.set(RobotInfo::getAlarmThreshold, robotInfo.getAlarmThreshold());
+            update.set(RobotInfo::getMaxThreshold, robotInfo.getAlarmThreshold());
         }
         if (robotInfo.getGridHeight() != null && robotInfo.getGridWidth() != null) {
+            RobotInfo oldRobotInfo = getById(robotInfo.getId());
             update.set(RobotInfo::getGridHeight, robotInfo.getGridHeight());
             update.set(RobotInfo::getGridWidth, robotInfo.getGridWidth());
             update.set(RobotInfo::getResolution, robotInfo.getResolution());
+            update.set(RobotInfo::getNewOriginX, robotInfo.getNewX());
+            update.set(RobotInfo::getNewOriginY, robotInfo.getNewY());
+            //计算左下原点
+            oldRobotInfo.setNewGridX(0);
+            oldRobotInfo.setNewGridY(0);
+            GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(robotInfo.getNewX(), robotInfo.getNewY(), robotInfo.getResolution(), oldRobotInfo);
+            update.set(RobotInfo::getNewGridX, gridPointDTO.getX().intValue());
+            update.set(RobotInfo::getNewGridY, gridPointDTO.getY().intValue());
+            //计算右顶点
+            Integer rightX = robotInfo.getGridWidth().divide(robotInfo.getResolution(), 0, BigDecimal.ROUND_HALF_UP).intValue();
+            Integer rightY = robotInfo.getGridHeight().divide(robotInfo.getResolution(), 0, BigDecimal.ROUND_HALF_UP).intValue();
+            update.set(RobotInfo::getRightGridX, rightX);
+            update.set(RobotInfo::getRightGridY, rightY);
+
             //下发障碍物栅格
             sendCostMapResolution(robotInfo.getResolution(), robotInfo.getId());
-            //重新生成栅格地图
-            //sendChangePcd(robotInfo.getId());
+
         }
         update.eq(RobotInfo::getId, robotInfo.getId());
         update(update);
@@ -162,6 +181,16 @@
         update(lambdaUpdateWrapper);
     }
 
+    @Override
+    public void setTaskMode(TaskModeRequest request) {
+        if (request.getRobotId() != null) {
+            LambdaUpdateWrapper<RobotInfo> lambdaUpdateWrapper = new LambdaUpdateWrapper<>();
+            lambdaUpdateWrapper.set(RobotInfo::getIsOpen, request.getIsOpen());
+            lambdaUpdateWrapper.eq(RobotInfo::getId, request.getRobotId());
+            update(lambdaUpdateWrapper);
+        }
+    }
+
     @Transactional
     @Override
     public List<RobotInfo> list(Wrapper<RobotInfo> queryWrapper) {
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 46b5c3b..f52940c 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.collection.CollectionUtil;
 import cn.hutool.core.convert.Convert;
+import cn.hutool.core.io.FileUtil;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
@@ -13,9 +14,9 @@
 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.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO;
@@ -27,7 +28,6 @@
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
-import org.aspectj.util.FileUtil;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.context.annotation.Lazy;
@@ -38,8 +38,8 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.ArrayList;
-import java.util.Arrays;
 import java.util.List;
+import java.util.stream.Collectors;
 
 
 /**
@@ -81,6 +81,11 @@
     }
 
     private void wrapInfo(RobotStatusInfo statusInfo) {
+        // todo 报错
+        StopStateResponseDTO stopStateResponseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + statusInfo.getRobotId());
+        if (stopStateResponseDTO != null) {
+            statusInfo.setSoft(stopStateResponseDTO.getSoft());
+        }
         statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getDiscernType()));
 
         //暂停状态
@@ -262,6 +267,8 @@
      */
     @Value("${casic.algorithm.num:30}")
     private Integer num;
+    @Value("${casic.obstacle:60}")
+    private Integer obstacle;
 
     /**
      * 机器人栅格数据
@@ -276,7 +283,6 @@
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             //发送栅格分辨率设定
-
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
             robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
             //log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
@@ -290,24 +296,102 @@
                         } else {
                             dataNums.add(1);
                         }
+                    } else {
+                        dataNums.add(-1);
                     }
                 }
-                writeCache(dataNums,responseDTO.getMsg().getWidth(),responseDTO.getMsg().getHeight(),robotId);
+                writeCache(dataNums, responseDTO.getMsg().getWidth(), responseDTO.getMsg().getHeight(), robotId);
             }
         }
     }
 
-    private void writeCache(ArrayList<Integer> integers,Integer width,Integer height,String robotId) {
-        List<List<Integer>> arrays = CollectionUtil.split(integers,width);
+    private void writeCache(ArrayList<Integer> integers, Integer width, Integer height, String robotId) {
+        List<List<Integer>> arrays = CollectionUtil.split(integers, width);
         ArrayList<ArrayList<Integer>> arrayList = new ArrayList<>();
         for (List<Integer> array : arrays) {
-            arrayList.add((ArrayList)array);
+            ArrayList list =(ArrayList)array.stream().filter(integer -> integer>=0).collect(Collectors.toList());
+            arrayList.add(list);
         }
         CollectionUtil.reverse(arrayList);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId, arrayList);
-//        FileUtil.writeAsString(new File(path + "map.txt"), CollectionUtil.join(integers, " ").replaceAll("\\[", "").replaceAll("]", ""));
+        //写入栅格宽度
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId, height);
+
+        writeCost(arrayList,width,height,robotId);
+    }
+    /**
+     * slam经纬度转换为栅格
+     *
+     * @param x slam x
+     * @param y slam y
+     */
+    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, BigDecimal resolution, RobotInfo robotInfo) {
+        GridPointDTO pointDTO = new GridPointDTO();
+        BigDecimal scale = resolution;
+        //减去栅格原点坐标
+        x = x.subtract(robotInfo.getOriginX());
+        y = y.subtract(robotInfo.getOriginY());
+        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));
+
+        //todo  原点栅格转换,减去相对原点值
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewGridY())));
+        return pointDTO;
     }
 
+    private void writeCost(ArrayList<ArrayList<Integer>> costList,Integer width, Integer height,String robotId){
+        List<String> strs = new ArrayList<>();
+        List<String> strs2 = new ArrayList<>();
+        RobotInfo robotInfo = cacheService.getRobotInfo(Long.valueOf(robotId));
+        if(robotInfo==null||robotInfo.getGridWidth()==null||robotInfo.getResolution() ==null){
+            log.info("robot gridHeight is not found....");
+            return;
+        }
+
+        //计算左下角位置
+        Integer newX = robotInfo.getNewGridX();
+        Integer newY = height-robotInfo.getNewGridY();
+//        log.info("left point:({},{})",robotInfo.getNewGridX(),robotInfo.getNewGridY());
+        //计算右上角位置
+        Integer rightX = robotInfo.getRightGridX();
+        Integer rightY = height-robotInfo.getRightGridY();
+//        log.info("right point:({},{})",rightX,rightY);
+
+        //裁剪栅格
+        List<List<Integer>> newCostList = new ArrayList<>();
+        for (int i = 0; i < costList.size(); i++) {
+            if(i<=newY&&i>=rightY){
+                List<Integer> newList = new ArrayList<>();
+                List<Integer> sourceList= costList.get(i);
+                for (int j = 0; j < sourceList.size(); j++) {
+                    if(j>=newX&&j<=rightX){
+                        newList.add(sourceList.get(j));
+                    }
+                }
+                newCostList.add(newList);
+            }
+        }
+
+        for (List<Integer> list : newCostList) {
+            strs2.add(CollectionUtil.join(list, " "));
+        }
+
+        FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+        //行转列 为算法输入数据
+        if(CollectionUtil.isNotEmpty(newCostList)){
+            CollectionUtil.reverse(newCostList);
+            for (int i = 0; i < newCostList.get(0).size(); i++) {
+                ArrayList<Integer> ints = new ArrayList<>();
+                for (List<Integer> list : newCostList) {
+                    ints.add(list.get(i));
+                }
+                strs.add(CollectionUtil.join(ints, " "));
+            }
+        }
+
+        FileUtil.writeLines(strs, new File(path + "map3.txt"), "utf-8");
+    }
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
@@ -327,7 +411,6 @@
             json = json.substring(0, json.length() - 1);
         }
         json = json.replaceAll("\\\\", "");
-//        log.info(json);
         RobotResponseDTO<R> responseDTO = JSON.parseObject(json, cls);
         return responseDTO;
     }
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 f1262a2..cb7aa09 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
@@ -69,17 +69,6 @@
             } catch (Exception e) {
                 log.error("task error", e);
             }
-//            if (routeId != null) {
-//                RobotTrajectoryInfo info = new RobotTrajectoryInfo();
-//                info.setRobotId(Long.valueOf(robotId));
-//                info.setCreateTime(new Date());
-//                info.setPostionX(dto.getX());
-//                info.setPostionY(dto.getY());
-//                info.setPostionZ(dto.getZ());
-//                info.setTheta(dto.getTheta());
-//                save(info);
-
-//            }
         }
     }
 
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 fd49e2e..6a0e719 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
@@ -47,6 +47,7 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.*;
+import java.util.concurrent.atomic.AtomicInteger;
 
 
 /**
@@ -81,15 +82,16 @@
     /**
      * 5000 ms
      */
-    @Value("${casic.task.duration:3000}")
+    @Value("${casic.task.duration:2000}")
     private Integer stayDuration;
     @Value("${casic.algorithm.path:-1}")
     private String path;
     /**
      * 障碍物精度
      */
-    @Value("${casic.obstacle:10}")
+    @Value("${casic.obstacle:60}")
     private Integer obstacle;
+    private volatile AtomicInteger atomicInteger = new AtomicInteger();
 
     public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService, ITaskInfoImgService imgService, ITaskGridInfoService taskGridInfoService) {
         this.routeInfoService = routeInfoService;
@@ -128,7 +130,30 @@
         } catch (Exception e) {
             log.error(e.getMessage());
         }
-
+    }
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, GridPushDTO gridPushDTO) {
+        try {
+            WsMsgBaseDTO<GridPushDTO> wsMsgBaseDTO = new WsMsgBaseDTO<GridPushDTO>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(gridPushDTO);
+            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());
+        }
+    }
+    protected void sendTaskMsg(InstructStatusMsgEnums enums, String robotId, TaskEndMsg heatMap) {
+        try {
+            WsMsgBaseDTO<TaskEndMsg> wsMsgBaseDTO = new WsMsgBaseDTO<TaskEndMsg>();
+            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());
+        }
     }
 
     @Override
@@ -187,11 +212,11 @@
 
     private void openTask(StartTrackRequest request, String robotId) {
         QueryWrapper<RouteInfo> query = new QueryWrapper<>();
-        query.eq("target_id", request.getTrack_name());
-        List<RouteInfo> routeInfos = routeInfoService.list(query);
-        if (CollectionUtil.isEmpty(routeInfos)) {
-            throw new ServiceException(500, "路线不存在,请及时更新");
-        }
+//        query.eq("target_id", request.getTrack_name());
+//        List<RouteInfo> routeInfos = routeInfoService.list(query);
+//        if (CollectionUtil.isEmpty(routeInfos)) {
+//            throw new ServiceException(500, "路线不存在,请及时更新");
+//        }
 //        RouteInfo routeInfo = routeInfos.get(0);
         Integer isTask = 0;
         //开启寻源任务
@@ -201,12 +226,12 @@
         RobotInfo robotInfo = cacheService.getRobotInfo(Convert.toLong(robotId));
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_IS_TASK + robotId, isTask);
         //添加任务记录
-        TaskInfo taskInfo = addTaskByStartTrack( robotInfo, request);
+        TaskInfo taskInfo = addTaskByStartTrack(robotInfo, request);
         //No.3 更新器人执行任务信息
 //        Long currRouteId = routeInfo.getId();
         Long currTaskId = taskInfo.getId();
 
-        statusInfoService.updateCurrTask(robotId,  currTaskId);
+        statusInfoService.updateCurrTask(robotId, currTaskId);
         //算法初始化标志创建
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId, currTaskId);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_INIT + robotId, 0);
@@ -230,7 +255,7 @@
         robotCacheClean(robotId);
         //清楚规划任务锁
         CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_PLANING_FLAG + robotId);
-        CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID+ robotId);
+        CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId);
         //清空机器当前任务
         statusInfoService.updateCurrTask(robotId, null);
     }
@@ -304,7 +329,7 @@
         //No.1 任务初始化
         pathInit(longId, robotInfo, pointDTO, taskId, robotId, taskInfo.getStepLen());
         //No.2 路线规划
-        pathPlaning(longId, robotInfo, pointDTO, taskId, robotId, taskInfo,dto);
+        pathPlaning(longId, robotInfo, pointDTO, taskId, robotId, taskInfo, dto);
     }
 
     /**
@@ -329,7 +354,7 @@
      * @param taskId    任务ID
      * @param robotId   机器人ID
      */
-    private void pathPlaning(Long longId, RobotInfo robotInfo, GridPointDTO pointDTO, Long taskId, String robotId, TaskInfo taskInfo,PoseMessageResponseDTO curPoint) {
+    private void pathPlaning(Long longId, RobotInfo robotInfo, GridPointDTO pointDTO, Long taskId, String robotId, TaskInfo taskInfo, PoseMessageResponseDTO curPoint) {
         if (taskId != null) {
             //规划节点
             PointNextDTO pointNextDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId);
@@ -337,12 +362,24 @@
             Boolean flag = lockPlanIngFlag(robotId);
             //是否到达预期栅格
             if (!flag) {
-                log.info("未获取到规划任务,直接结束：{}",pointDTO);
                 return;
             }
+            log.info("curr point:{}", curPoint);
+            log.debug("curr pointGrid:{}", pointDTO);
+            log.debug("oldEstimateGrid:{}", oldEstimateGrid);
+
+            GridPushDTO gridPushDTO = new GridPushDTO();
+            gridPushDTO.setCurrGridX(pointDTO.getX());
+            gridPushDTO.setCurrGridY(pointDTO.getY());
+            if(oldEstimateGrid!=null){
+                gridPushDTO.setEstimateGridX(oldEstimateGrid.getX());
+                gridPushDTO.setEstimateGridY(oldEstimateGrid.getY());
+            }
+            sendWebSocket(InstructStatusMsgEnums.GRID, robotId, gridPushDTO);
+
             try {
-                log.debug("oldEstimateGrid:{}", oldEstimateGrid);
-                if (pointNextDTO == null || isEquals(pointDTO, oldEstimateGrid)) {
+                if (pointNextDTO == null || oldEstimateGrid == null || isEquals(pointDTO, oldEstimateGrid, robotInfo)) {
+                    atomicInteger = new AtomicInteger(0);
                     log.info("当前栅格变更......", pointDTO);
                     CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_POINT + robotId, pointDTO);
                     //算法调用获取热力图
@@ -358,19 +395,24 @@
                     //存储算法输出栅格信息
                     AlgorithmResponse response = algorithmService.pathPlanning(pathPlanDTO);
                     CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId, response.getPointNextDTO());
-                    sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
 
-                    //存储循迹任务信息
-                    TaskGridInfo taskGridInfo = new TaskGridInfo();
-                    taskGridInfo.setCreateTime(new Date());
-                    taskGridInfo.setUpdateTime(new Date());
-                    taskGridInfo.setCurGridX(pointDTO.getX().intValue());
-                    taskGridInfo.setCurGridY(pointDTO.getY().intValue());
-                    taskGridInfo.setNeutronCount(new BigDecimal(pathPlanDTO.getZNow()));
-                    taskGridInfo.setEstimateGridX(response.getPointNextDTO().getX());
-                    taskGridInfo.setEstimateGridY(response.getPointNextDTO().getY());
-                    taskGridInfo.setTaskId(taskId);
-                    taskGridInfoService.save(taskGridInfo);
+                    new Thread() {
+                        @Override
+                        public void run() {
+                            //存储循迹任务信息
+                            TaskGridInfo taskGridInfo = new TaskGridInfo();
+                            taskGridInfo.setCreateTime(new Date());
+                            taskGridInfo.setUpdateTime(new Date());
+                            taskGridInfo.setCurGridX(pointDTO.getX().intValue());
+                            taskGridInfo.setCurGridY(pointDTO.getY().intValue());
+                            taskGridInfo.setNeutronCount(new BigDecimal(pathPlanDTO.getZNow()));
+                            taskGridInfo.setEstimateGridX(response.getPointNextDTO().getX());
+                            taskGridInfo.setEstimateGridY(response.getPointNextDTO().getY());
+                            taskGridInfo.setTaskId(taskId);
+                            taskGridInfoService.save(taskGridInfo);
+                            sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
+                        }
+                    }.start();
 
                     try {
                         //停留时间阈值
@@ -381,11 +423,13 @@
 
                     //是否触发停止状态
                     if (!response.isEnd()) {
-                        log.debug("task planning-- xun dian robotId:{},taskId:{}", robotId, taskId);
                         //机器人寻点指令下发
-                        sendTargetPoint(robotInfo, response,curPoint);
+                        if (robotInfo.getIsOpen() == null || robotInfo.getIsOpen() == 0) {
+                            sendTargetPoint(robotInfo, response, curPoint);
+                        } else {
+                            log.debug("task mode isOpen:{}", robotInfo.getIsOpen());
+                        }
                     } else {
-                        log.debug("task stop-- robotId:{},taskId:{}", robotId, taskId);
                         //机器人停止指令下发
                         SoftwareStopRequest request = new SoftwareStopRequest();
                         request.setRobotId(robotInfo.getId());
@@ -394,6 +438,15 @@
 //                        baseRobotService.execCmdHandler(request, InstructCodeEnums.SOFTWARE_STOP);
                         //循迹任务结束
                         closeTask(null, robotId);
+                        TaskEndMsg endMsg = new TaskEndMsg();
+                        endMsg.setCode(1);
+                        endMsg.setRobotId(robotId);
+                        endMsg.setMessage("寻源结束");
+                        sendTaskMsg(InstructStatusMsgEnums.TASK_END, robotId, endMsg);
+                    }
+                } else {
+                    if (!isChange(pointDTO, oldEstimateGrid)) {
+                        atomicInteger.incrementAndGet();
                     }
                 }
             } catch (Exception e) {
@@ -429,37 +482,56 @@
         Integer initValue = cacheService.readTaskInit(longId);
         //No.1 任务初始化
         if (initValue != 1) {
-
             //执行初始化操作
             if (cacheService.updateTaskInit(longId, 1)) {
-
                 List<List<Integer>> costList = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId);
                 List<String> strs = new ArrayList<>();
                 List<String> strs2 = new ArrayList<>();
-                for (List<Integer> list : costList) {
+                Integer height = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId);
+                if (height == null) {
+                    throw new ServiceException(500, "未获取到栅格宽度信息");
+                }
+                Integer newX = robotInfo.getNewGridX();
+                Integer newY = height - robotInfo.getNewGridY();
+
+                //裁剪栅格
+                List<List<Integer>> newCostList = new ArrayList<>();
+                for (int i = 0; i < costList.size(); i++) {
+                    if (i <= newY) {
+                        List<Integer> newList = new ArrayList<>();
+                        List<Integer> sourceList = costList.get(i);
+                        for (int j = 0; j < sourceList.size(); j++) {
+                            if (j >= newX) {
+                                newList.add(sourceList.get(j));
+                            }
+                        }
+                        newCostList.add(newList);
+                    }
+                }
+                //数组转换
+                for (List<Integer> list : newCostList) {
                     strs2.add(CollectionUtil.join(list, " "));
                 }
                 FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+
                 //行转列 为算法输入数据
-                if(CollectionUtil.isNotEmpty(costList)){
-                    CollectionUtil.reverse(costList);
-                    for (int i = 0; i < costList.get(0).size(); i++) {
+                if (CollectionUtil.isNotEmpty(newCostList)) {
+                    CollectionUtil.reverse(newCostList);
+                    for (int i = 0; i < newCostList.get(0).size(); i++) {
                         ArrayList<Integer> ints = new ArrayList<>();
-                        for (List<Integer> list : costList) {
+                        for (List<Integer> list : newCostList) {
                             ints.add(list.get(i));
                         }
                         strs.add(CollectionUtil.join(ints, " "));
                     }
-//                    CollectionUtil.reverse(strs);
                 }
-
-
                 FileUtil.writeLines(strs, new File(path + "map.txt"), "utf-8");
 
-                PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId, stepLen);
                 //中子源计数率读取
+                PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId, stepLen);
                 pathInitDTO.setZNow(cacheService.getNeutronCount(longId));
                 log.info("init params:{}", JSON.toJSONString(pathInitDTO));
+
                 //执行1次算法 初始化操作
                 algorithmService.pathPlanningInit(pathInitDTO);
             }
@@ -551,7 +623,7 @@
      * @param robotInfo 机器人信息
      * @param response  算法输出数据
      */
-    private void sendTargetPoint(RobotInfo robotInfo, AlgorithmResponse response,PoseMessageResponseDTO curPoint) {
+    private void sendTargetPoint(RobotInfo robotInfo, AlgorithmResponse response, PoseMessageResponseDTO curPoint) {
         //读取已设置巡点目标信息
         PointNextDTO nextDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TARGET_POINT_ID + robotInfo.getId());
         //巡点
@@ -565,6 +637,7 @@
             request.setZ(curPoint.getZ().toString());
             request.setTheta(curPoint.getTheta().toString());
             request.setRobotId(robotInfo.getId());
+            log.info("下发寻源点位:{}", request);
             //执行巡点指令
             baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
             //重设寻点点位
@@ -632,7 +705,7 @@
         //读取
         Integer index = 1;
         LambdaQueryWrapper<TaskGridInfo> taskGridQuery = new LambdaQueryWrapper<>();
-        taskGridQuery.eq(TaskGridInfo::getTaskId,info.getId());
+        taskGridQuery.eq(TaskGridInfo::getTaskId, info.getId());
         taskGridQuery.orderByAsc(TaskGridInfo::getCreateTime);
         List<TaskGridInfo> taskGridInfos = taskGridInfoService.list(taskGridQuery);
         if (CollectionUtil.isNotEmpty(taskGridInfos)) {
@@ -735,12 +808,29 @@
         return true;
     }
 
-    private boolean isEquals(GridPointDTO pointDTO, GridPointDTO oldPointDTO) {
-        if(oldPointDTO==null||oldPointDTO.getX()==null){
+    /**
+     * 栅格判定方法
+     *
+     * @param pointDTO    当前栅格
+     * @param oldPointDTO 预期栅格
+     * @param robotInfo   机器信息
+     * @return
+     */
+    private boolean isEquals(GridPointDTO pointDTO, GridPointDTO oldPointDTO, RobotInfo robotInfo) {
+        if (oldPointDTO == null || oldPointDTO.getX() == null) {
             return false;
         }
-        if (pointDTO.getX().compareTo(oldPointDTO.getX()) == 0 && pointDTO.getY().compareTo(oldPointDTO.getY()) == 0) {
-            return true;
+        if (robotInfo.getResolution().compareTo(new BigDecimal(0.21)) > 0) {
+            //大于0.2则默认该点
+            if (pointDTO.getX().compareTo(oldPointDTO.getX()) == 0 && pointDTO.getY().compareTo(oldPointDTO.getY()) == 0) {
+                return true;
+            }
+        } else {
+            //小于0.2则可判定相邻栅格
+            if (pointDTO.getX().subtract(oldPointDTO.getX()).abs().intValue() <= 1 && pointDTO.getY().subtract(oldPointDTO.getY()).abs().intValue() <= 1) {
+                return true;
+            }
+
         }
         return false;
     }
@@ -756,7 +846,7 @@
         return pathInitDTO;
     }
 
-    private TaskInfo addTaskByStartTrack( RobotInfo robotInfo, StartTrackRequest request) {
+    private TaskInfo addTaskByStartTrack(RobotInfo robotInfo, StartTrackRequest request) {
         //No.2 新增任务信息
         TaskInfo taskInfo = new TaskInfo();
         String currDate = DateUtil.format(new Date(), "yyyyMMdd");
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
index 467b9c2..b8eebf0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
@@ -44,8 +44,8 @@
 
         ArrayList<String> invocation = new ArrayList<String>();
         invocation.add(exePath);
-        invocation.add("10");
-        invocation.add("10");
+        invocation.add("36");
+        invocation.add("18");
         invocation.add("5");
         invocation.add("0.16");
         invocation.add("Mission1");
@@ -58,8 +58,8 @@
         String planning = path + "search.exe";
         ArrayList<String> planInvocation = new ArrayList<String>();
         planInvocation.add(planning);
-        planInvocation.add("10");
-        planInvocation.add("1.0");
+        planInvocation.add("19");
+        planInvocation.add("8");
         planInvocation.add("0.2");
         planInvocation.add("Mission1");
         List<String> res = invokeJob(planInvocation);
diff --git a/casic-web/pom.xml b/casic-web/pom.xml
index 937b695..c793209 100644
--- a/casic-web/pom.xml
+++ b/casic-web/pom.xml
@@ -48,6 +48,11 @@
             <artifactId>spring-boot-starter-web</artifactId>
         </dependency>
         <dependency>
+            <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
             <groupId>org.springframework.boot</groupId>
             <artifactId>spring-boot-starter-actuator</artifactId>
             <exclusions>
diff --git a/casic-web/src/main/resources/config/application-dev.yml b/casic-web/src/main/resources/config/application-dev.yml
index c122d8d..455c4bf 100644
--- a/casic-web/src/main/resources/config/application-dev.yml
+++ b/casic-web/src/main/resources/config/application-dev.yml
@@ -4,9 +4,9 @@
 spring:
   datasource:
     driver-class-name: com.mysql.cj.jdbc.Driver
-    url: jdbc:mysql://111.198.10.15:11336/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
+    url: jdbc:mysql://localhost:3306/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
     username: root
-    password: Casic203
+    password: 123456
     druid:
       max-active: 50
       min-idle: 20
diff --git a/casic-web/src/main/resources/config/application-test.yml b/casic-web/src/main/resources/config/application-test.yml
index 534e2fb..67a0241 100644
--- a/casic-web/src/main/resources/config/application-test.yml
+++ b/casic-web/src/main/resources/config/application-test.yml
@@ -1,30 +1,48 @@
 server:
-  port: 11307
+  port: 8083
 ###################  spring配置  ###################
 spring:
   datasource:
-    url: jdbc:mysql://localhost:3306/casic_template?autoReconnect=true&useUnicode=true&characterEncoding=utf8&useSSL=false&allowMultiQueries=true&zeroDateTimeBehavior=convertToNull
+    driver-class-name: com.mysql.cj.jdbc.Driver
+    url: jdbc:mysql://localhost:3306/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
     username: root
-    password: Casic203!
-    initial-size: 2
-    min-idle: 1
-  jms:
-    pub-sub-domain: true
-#  session:
+    password: 123456
+    druid:
+      max-active: 50
+      min-idle: 20
+jms:
+  pub-sub-domain: true
+# session:
 #   store-type: redis
+# redis:
+#   host: 111.198.10.15
+#   port: 11412
+#   password: ew5T4K3#203lwh
+#   serializer: org.springframework.data.redis.serializer.StringRedisSerializer
+#   redisValueSerializer: org.springframework.data.redis.serializer.JdkSerializationRedisSerializer
 casic:
-  #  kaptcha-open: false #是否开启登录时验证码 (true/false)
-  nologin-urls: /user/login,/user/appLogin,/kaptcha/base64,/config/baseConfig,/route/mockToken,/workflow/**
+  #kaptcha-open: false #是否开启登录时验证码 (true/false)
+  no-login-urls: ${casic.sysUrl}/user/login,${casic.sysUrl}/user/appLogin,${casic.sysUrl}/kaptcha/base64,${casic.sysUrl}/config/baseConfig,/route/mockToken,/websocket/*,/webjars/**,/v2/api-docs,/v2/api-docs-ext,/doc.html,/v2/api-docs/swagger-ui.html,/swagger-resources
   #flowable数据源和多数据源配置
-  flowable:
-    datasource:
-      url: jdbc:mysql://localhost:3306/template_flowable?autoReconnect=true&useUnicode=true&characterEncoding=utf8&useSSL=false&allowMultiQueries=true&zeroDateTimeBehavior=convertToNull
-      username: root
-      password: Casic203!
-flowable:
-  checkProcessDefinitions: false #不校验process文件
+  db:
+    init:
+      enable: false
+  hikSdk: D:\robot\hiklib\HCNetSDK.dll
+  hikPlay: D:\robot\hiklib\PlayCtrl.dll
+  algorithm:
+    path:  D:\robot\path\
+    initPathName: init.exe
+    planPathName: search.exe
+  doc:
+    temp: D:\robot\path\report.docx
+  config:
+    export-path: D:\java\boot\guns-web-1.0.0-SNAPSHOT\export\
+    config-path: E:\Develop\IdeaProject\smartcity\casic-smartcity-dcms\casic-web\src\main\resources\config\
 logging:
   level.root: info
   level.com.casic: debug
+  level.com.casic.missiles.netty: error
+  level.com.casic.missiles.modular.neutron: error
+  level.org.springframework.web: info
   file:
-    path: logs/
\ No newline at end of file
+    path: D:\\robot\\logs
\ No newline at end of file
diff --git a/casic-web/src/main/resources/config/application.yml b/casic-web/src/main/resources/config/application.yml
index 035cb1f..d3833ab 100644
--- a/casic-web/src/main/resources/config/application.yml
+++ b/casic-web/src/main/resources/config/application.yml
@@ -20,7 +20,7 @@
     topic: /sensor_status,get_speed,/get_speed,/get_track_list_response,/get_track_response,/get_navigation_response
     completionTimeout: 2000
   redis:
-    host: 192.168.1.20
+    host: localhost
     port: 6379
     #    password: ew5T4K3#203lwh
     database: 3
diff --git a/casic-web/src/main/resources/config/path/Mission1/admatrix.txt b/casic-web/src/main/resources/config/path/Mission1/admatrix.txt
new file mode 100644
index 0000000..ce6f742
--- /dev/null
+++ b/casic-web/src/main/resources/config/path/Mission1/admatrix.txt
@@ -0,0 +1,2 @@
+0.000000000000000000e+00 0.000000000000000000e+00
+0.000000000000000000e+00 0.000000000000000000e+00
diff --git a/casic-web/src/main/resources/config/path/Mission1/expandmap.txt b/casic-web/src/main/resources/config/path/Mission1/expandmap.txt
new file mode 100644
index 0000000..647a4b8
--- /dev/null
+++ b/casic-web/src/main/resources/config/path/Mission1/expandmap.txt
@@ -0,0 +1,36 @@
+0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00
+0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00
+0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00
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diff --git a/casic-web/src/main/resources/config/path/Mission1/separate_img.png b/casic-web/src/main/resources/config/path/Mission1/separate_img.png
new file mode 100644
index 0000000..8fc19f9
--- /dev/null
+++ b/casic-web/src/main/resources/config/path/Mission1/separate_img.png
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diff --git a/casic-web/src/main/resources/config/path/Mission1/separate_img.txt b/casic-web/src/main/resources/config/path/Mission1/separate_img.txt
new file mode 100644
index 0000000..e00f995
--- /dev/null
+++ b/casic-web/src/main/resources/config/path/Mission1/separate_img.txt
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diff --git a/casic-web/src/main/resources/config/path/map.txt b/casic-web/src/main/resources/config/path/map.txt
index 61e2959..f44820b 100644
--- a/casic-web/src/main/resources/config/path/map.txt
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+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1

diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
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 a849528..4f34669 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
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index bdfc2d0..d7736a5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -148,7 +148,7 @@
     public void insertPsdAlarms() {
         times++;
         //先查询正在巡检任务信息
-        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
+        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 2);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
 
         long currentTimes = System.currentTimeMillis();
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 92c8c8e..6e94193 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
@@ -5,10 +5,7 @@
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 
 /**
  * 机器人操作类
@@ -76,4 +73,11 @@
     void reloadPcd(RobotInfo info);
 
     void startTrack(StartTrackRequest request);
+
+    /**
+     * 栅格寻点指令
+     * @param request 请求
+     * @return
+     */
+    ResponseDataDTO<Integer> targetGrid(TargetPointRequest 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 3bb475f..d8b3363 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.lang.Assert;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
@@ -25,7 +26,6 @@
 import io.swagger.annotations.ApiParam;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.apache.ibatis.annotations.Param;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.web.bind.annotation.*;
 import org.springframework.web.multipart.MultipartFile;
@@ -76,6 +76,13 @@
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
+    /**
+     * /{robotId}
+     *
+     * @param file
+     * @param robotId
+     * @return
+     */
     @SneakyThrows
     @ApiOperation(value = "PCD上传接口")
     @PostMapping(value = "/uploadPcd")
@@ -109,7 +116,12 @@
         robotInfoService.updateSpeed(robotInfo);
         return ResponseDataDTO.success();
     }
-
+    @ApiOperation(value = "设置任务启动模式", notes = "返回 1成功 0失败")
+    @PostMapping(value = "/setTaskMode")
+    public ResponseDataDTO setTaskMode(@RequestBody TaskModeRequest request) {
+        robotInfoService.setTaskMode(request);
+        return ResponseDataDTO.success();
+    }
     @ApiOperation(value = "机器人数据更新", notes = "1.pcd重载 2.路线及关键点数据重载")
     @PostMapping(value = "/reload")
     public ResponseDataDTO reload(@RequestBody BaseRobotCmdDTO request) {
@@ -149,6 +161,8 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
     }
 
+
+
     /**
      * 机器人请求id
      *
@@ -161,6 +175,16 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
     }
 
+    @ApiOperation(value = "寻栅格指令")
+    @PostMapping(value = "/targetGrid")
+    public ResponseDataDTO<Integer> targetGrid(@RequestBody TargetGridRequest request) {
+        TargetPointRequest targetPointRequest = new TargetPointRequest();
+        targetPointRequest.setRobotId(request.getRobotId());
+        targetPointRequest.setX(request.getEstimateGridX());
+        targetPointRequest.setY(request.getEstimateGridY());
+        return baseRobotService.targetGrid(targetPointRequest);
+    }
+
     /**
      * 机器人请求id
      *
@@ -174,6 +198,7 @@
         if (request.getStepLen() == null) {
             request.setStepLen(2);
         }
+        log.info(JSON.toJSONString(request));
         baseRobotService.startTrack(request);
         return ResponseDataDTO.success();
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
new file mode 100644
index 0000000..709bcd3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+@Data
+public class GridDTO {
+    /**
+     * 当前栅格x
+     */
+    private Integer currGridX;
+    /**
+     * 当前栅格y
+     */
+    private Integer currGridY;
+    /**
+     * 规划栅格x
+     */
+    private Integer estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private Integer estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
new file mode 100644
index 0000000..7eae335
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+@Data
+public class GridPushDTO {
+    /**
+     * 当前栅格x
+     */
+    private BigDecimal currGridX;
+    /**
+     * 当前栅格y
+     */
+    private BigDecimal currGridY;
+
+    /**
+     * 规划栅格x
+     */
+    private BigDecimal estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private BigDecimal estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index acbeb93..b9ad7a3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -23,4 +23,8 @@
     private BigDecimal gridWidth;
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     private BigDecimal resolution;
+    @ApiModelProperty(value = "新设原点X", dataType = "BigDecimal")
+    private BigDecimal newX;
+    @ApiModelProperty(value = "新设原点Y", dataType = "BigDecimal")
+    private BigDecimal newY;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
new file mode 100644
index 0000000..acc38f3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
@@ -0,0 +1,15 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+@Data
+public class TaskEndMsg implements Serializable {
+    private String robotId;
+    private String message;
+    /**
+     * 1 正常 0 异常
+     */
+    private Integer code;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 90e4dcf..d5ae18a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -154,7 +154,46 @@
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     @TableField("resolution")
     private BigDecimal resolution;
+    /**
+     * 新设定栅格原点X
+     */
+    @TableField("new_origin_x")
+    private BigDecimal newOriginX;
+    /**
+     * 新设定栅格原点Y
+     */
+    @TableField("new_origin_y")
+    private BigDecimal newOriginY;
 
+    /**
+     * 新设定栅格X
+     */
+    @TableField("new_grid_x")
+    private Integer newGridX;
+    /**
+     * 新设定栅格Y
+     */
+    @TableField("new_grid_y")
+    private Integer newGridY;
+
+    /**
+     * 裁剪右顶点X
+     */
+    @TableField("right_grid_x")
+    private Integer rightGridX;
+    @TableField("is_open")
+    private Integer isOpen;
+    /**
+     * 裁剪右顶点Y
+     */
+    @TableField("right_grid_y")
+    private Integer rightGridY;
+    public BigDecimal getNewX(){
+        return newOriginX;
+    }
+    public BigDecimal getNewY(){
+        return newOriginY;
+    }
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
index 2cb752f..3e741d7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
@@ -24,7 +24,10 @@
      *
      * @see com.casic.missiles.modular.robot.service.impl.TaskInfoServiceImpl
      */
-    HEAT_MAP("heat_map" , "机器人热力图");
+    HEAT_MAP("heat_map" , "机器人热力图"),
+    GRID("grid" , "栅格推送"),
+    TASK_END("task_end" , "任务结束");
+
     /**
      * 请求地址
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
index 88c9f79..3c93145 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -32,7 +32,6 @@
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         statusInfoService.saveCostMap(robotId, message);
-
         CostMapResolutionRequest costMapSet = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
         if(costMapSet != null){
             CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
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 8a71e0b..06f8ae6 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
@@ -30,10 +30,9 @@
     public void process(String robotId, String topic, MqttMessage message) {
 
         index.put(index_key, index.get("index") + 1);
-        if (index.get(index_key)>30) {
+        if (index.get(index_key)>1) {
             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 a9d7914..755997e 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
@@ -39,10 +39,8 @@
         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);
@@ -74,10 +72,12 @@
                     robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
                 }
             }
+
             //读取缓存信息
             sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
         } catch (Exception e) {
             e.printStackTrace();
         }
+
     }
-}
+}
\ No newline at end of file
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 7940a24..40a60a1 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,9 +1,13 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.exception.ServiceException;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.IBaseRobotService;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
@@ -11,6 +15,7 @@
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
+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.mqtt.config.MqttClientConnection;
@@ -32,11 +37,13 @@
     private final IRobotRouteOptService robotRouteOptService;
     private final IRobotInfoService robotInfoService;
     private final ITaskInfoService taskInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService, @Lazy IAlgorithmService algorithmService) {
         this.robotRouteOptService = robotRouteOptService;
         this.robotInfoService = robotInfoService;
         this.taskInfoService = taskInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
@@ -117,7 +124,7 @@
             //线路关键点读取
             if (requestDTO.getData() != null) {
                 for (RouteInfo routeInfo : requestDTO.getData()) {
-                    if("11-1 79-1".equals(routeInfo.getRouteName())){
+                    if ("11-1 79-1".equals(routeInfo.getRouteName())) {
                         continue;
                     }
                     TrackPointListRequest request = new TrackPointListRequest();
@@ -141,6 +148,7 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+
     @Transactional
     @Override
     public void startTrack(StartTrackRequest request) {
@@ -149,6 +157,25 @@
 //        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
     }
 
+    @Override
+    public ResponseDataDTO<Integer> targetGrid(TargetPointRequest request) {
+        PoseMessageResponseDTO responseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + request.getRobotId());
+        if(responseDTO==null){
+            throw new ServiceException(500,"请优先开启导航");
+        }
+        RobotInfo robotInfo = robotInfoService.getById(request.getRobotId());
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        //获取栅格中心点
+        GridPointDTO pointDTO =  algorithmService.convertGridCenterPoint(gridPointDTO,robotInfo.getResolution(),robotInfo);
+        request.setX(pointDTO.getX().toString());
+        request.setY(pointDTO.getY().toString());
+        request.setZ(responseDTO.getZ().toString());
+        request.setTheta(responseDTO.getTheta().toString());
+        //执行巡点指令
+        ResponseDataDTO<Integer> responseDataDTO = this.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
+        return responseDataDTO;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
new file mode 100644
index 0000000..7d69964
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
@@ -0,0 +1,19 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 获取循迹路线下发指令
+ */
+@Data
+public class TargetGridRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "栅格x坐标", dataType = "String")
+    private String estimateGridX;
+    @ApiModelProperty(value = "栅格y坐标", dataType = "String")
+    private String estimateGridY;
+    @ApiModelProperty(value = "z坐标", dataType = "String")
+    private String z;
+    @ApiModelProperty(value = "theta", dataType = "String")
+    private String theta;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
new file mode 100644
index 0000000..763656b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 导航下发指令
+ */
+@Data
+public class TaskModeRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "控制模式 1:手动 0:自动", dataType = "String")
+    private Integer isOpen;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index 8c95459..89697b8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -6,6 +6,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TaskModeRequest;
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 
 import java.util.List;
@@ -52,4 +53,6 @@
      * @param dto 栅格信息
      */
     void updateRobotGrid(String robotId, AppCostmapResponseDTO dto);
+
+    void setTaskMode(TaskModeRequest request);
 }
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 a4dbe0b..a6f5116 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
@@ -167,24 +167,35 @@
         y = y.subtract(robotInfo.getOriginY());
         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));
+
+        //todo  原点栅格转换,减去相对原点值
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewGridY())));
         return pointDTO;
     }
 
     /**
+     * do栅格转xy
      * 根据栅格读取栅格中心点位信息
      *
      * @param pointDTO 栅格信息
      * @return
      */
     public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo) {
+
+        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewGridY())));
+
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = resolution;
         //点位转换 转换后栅格－1 从1开始计算
         BigDecimal slamX = (pointDTO.getX().subtract(new BigDecimal(1))).multiply(scale);
         BigDecimal slamY = (pointDTO.getY().subtract(new BigDecimal(1))).multiply(scale);
+
         //中心栅格点位中心添加
         centerPoint.setX(slamX.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
         centerPoint.setY(slamY.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
+
         //加上栅格原点坐标
         centerPoint.setX(centerPoint.getX().add(robotInfo.getOriginX()));
         centerPoint.setY(centerPoint.getY().add(robotInfo.getOriginY()));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
index e2879ce..f825e84 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
@@ -9,6 +9,8 @@
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.data.redis.core.RedisTemplate;
 import org.springframework.stereotype.Service;
 
 @Service
@@ -18,7 +20,8 @@
     public RobotCacheServiceImpl(IRobotInfoService robotInfoService) {
         this.robotInfoService = robotInfoService;
     }
-
+    @Autowired
+    private RedisTemplate<String, Object> redisTemplate;
     @Override
     public synchronized boolean updateTaskId(Long robotId, Long taskId) {
         //读取当前机器人任务信息
@@ -83,12 +86,14 @@
 
     @Override
     public void updateCostMap(String robotId, AppCostmapResponseDTO msg) {
-        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
+        redisTemplate.opsForValue().set(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId,msg);
+//        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
     }
 
     @Override
     public AppCostmapResponseDTO getCostMap(String robotId) {
-        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+       return (AppCostmapResponseDTO) redisTemplate.opsForValue().get(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+//        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
     }
 
     @Override
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index fdded64..cdbbe89 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -12,11 +12,13 @@
 import com.casic.missiles.core.application.service.AbstractDictService;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dao.RobotInfoMapper;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.*;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.DataRecordRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TaskModeRequest;
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.*;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -51,16 +53,18 @@
     private final IDeviceInfoService deviceInfoService;
     private final IRobotPointInfoService pointInfoService;
     private final IBaseRobotService baseRobotService;
+    private final IAlgorithmService algorithmService;
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
-    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService, @Lazy IBaseRobotService baseRobotService) {
+    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService, @Lazy IBaseRobotService baseRobotService, @Lazy IAlgorithmService algorithmService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.dictService = dictService;
         this.routeInfoService = routeInfoService;
         this.deviceInfoService = deviceInfoService;
         this.pointInfoService = pointInfoService;
         this.baseRobotService = baseRobotService;
+        this.algorithmService = algorithmService;
     }
 
     @Transactional
@@ -96,15 +100,30 @@
         }
         if (robotInfo.getAlarmThreshold() != null) {
             update.set(RobotInfo::getAlarmThreshold, robotInfo.getAlarmThreshold());
+            update.set(RobotInfo::getMaxThreshold, robotInfo.getAlarmThreshold());
         }
         if (robotInfo.getGridHeight() != null && robotInfo.getGridWidth() != null) {
+            RobotInfo oldRobotInfo = getById(robotInfo.getId());
             update.set(RobotInfo::getGridHeight, robotInfo.getGridHeight());
             update.set(RobotInfo::getGridWidth, robotInfo.getGridWidth());
             update.set(RobotInfo::getResolution, robotInfo.getResolution());
+            update.set(RobotInfo::getNewOriginX, robotInfo.getNewX());
+            update.set(RobotInfo::getNewOriginY, robotInfo.getNewY());
+            //计算左下原点
+            oldRobotInfo.setNewGridX(0);
+            oldRobotInfo.setNewGridY(0);
+            GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(robotInfo.getNewX(), robotInfo.getNewY(), robotInfo.getResolution(), oldRobotInfo);
+            update.set(RobotInfo::getNewGridX, gridPointDTO.getX().intValue());
+            update.set(RobotInfo::getNewGridY, gridPointDTO.getY().intValue());
+            //计算右顶点
+            Integer rightX = robotInfo.getGridWidth().divide(robotInfo.getResolution(), 0, BigDecimal.ROUND_HALF_UP).intValue();
+            Integer rightY = robotInfo.getGridHeight().divide(robotInfo.getResolution(), 0, BigDecimal.ROUND_HALF_UP).intValue();
+            update.set(RobotInfo::getRightGridX, rightX);
+            update.set(RobotInfo::getRightGridY, rightY);
+
             //下发障碍物栅格
             sendCostMapResolution(robotInfo.getResolution(), robotInfo.getId());
-            //重新生成栅格地图
-            //sendChangePcd(robotInfo.getId());
+
         }
         update.eq(RobotInfo::getId, robotInfo.getId());
         update(update);
@@ -162,6 +181,16 @@
         update(lambdaUpdateWrapper);
     }
 
+    @Override
+    public void setTaskMode(TaskModeRequest request) {
+        if (request.getRobotId() != null) {
+            LambdaUpdateWrapper<RobotInfo> lambdaUpdateWrapper = new LambdaUpdateWrapper<>();
+            lambdaUpdateWrapper.set(RobotInfo::getIsOpen, request.getIsOpen());
+            lambdaUpdateWrapper.eq(RobotInfo::getId, request.getRobotId());
+            update(lambdaUpdateWrapper);
+        }
+    }
+
     @Transactional
     @Override
     public List<RobotInfo> list(Wrapper<RobotInfo> queryWrapper) {
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 46b5c3b..f52940c 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.collection.CollectionUtil;
 import cn.hutool.core.convert.Convert;
+import cn.hutool.core.io.FileUtil;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
@@ -13,9 +14,9 @@
 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.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO;
@@ -27,7 +28,6 @@
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
-import org.aspectj.util.FileUtil;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.context.annotation.Lazy;
@@ -38,8 +38,8 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.ArrayList;
-import java.util.Arrays;
 import java.util.List;
+import java.util.stream.Collectors;
 
 
 /**
@@ -81,6 +81,11 @@
     }
 
     private void wrapInfo(RobotStatusInfo statusInfo) {
+        // todo 报错
+        StopStateResponseDTO stopStateResponseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + statusInfo.getRobotId());
+        if (stopStateResponseDTO != null) {
+            statusInfo.setSoft(stopStateResponseDTO.getSoft());
+        }
         statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getDiscernType()));
 
         //暂停状态
@@ -262,6 +267,8 @@
      */
     @Value("${casic.algorithm.num:30}")
     private Integer num;
+    @Value("${casic.obstacle:60}")
+    private Integer obstacle;
 
     /**
      * 机器人栅格数据
@@ -276,7 +283,6 @@
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             //发送栅格分辨率设定
-
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
             robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
             //log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
@@ -290,24 +296,102 @@
                         } else {
                             dataNums.add(1);
                         }
+                    } else {
+                        dataNums.add(-1);
                     }
                 }
-                writeCache(dataNums,responseDTO.getMsg().getWidth(),responseDTO.getMsg().getHeight(),robotId);
+                writeCache(dataNums, responseDTO.getMsg().getWidth(), responseDTO.getMsg().getHeight(), robotId);
             }
         }
     }
 
-    private void writeCache(ArrayList<Integer> integers,Integer width,Integer height,String robotId) {
-        List<List<Integer>> arrays = CollectionUtil.split(integers,width);
+    private void writeCache(ArrayList<Integer> integers, Integer width, Integer height, String robotId) {
+        List<List<Integer>> arrays = CollectionUtil.split(integers, width);
         ArrayList<ArrayList<Integer>> arrayList = new ArrayList<>();
         for (List<Integer> array : arrays) {
-            arrayList.add((ArrayList)array);
+            ArrayList list =(ArrayList)array.stream().filter(integer -> integer>=0).collect(Collectors.toList());
+            arrayList.add(list);
         }
         CollectionUtil.reverse(arrayList);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId, arrayList);
-//        FileUtil.writeAsString(new File(path + "map.txt"), CollectionUtil.join(integers, " ").replaceAll("\\[", "").replaceAll("]", ""));
+        //写入栅格宽度
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId, height);
+
+        writeCost(arrayList,width,height,robotId);
+    }
+    /**
+     * slam经纬度转换为栅格
+     *
+     * @param x slam x
+     * @param y slam y
+     */
+    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, BigDecimal resolution, RobotInfo robotInfo) {
+        GridPointDTO pointDTO = new GridPointDTO();
+        BigDecimal scale = resolution;
+        //减去栅格原点坐标
+        x = x.subtract(robotInfo.getOriginX());
+        y = y.subtract(robotInfo.getOriginY());
+        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));
+
+        //todo  原点栅格转换,减去相对原点值
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewGridY())));
+        return pointDTO;
     }
 
+    private void writeCost(ArrayList<ArrayList<Integer>> costList,Integer width, Integer height,String robotId){
+        List<String> strs = new ArrayList<>();
+        List<String> strs2 = new ArrayList<>();
+        RobotInfo robotInfo = cacheService.getRobotInfo(Long.valueOf(robotId));
+        if(robotInfo==null||robotInfo.getGridWidth()==null||robotInfo.getResolution() ==null){
+            log.info("robot gridHeight is not found....");
+            return;
+        }
+
+        //计算左下角位置
+        Integer newX = robotInfo.getNewGridX();
+        Integer newY = height-robotInfo.getNewGridY();
+//        log.info("left point:({},{})",robotInfo.getNewGridX(),robotInfo.getNewGridY());
+        //计算右上角位置
+        Integer rightX = robotInfo.getRightGridX();
+        Integer rightY = height-robotInfo.getRightGridY();
+//        log.info("right point:({},{})",rightX,rightY);
+
+        //裁剪栅格
+        List<List<Integer>> newCostList = new ArrayList<>();
+        for (int i = 0; i < costList.size(); i++) {
+            if(i<=newY&&i>=rightY){
+                List<Integer> newList = new ArrayList<>();
+                List<Integer> sourceList= costList.get(i);
+                for (int j = 0; j < sourceList.size(); j++) {
+                    if(j>=newX&&j<=rightX){
+                        newList.add(sourceList.get(j));
+                    }
+                }
+                newCostList.add(newList);
+            }
+        }
+
+        for (List<Integer> list : newCostList) {
+            strs2.add(CollectionUtil.join(list, " "));
+        }
+
+        FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+        //行转列 为算法输入数据
+        if(CollectionUtil.isNotEmpty(newCostList)){
+            CollectionUtil.reverse(newCostList);
+            for (int i = 0; i < newCostList.get(0).size(); i++) {
+                ArrayList<Integer> ints = new ArrayList<>();
+                for (List<Integer> list : newCostList) {
+                    ints.add(list.get(i));
+                }
+                strs.add(CollectionUtil.join(ints, " "));
+            }
+        }
+
+        FileUtil.writeLines(strs, new File(path + "map3.txt"), "utf-8");
+    }
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
@@ -327,7 +411,6 @@
             json = json.substring(0, json.length() - 1);
         }
         json = json.replaceAll("\\\\", "");
-//        log.info(json);
         RobotResponseDTO<R> responseDTO = JSON.parseObject(json, cls);
         return responseDTO;
     }
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 f1262a2..cb7aa09 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
@@ -69,17 +69,6 @@
             } catch (Exception e) {
                 log.error("task error", e);
             }
-//            if (routeId != null) {
-//                RobotTrajectoryInfo info = new RobotTrajectoryInfo();
-//                info.setRobotId(Long.valueOf(robotId));
-//                info.setCreateTime(new Date());
-//                info.setPostionX(dto.getX());
-//                info.setPostionY(dto.getY());
-//                info.setPostionZ(dto.getZ());
-//                info.setTheta(dto.getTheta());
-//                save(info);
-
-//            }
         }
     }
 
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 fd49e2e..6a0e719 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
@@ -47,6 +47,7 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.*;
+import java.util.concurrent.atomic.AtomicInteger;
 
 
 /**
@@ -81,15 +82,16 @@
     /**
      * 5000 ms
      */
-    @Value("${casic.task.duration:3000}")
+    @Value("${casic.task.duration:2000}")
     private Integer stayDuration;
     @Value("${casic.algorithm.path:-1}")
     private String path;
     /**
      * 障碍物精度
      */
-    @Value("${casic.obstacle:10}")
+    @Value("${casic.obstacle:60}")
     private Integer obstacle;
+    private volatile AtomicInteger atomicInteger = new AtomicInteger();
 
     public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService, ITaskInfoImgService imgService, ITaskGridInfoService taskGridInfoService) {
         this.routeInfoService = routeInfoService;
@@ -128,7 +130,30 @@
         } catch (Exception e) {
             log.error(e.getMessage());
         }
-
+    }
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, GridPushDTO gridPushDTO) {
+        try {
+            WsMsgBaseDTO<GridPushDTO> wsMsgBaseDTO = new WsMsgBaseDTO<GridPushDTO>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(gridPushDTO);
+            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());
+        }
+    }
+    protected void sendTaskMsg(InstructStatusMsgEnums enums, String robotId, TaskEndMsg heatMap) {
+        try {
+            WsMsgBaseDTO<TaskEndMsg> wsMsgBaseDTO = new WsMsgBaseDTO<TaskEndMsg>();
+            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());
+        }
     }
 
     @Override
@@ -187,11 +212,11 @@
 
     private void openTask(StartTrackRequest request, String robotId) {
         QueryWrapper<RouteInfo> query = new QueryWrapper<>();
-        query.eq("target_id", request.getTrack_name());
-        List<RouteInfo> routeInfos = routeInfoService.list(query);
-        if (CollectionUtil.isEmpty(routeInfos)) {
-            throw new ServiceException(500, "路线不存在,请及时更新");
-        }
+//        query.eq("target_id", request.getTrack_name());
+//        List<RouteInfo> routeInfos = routeInfoService.list(query);
+//        if (CollectionUtil.isEmpty(routeInfos)) {
+//            throw new ServiceException(500, "路线不存在,请及时更新");
+//        }
 //        RouteInfo routeInfo = routeInfos.get(0);
         Integer isTask = 0;
         //开启寻源任务
@@ -201,12 +226,12 @@
         RobotInfo robotInfo = cacheService.getRobotInfo(Convert.toLong(robotId));
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_IS_TASK + robotId, isTask);
         //添加任务记录
-        TaskInfo taskInfo = addTaskByStartTrack( robotInfo, request);
+        TaskInfo taskInfo = addTaskByStartTrack(robotInfo, request);
         //No.3 更新器人执行任务信息
 //        Long currRouteId = routeInfo.getId();
         Long currTaskId = taskInfo.getId();
 
-        statusInfoService.updateCurrTask(robotId,  currTaskId);
+        statusInfoService.updateCurrTask(robotId, currTaskId);
         //算法初始化标志创建
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId, currTaskId);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_INIT + robotId, 0);
@@ -230,7 +255,7 @@
         robotCacheClean(robotId);
         //清楚规划任务锁
         CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_PLANING_FLAG + robotId);
-        CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID+ robotId);
+        CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId);
         //清空机器当前任务
         statusInfoService.updateCurrTask(robotId, null);
     }
@@ -304,7 +329,7 @@
         //No.1 任务初始化
         pathInit(longId, robotInfo, pointDTO, taskId, robotId, taskInfo.getStepLen());
         //No.2 路线规划
-        pathPlaning(longId, robotInfo, pointDTO, taskId, robotId, taskInfo,dto);
+        pathPlaning(longId, robotInfo, pointDTO, taskId, robotId, taskInfo, dto);
     }
 
     /**
@@ -329,7 +354,7 @@
      * @param taskId    任务ID
      * @param robotId   机器人ID
      */
-    private void pathPlaning(Long longId, RobotInfo robotInfo, GridPointDTO pointDTO, Long taskId, String robotId, TaskInfo taskInfo,PoseMessageResponseDTO curPoint) {
+    private void pathPlaning(Long longId, RobotInfo robotInfo, GridPointDTO pointDTO, Long taskId, String robotId, TaskInfo taskInfo, PoseMessageResponseDTO curPoint) {
         if (taskId != null) {
             //规划节点
             PointNextDTO pointNextDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId);
@@ -337,12 +362,24 @@
             Boolean flag = lockPlanIngFlag(robotId);
             //是否到达预期栅格
             if (!flag) {
-                log.info("未获取到规划任务,直接结束：{}",pointDTO);
                 return;
             }
+            log.info("curr point:{}", curPoint);
+            log.debug("curr pointGrid:{}", pointDTO);
+            log.debug("oldEstimateGrid:{}", oldEstimateGrid);
+
+            GridPushDTO gridPushDTO = new GridPushDTO();
+            gridPushDTO.setCurrGridX(pointDTO.getX());
+            gridPushDTO.setCurrGridY(pointDTO.getY());
+            if(oldEstimateGrid!=null){
+                gridPushDTO.setEstimateGridX(oldEstimateGrid.getX());
+                gridPushDTO.setEstimateGridY(oldEstimateGrid.getY());
+            }
+            sendWebSocket(InstructStatusMsgEnums.GRID, robotId, gridPushDTO);
+
             try {
-                log.debug("oldEstimateGrid:{}", oldEstimateGrid);
-                if (pointNextDTO == null || isEquals(pointDTO, oldEstimateGrid)) {
+                if (pointNextDTO == null || oldEstimateGrid == null || isEquals(pointDTO, oldEstimateGrid, robotInfo)) {
+                    atomicInteger = new AtomicInteger(0);
                     log.info("当前栅格变更......", pointDTO);
                     CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_POINT + robotId, pointDTO);
                     //算法调用获取热力图
@@ -358,19 +395,24 @@
                     //存储算法输出栅格信息
                     AlgorithmResponse response = algorithmService.pathPlanning(pathPlanDTO);
                     CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId, response.getPointNextDTO());
-                    sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
 
-                    //存储循迹任务信息
-                    TaskGridInfo taskGridInfo = new TaskGridInfo();
-                    taskGridInfo.setCreateTime(new Date());
-                    taskGridInfo.setUpdateTime(new Date());
-                    taskGridInfo.setCurGridX(pointDTO.getX().intValue());
-                    taskGridInfo.setCurGridY(pointDTO.getY().intValue());
-                    taskGridInfo.setNeutronCount(new BigDecimal(pathPlanDTO.getZNow()));
-                    taskGridInfo.setEstimateGridX(response.getPointNextDTO().getX());
-                    taskGridInfo.setEstimateGridY(response.getPointNextDTO().getY());
-                    taskGridInfo.setTaskId(taskId);
-                    taskGridInfoService.save(taskGridInfo);
+                    new Thread() {
+                        @Override
+                        public void run() {
+                            //存储循迹任务信息
+                            TaskGridInfo taskGridInfo = new TaskGridInfo();
+                            taskGridInfo.setCreateTime(new Date());
+                            taskGridInfo.setUpdateTime(new Date());
+                            taskGridInfo.setCurGridX(pointDTO.getX().intValue());
+                            taskGridInfo.setCurGridY(pointDTO.getY().intValue());
+                            taskGridInfo.setNeutronCount(new BigDecimal(pathPlanDTO.getZNow()));
+                            taskGridInfo.setEstimateGridX(response.getPointNextDTO().getX());
+                            taskGridInfo.setEstimateGridY(response.getPointNextDTO().getY());
+                            taskGridInfo.setTaskId(taskId);
+                            taskGridInfoService.save(taskGridInfo);
+                            sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
+                        }
+                    }.start();
 
                     try {
                         //停留时间阈值
@@ -381,11 +423,13 @@
 
                     //是否触发停止状态
                     if (!response.isEnd()) {
-                        log.debug("task planning-- xun dian robotId:{},taskId:{}", robotId, taskId);
                         //机器人寻点指令下发
-                        sendTargetPoint(robotInfo, response,curPoint);
+                        if (robotInfo.getIsOpen() == null || robotInfo.getIsOpen() == 0) {
+                            sendTargetPoint(robotInfo, response, curPoint);
+                        } else {
+                            log.debug("task mode isOpen:{}", robotInfo.getIsOpen());
+                        }
                     } else {
-                        log.debug("task stop-- robotId:{},taskId:{}", robotId, taskId);
                         //机器人停止指令下发
                         SoftwareStopRequest request = new SoftwareStopRequest();
                         request.setRobotId(robotInfo.getId());
@@ -394,6 +438,15 @@
 //                        baseRobotService.execCmdHandler(request, InstructCodeEnums.SOFTWARE_STOP);
                         //循迹任务结束
                         closeTask(null, robotId);
+                        TaskEndMsg endMsg = new TaskEndMsg();
+                        endMsg.setCode(1);
+                        endMsg.setRobotId(robotId);
+                        endMsg.setMessage("寻源结束");
+                        sendTaskMsg(InstructStatusMsgEnums.TASK_END, robotId, endMsg);
+                    }
+                } else {
+                    if (!isChange(pointDTO, oldEstimateGrid)) {
+                        atomicInteger.incrementAndGet();
                     }
                 }
             } catch (Exception e) {
@@ -429,37 +482,56 @@
         Integer initValue = cacheService.readTaskInit(longId);
         //No.1 任务初始化
         if (initValue != 1) {
-
             //执行初始化操作
             if (cacheService.updateTaskInit(longId, 1)) {
-
                 List<List<Integer>> costList = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId);
                 List<String> strs = new ArrayList<>();
                 List<String> strs2 = new ArrayList<>();
-                for (List<Integer> list : costList) {
+                Integer height = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId);
+                if (height == null) {
+                    throw new ServiceException(500, "未获取到栅格宽度信息");
+                }
+                Integer newX = robotInfo.getNewGridX();
+                Integer newY = height - robotInfo.getNewGridY();
+
+                //裁剪栅格
+                List<List<Integer>> newCostList = new ArrayList<>();
+                for (int i = 0; i < costList.size(); i++) {
+                    if (i <= newY) {
+                        List<Integer> newList = new ArrayList<>();
+                        List<Integer> sourceList = costList.get(i);
+                        for (int j = 0; j < sourceList.size(); j++) {
+                            if (j >= newX) {
+                                newList.add(sourceList.get(j));
+                            }
+                        }
+                        newCostList.add(newList);
+                    }
+                }
+                //数组转换
+                for (List<Integer> list : newCostList) {
                     strs2.add(CollectionUtil.join(list, " "));
                 }
                 FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+
                 //行转列 为算法输入数据
-                if(CollectionUtil.isNotEmpty(costList)){
-                    CollectionUtil.reverse(costList);
-                    for (int i = 0; i < costList.get(0).size(); i++) {
+                if (CollectionUtil.isNotEmpty(newCostList)) {
+                    CollectionUtil.reverse(newCostList);
+                    for (int i = 0; i < newCostList.get(0).size(); i++) {
                         ArrayList<Integer> ints = new ArrayList<>();
-                        for (List<Integer> list : costList) {
+                        for (List<Integer> list : newCostList) {
                             ints.add(list.get(i));
                         }
                         strs.add(CollectionUtil.join(ints, " "));
                     }
-//                    CollectionUtil.reverse(strs);
                 }
-
-
                 FileUtil.writeLines(strs, new File(path + "map.txt"), "utf-8");
 
-                PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId, stepLen);
                 //中子源计数率读取
+                PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId, stepLen);
                 pathInitDTO.setZNow(cacheService.getNeutronCount(longId));
                 log.info("init params:{}", JSON.toJSONString(pathInitDTO));
+
                 //执行1次算法 初始化操作
                 algorithmService.pathPlanningInit(pathInitDTO);
             }
@@ -551,7 +623,7 @@
      * @param robotInfo 机器人信息
      * @param response  算法输出数据
      */
-    private void sendTargetPoint(RobotInfo robotInfo, AlgorithmResponse response,PoseMessageResponseDTO curPoint) {
+    private void sendTargetPoint(RobotInfo robotInfo, AlgorithmResponse response, PoseMessageResponseDTO curPoint) {
         //读取已设置巡点目标信息
         PointNextDTO nextDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TARGET_POINT_ID + robotInfo.getId());
         //巡点
@@ -565,6 +637,7 @@
             request.setZ(curPoint.getZ().toString());
             request.setTheta(curPoint.getTheta().toString());
             request.setRobotId(robotInfo.getId());
+            log.info("下发寻源点位:{}", request);
             //执行巡点指令
             baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
             //重设寻点点位
@@ -632,7 +705,7 @@
         //读取
         Integer index = 1;
         LambdaQueryWrapper<TaskGridInfo> taskGridQuery = new LambdaQueryWrapper<>();
-        taskGridQuery.eq(TaskGridInfo::getTaskId,info.getId());
+        taskGridQuery.eq(TaskGridInfo::getTaskId, info.getId());
         taskGridQuery.orderByAsc(TaskGridInfo::getCreateTime);
         List<TaskGridInfo> taskGridInfos = taskGridInfoService.list(taskGridQuery);
         if (CollectionUtil.isNotEmpty(taskGridInfos)) {
@@ -735,12 +808,29 @@
         return true;
     }
 
-    private boolean isEquals(GridPointDTO pointDTO, GridPointDTO oldPointDTO) {
-        if(oldPointDTO==null||oldPointDTO.getX()==null){
+    /**
+     * 栅格判定方法
+     *
+     * @param pointDTO    当前栅格
+     * @param oldPointDTO 预期栅格
+     * @param robotInfo   机器信息
+     * @return
+     */
+    private boolean isEquals(GridPointDTO pointDTO, GridPointDTO oldPointDTO, RobotInfo robotInfo) {
+        if (oldPointDTO == null || oldPointDTO.getX() == null) {
             return false;
         }
-        if (pointDTO.getX().compareTo(oldPointDTO.getX()) == 0 && pointDTO.getY().compareTo(oldPointDTO.getY()) == 0) {
-            return true;
+        if (robotInfo.getResolution().compareTo(new BigDecimal(0.21)) > 0) {
+            //大于0.2则默认该点
+            if (pointDTO.getX().compareTo(oldPointDTO.getX()) == 0 && pointDTO.getY().compareTo(oldPointDTO.getY()) == 0) {
+                return true;
+            }
+        } else {
+            //小于0.2则可判定相邻栅格
+            if (pointDTO.getX().subtract(oldPointDTO.getX()).abs().intValue() <= 1 && pointDTO.getY().subtract(oldPointDTO.getY()).abs().intValue() <= 1) {
+                return true;
+            }
+
         }
         return false;
     }
@@ -756,7 +846,7 @@
         return pathInitDTO;
     }
 
-    private TaskInfo addTaskByStartTrack( RobotInfo robotInfo, StartTrackRequest request) {
+    private TaskInfo addTaskByStartTrack(RobotInfo robotInfo, StartTrackRequest request) {
         //No.2 新增任务信息
         TaskInfo taskInfo = new TaskInfo();
         String currDate = DateUtil.format(new Date(), "yyyyMMdd");
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
index 467b9c2..b8eebf0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
@@ -44,8 +44,8 @@
 
         ArrayList<String> invocation = new ArrayList<String>();
         invocation.add(exePath);
-        invocation.add("10");
-        invocation.add("10");
+        invocation.add("36");
+        invocation.add("18");
         invocation.add("5");
         invocation.add("0.16");
         invocation.add("Mission1");
@@ -58,8 +58,8 @@
         String planning = path + "search.exe";
         ArrayList<String> planInvocation = new ArrayList<String>();
         planInvocation.add(planning);
-        planInvocation.add("10");
-        planInvocation.add("1.0");
+        planInvocation.add("19");
+        planInvocation.add("8");
         planInvocation.add("0.2");
         planInvocation.add("Mission1");
         List<String> res = invokeJob(planInvocation);
diff --git a/casic-web/pom.xml b/casic-web/pom.xml
index 937b695..c793209 100644
--- a/casic-web/pom.xml
+++ b/casic-web/pom.xml
@@ -48,6 +48,11 @@
             <artifactId>spring-boot-starter-web</artifactId>
         </dependency>
         <dependency>
+            <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
             <groupId>org.springframework.boot</groupId>
             <artifactId>spring-boot-starter-actuator</artifactId>
             <exclusions>
diff --git a/casic-web/src/main/resources/config/application-dev.yml b/casic-web/src/main/resources/config/application-dev.yml
index c122d8d..455c4bf 100644
--- a/casic-web/src/main/resources/config/application-dev.yml
+++ b/casic-web/src/main/resources/config/application-dev.yml
@@ -4,9 +4,9 @@
 spring:
   datasource:
     driver-class-name: com.mysql.cj.jdbc.Driver
-    url: jdbc:mysql://111.198.10.15:11336/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
+    url: jdbc:mysql://localhost:3306/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
     username: root
-    password: Casic203
+    password: 123456
     druid:
       max-active: 50
       min-idle: 20
diff --git a/casic-web/src/main/resources/config/application-test.yml b/casic-web/src/main/resources/config/application-test.yml
index 534e2fb..67a0241 100644
--- a/casic-web/src/main/resources/config/application-test.yml
+++ b/casic-web/src/main/resources/config/application-test.yml
@@ -1,30 +1,48 @@
 server:
-  port: 11307
+  port: 8083
 ###################  spring配置  ###################
 spring:
   datasource:
-    url: jdbc:mysql://localhost:3306/casic_template?autoReconnect=true&useUnicode=true&characterEncoding=utf8&useSSL=false&allowMultiQueries=true&zeroDateTimeBehavior=convertToNull
+    driver-class-name: com.mysql.cj.jdbc.Driver
+    url: jdbc:mysql://localhost:3306/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
     username: root
-    password: Casic203!
-    initial-size: 2
-    min-idle: 1
-  jms:
-    pub-sub-domain: true
-#  session:
+    password: 123456
+    druid:
+      max-active: 50
+      min-idle: 20
+jms:
+  pub-sub-domain: true
+# session:
 #   store-type: redis
+# redis:
+#   host: 111.198.10.15
+#   port: 11412
+#   password: ew5T4K3#203lwh
+#   serializer: org.springframework.data.redis.serializer.StringRedisSerializer
+#   redisValueSerializer: org.springframework.data.redis.serializer.JdkSerializationRedisSerializer
 casic:
-  #  kaptcha-open: false #是否开启登录时验证码 (true/false)
-  nologin-urls: /user/login,/user/appLogin,/kaptcha/base64,/config/baseConfig,/route/mockToken,/workflow/**
+  #kaptcha-open: false #是否开启登录时验证码 (true/false)
+  no-login-urls: ${casic.sysUrl}/user/login,${casic.sysUrl}/user/appLogin,${casic.sysUrl}/kaptcha/base64,${casic.sysUrl}/config/baseConfig,/route/mockToken,/websocket/*,/webjars/**,/v2/api-docs,/v2/api-docs-ext,/doc.html,/v2/api-docs/swagger-ui.html,/swagger-resources
   #flowable数据源和多数据源配置
-  flowable:
-    datasource:
-      url: jdbc:mysql://localhost:3306/template_flowable?autoReconnect=true&useUnicode=true&characterEncoding=utf8&useSSL=false&allowMultiQueries=true&zeroDateTimeBehavior=convertToNull
-      username: root
-      password: Casic203!
-flowable:
-  checkProcessDefinitions: false #不校验process文件
+  db:
+    init:
+      enable: false
+  hikSdk: D:\robot\hiklib\HCNetSDK.dll
+  hikPlay: D:\robot\hiklib\PlayCtrl.dll
+  algorithm:
+    path:  D:\robot\path\
+    initPathName: init.exe
+    planPathName: search.exe
+  doc:
+    temp: D:\robot\path\report.docx
+  config:
+    export-path: D:\java\boot\guns-web-1.0.0-SNAPSHOT\export\
+    config-path: E:\Develop\IdeaProject\smartcity\casic-smartcity-dcms\casic-web\src\main\resources\config\
 logging:
   level.root: info
   level.com.casic: debug
+  level.com.casic.missiles.netty: error
+  level.com.casic.missiles.modular.neutron: error
+  level.org.springframework.web: info
   file:
-    path: logs/
\ No newline at end of file
+    path: D:\\robot\\logs
\ No newline at end of file
diff --git a/casic-web/src/main/resources/config/application.yml b/casic-web/src/main/resources/config/application.yml
index 035cb1f..d3833ab 100644
--- a/casic-web/src/main/resources/config/application.yml
+++ b/casic-web/src/main/resources/config/application.yml
@@ -20,7 +20,7 @@
     topic: /sensor_status,get_speed,/get_speed,/get_track_list_response,/get_track_response,/get_navigation_response
     completionTimeout: 2000
   redis:
-    host: 192.168.1.20
+    host: localhost
     port: 6379
     #    password: ew5T4K3#203lwh
     database: 3
diff --git a/casic-web/src/main/resources/config/path/Mission1/admatrix.txt b/casic-web/src/main/resources/config/path/Mission1/admatrix.txt
new file mode 100644
index 0000000..ce6f742
--- /dev/null
+++ b/casic-web/src/main/resources/config/path/Mission1/admatrix.txt
@@ -0,0 +1,2 @@
+0.000000000000000000e+00 0.000000000000000000e+00
+0.000000000000000000e+00 0.000000000000000000e+00
diff --git a/casic-web/src/main/resources/config/path/Mission1/expandmap.txt b/casic-web/src/main/resources/config/path/Mission1/expandmap.txt
new file mode 100644
index 0000000..647a4b8
--- /dev/null
+++ b/casic-web/src/main/resources/config/path/Mission1/expandmap.txt
@@ -0,0 +1,36 @@
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diff --git a/casic-web/src/main/resources/config/path/Mission1/separate_img.png b/casic-web/src/main/resources/config/path/Mission1/separate_img.png
new file mode 100644
index 0000000..8fc19f9
--- /dev/null
+++ b/casic-web/src/main/resources/config/path/Mission1/separate_img.png
Binary files differ
diff --git a/casic-web/src/main/resources/config/path/Mission1/separate_img.txt b/casic-web/src/main/resources/config/path/Mission1/separate_img.txt
new file mode 100644
index 0000000..e00f995
--- /dev/null
+++ b/casic-web/src/main/resources/config/path/Mission1/separate_img.txt
@@ -0,0 +1,36 @@
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diff --git a/casic-web/src/main/resources/config/path/map.txt b/casic-web/src/main/resources/config/path/map.txt
index 61e2959..f44820b 100644
--- a/casic-web/src/main/resources/config/path/map.txt
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diff --git a/casic-web/src/main/resources/config/path/map2.txt b/casic-web/src/main/resources/config/path/map2.txt
new file mode 100644
index 0000000..13dc54c
--- /dev/null
+++ b/casic-web/src/main/resources/config/path/map2.txt
@@ -0,0 +1,116 @@
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diff --git a/casic-server/pom.xml b/casic-server/pom.xml
index 3567647..c69f6ff 100644
--- a/casic-server/pom.xml
+++ b/casic-server/pom.xml
@@ -30,6 +30,11 @@
         </dependency>
         <dependency>
             <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.casic</groupId>
             <artifactId>casic-admin-support</artifactId>
             <version>${admin.version}</version>
             <scope>provided</scope>
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 a849528..4f34669 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
@@ -29,6 +29,7 @@
     String KEY_CUR_TASK_INIT = "CUR_TASK_INIT_";
 
     String KEY_COST_MAP = "KEY_COST_MAP";
+    String KEY_COST_MAP_HEIGHT = "KEY_COST_MAP_HEIGHT";
     /**
      * PSD数据ID
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
index bdfc2d0..d7736a5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/neutron/service/impl/PsdServiceImpl.java
@@ -148,7 +148,7 @@
     public void insertPsdAlarms() {
         times++;
         //先查询正在巡检任务信息
-        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 1);
+        List<TaskInfo> taskInfoList = iTaskInfoService.getTaskListByStatus(0, 1, 2);
         List<AlarmRecord> alarmRecordList = new ArrayList<>();
 
         long currentTimes = System.currentTimeMillis();
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 92c8c8e..6e94193 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
@@ -5,10 +5,7 @@
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 
 /**
  * 机器人操作类
@@ -76,4 +73,11 @@
     void reloadPcd(RobotInfo info);
 
     void startTrack(StartTrackRequest request);
+
+    /**
+     * 栅格寻点指令
+     * @param request 请求
+     * @return
+     */
+    ResponseDataDTO<Integer> targetGrid(TargetPointRequest 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 3bb475f..d8b3363 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.lang.Assert;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.base.controller.BaseController;
 import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
@@ -25,7 +26,6 @@
 import io.swagger.annotations.ApiParam;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
-import org.apache.ibatis.annotations.Param;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.web.bind.annotation.*;
 import org.springframework.web.multipart.MultipartFile;
@@ -76,6 +76,13 @@
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
+    /**
+     * /{robotId}
+     *
+     * @param file
+     * @param robotId
+     * @return
+     */
     @SneakyThrows
     @ApiOperation(value = "PCD上传接口")
     @PostMapping(value = "/uploadPcd")
@@ -109,7 +116,12 @@
         robotInfoService.updateSpeed(robotInfo);
         return ResponseDataDTO.success();
     }
-
+    @ApiOperation(value = "设置任务启动模式", notes = "返回 1成功 0失败")
+    @PostMapping(value = "/setTaskMode")
+    public ResponseDataDTO setTaskMode(@RequestBody TaskModeRequest request) {
+        robotInfoService.setTaskMode(request);
+        return ResponseDataDTO.success();
+    }
     @ApiOperation(value = "机器人数据更新", notes = "1.pcd重载 2.路线及关键点数据重载")
     @PostMapping(value = "/reload")
     public ResponseDataDTO reload(@RequestBody BaseRobotCmdDTO request) {
@@ -149,6 +161,8 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
     }
 
+
+
     /**
      * 机器人请求id
      *
@@ -161,6 +175,16 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
     }
 
+    @ApiOperation(value = "寻栅格指令")
+    @PostMapping(value = "/targetGrid")
+    public ResponseDataDTO<Integer> targetGrid(@RequestBody TargetGridRequest request) {
+        TargetPointRequest targetPointRequest = new TargetPointRequest();
+        targetPointRequest.setRobotId(request.getRobotId());
+        targetPointRequest.setX(request.getEstimateGridX());
+        targetPointRequest.setY(request.getEstimateGridY());
+        return baseRobotService.targetGrid(targetPointRequest);
+    }
+
     /**
      * 机器人请求id
      *
@@ -174,6 +198,7 @@
         if (request.getStepLen() == null) {
             request.setStepLen(2);
         }
+        log.info(JSON.toJSONString(request));
         baseRobotService.startTrack(request);
         return ResponseDataDTO.success();
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
new file mode 100644
index 0000000..709bcd3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridDTO.java
@@ -0,0 +1,23 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+@Data
+public class GridDTO {
+    /**
+     * 当前栅格x
+     */
+    private Integer currGridX;
+    /**
+     * 当前栅格y
+     */
+    private Integer currGridY;
+    /**
+     * 规划栅格x
+     */
+    private Integer estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private Integer estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
new file mode 100644
index 0000000..7eae335
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/GridPushDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.math.BigDecimal;
+@Data
+public class GridPushDTO {
+    /**
+     * 当前栅格x
+     */
+    private BigDecimal currGridX;
+    /**
+     * 当前栅格y
+     */
+    private BigDecimal currGridY;
+
+    /**
+     * 规划栅格x
+     */
+    private BigDecimal estimateGridX;
+    /**
+     * 规划栅格y
+     */
+    private BigDecimal estimateGridY;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
index acbeb93..b9ad7a3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/RobotInfoSetDTO.java
@@ -23,4 +23,8 @@
     private BigDecimal gridWidth;
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     private BigDecimal resolution;
+    @ApiModelProperty(value = "新设原点X", dataType = "BigDecimal")
+    private BigDecimal newX;
+    @ApiModelProperty(value = "新设原点Y", dataType = "BigDecimal")
+    private BigDecimal newY;
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
new file mode 100644
index 0000000..acc38f3
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dto/TaskEndMsg.java
@@ -0,0 +1,15 @@
+package com.casic.missiles.modular.robot.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+@Data
+public class TaskEndMsg implements Serializable {
+    private String robotId;
+    private String message;
+    /**
+     * 1 正常 0 异常
+     */
+    private Integer code;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
index 90e4dcf..d5ae18a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RobotInfo.java
@@ -154,7 +154,46 @@
     @ApiModelProperty(value = "栅格分辨率", dataType = "BigDecimal")
     @TableField("resolution")
     private BigDecimal resolution;
+    /**
+     * 新设定栅格原点X
+     */
+    @TableField("new_origin_x")
+    private BigDecimal newOriginX;
+    /**
+     * 新设定栅格原点Y
+     */
+    @TableField("new_origin_y")
+    private BigDecimal newOriginY;
 
+    /**
+     * 新设定栅格X
+     */
+    @TableField("new_grid_x")
+    private Integer newGridX;
+    /**
+     * 新设定栅格Y
+     */
+    @TableField("new_grid_y")
+    private Integer newGridY;
+
+    /**
+     * 裁剪右顶点X
+     */
+    @TableField("right_grid_x")
+    private Integer rightGridX;
+    @TableField("is_open")
+    private Integer isOpen;
+    /**
+     * 裁剪右顶点Y
+     */
+    @TableField("right_grid_y")
+    private Integer rightGridY;
+    public BigDecimal getNewX(){
+        return newOriginX;
+    }
+    public BigDecimal getNewY(){
+        return newOriginY;
+    }
     @Override
     public String toString() {
         return "RobotInfo{"
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
index 2cb752f..3e741d7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java
@@ -24,7 +24,10 @@
      *
      * @see com.casic.missiles.modular.robot.service.impl.TaskInfoServiceImpl
      */
-    HEAT_MAP("heat_map" , "机器人热力图");
+    HEAT_MAP("heat_map" , "机器人热力图"),
+    GRID("grid" , "栅格推送"),
+    TASK_END("task_end" , "任务结束");
+
     /**
      * 请求地址
      */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
index 88c9f79..3c93145 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppCostMapHandler.java
@@ -32,7 +32,6 @@
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
         statusInfoService.saveCostMap(robotId, message);
-
         CostMapResolutionRequest costMapSet = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
         if(costMapSet != null){
             CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CONFIG_COSTMAP_RESOLUTION_SET +robotId);
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 8a71e0b..06f8ae6 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
@@ -30,10 +30,9 @@
     public void process(String robotId, String topic, MqttMessage message) {
 
         index.put(index_key, index.get("index") + 1);
-        if (index.get(index_key)>30) {
+        if (index.get(index_key)>1) {
             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 a9d7914..755997e 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
@@ -39,10 +39,8 @@
         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);
@@ -74,10 +72,12 @@
                     robotStatusInfo.setElectricityQuantity(voltageDTO.getElectricityQuantity());
                 }
             }
+
             //读取缓存信息
             sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo);
         } catch (Exception e) {
             e.printStackTrace();
         }
+
     }
-}
+}
\ No newline at end of file
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 7940a24..40a60a1 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,9 +1,13 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.core.cache.CacheUtil;
 import com.casic.missiles.core.util.SpringContextHolder;
+import com.casic.missiles.model.exception.ServiceException;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.constants.RobotDictConstants;
 import com.casic.missiles.modular.robot.IBaseRobotService;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
@@ -11,6 +15,7 @@
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
+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.mqtt.config.MqttClientConnection;
@@ -32,11 +37,13 @@
     private final IRobotRouteOptService robotRouteOptService;
     private final IRobotInfoService robotInfoService;
     private final ITaskInfoService taskInfoService;
+    private final IAlgorithmService algorithmService;
 
-    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService) {
+    public RobotOptServiceImpl(IRobotRouteOptService robotRouteOptService, @Lazy IRobotInfoService robotInfoService, ITaskInfoService taskInfoService, @Lazy IAlgorithmService algorithmService) {
         this.robotRouteOptService = robotRouteOptService;
         this.robotInfoService = robotInfoService;
         this.taskInfoService = taskInfoService;
+        this.algorithmService = algorithmService;
     }
 
     /**
@@ -117,7 +124,7 @@
             //线路关键点读取
             if (requestDTO.getData() != null) {
                 for (RouteInfo routeInfo : requestDTO.getData()) {
-                    if("11-1 79-1".equals(routeInfo.getRouteName())){
+                    if ("11-1 79-1".equals(routeInfo.getRouteName())) {
                         continue;
                     }
                     TrackPointListRequest request = new TrackPointListRequest();
@@ -141,6 +148,7 @@
         //机器人pcd读取
         robotInfoService.loadPcd(info);
     }
+
     @Transactional
     @Override
     public void startTrack(StartTrackRequest request) {
@@ -149,6 +157,25 @@
 //        this.execCmdHandler(request, InstructCodeEnums.START_TRACK);
     }
 
+    @Override
+    public ResponseDataDTO<Integer> targetGrid(TargetPointRequest request) {
+        PoseMessageResponseDTO responseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.ROBOT_POINT + request.getRobotId());
+        if(responseDTO==null){
+            throw new ServiceException(500,"请优先开启导航");
+        }
+        RobotInfo robotInfo = robotInfoService.getById(request.getRobotId());
+        GridPointDTO gridPointDTO = new GridPointDTO();
+        //获取栅格中心点
+        GridPointDTO pointDTO =  algorithmService.convertGridCenterPoint(gridPointDTO,robotInfo.getResolution(),robotInfo);
+        request.setX(pointDTO.getX().toString());
+        request.setY(pointDTO.getY().toString());
+        request.setZ(responseDTO.getZ().toString());
+        request.setTheta(responseDTO.getTheta().toString());
+        //执行巡点指令
+        ResponseDataDTO<Integer> responseDataDTO = this.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
+        return responseDataDTO;
+    }
+
     public IRobotRouteOptService getRobotRouteOptService() {
         return robotRouteOptService;
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
new file mode 100644
index 0000000..7d69964
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetGridRequest.java
@@ -0,0 +1,19 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 获取循迹路线下发指令
+ */
+@Data
+public class TargetGridRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "栅格x坐标", dataType = "String")
+    private String estimateGridX;
+    @ApiModelProperty(value = "栅格y坐标", dataType = "String")
+    private String estimateGridY;
+    @ApiModelProperty(value = "z坐标", dataType = "String")
+    private String z;
+    @ApiModelProperty(value = "theta", dataType = "String")
+    private String theta;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
new file mode 100644
index 0000000..763656b
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TaskModeRequest.java
@@ -0,0 +1,13 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 导航下发指令
+ */
+@Data
+public class TaskModeRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "控制模式 1:手动 0:自动", dataType = "String")
+    private Integer isOpen;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
index 8c95459..89697b8 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRobotInfoService.java
@@ -6,6 +6,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TaskModeRequest;
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 
 import java.util.List;
@@ -52,4 +53,6 @@
      * @param dto 栅格信息
      */
     void updateRobotGrid(String robotId, AppCostmapResponseDTO dto);
+
+    void setTaskMode(TaskModeRequest request);
 }
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 a4dbe0b..a6f5116 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
@@ -167,24 +167,35 @@
         y = y.subtract(robotInfo.getOriginY());
         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));
+
+        //todo  原点栅格转换,减去相对原点值
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewGridY())));
         return pointDTO;
     }
 
     /**
+     * do栅格转xy
      * 根据栅格读取栅格中心点位信息
      *
      * @param pointDTO 栅格信息
      * @return
      */
     public GridPointDTO convertGridCenterPoint(GridPointDTO pointDTO, BigDecimal resolution, RobotInfo robotInfo) {
+
+        pointDTO.setX(pointDTO.getX().add(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().add(new BigDecimal(robotInfo.getNewGridY())));
+
         GridPointDTO centerPoint = new GridPointDTO();
         BigDecimal scale = resolution;
         //点位转换 转换后栅格－1 从1开始计算
         BigDecimal slamX = (pointDTO.getX().subtract(new BigDecimal(1))).multiply(scale);
         BigDecimal slamY = (pointDTO.getY().subtract(new BigDecimal(1))).multiply(scale);
+
         //中心栅格点位中心添加
         centerPoint.setX(slamX.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
         centerPoint.setY(slamY.add(scale.divide(new BigDecimal(2), 10, BigDecimal.ROUND_HALF_UP)));
+
         //加上栅格原点坐标
         centerPoint.setX(centerPoint.getX().add(robotInfo.getOriginX()));
         centerPoint.setY(centerPoint.getY().add(robotInfo.getOriginY()));
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
index e2879ce..f825e84 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotCacheServiceImpl.java
@@ -9,6 +9,8 @@
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.IRobotCacheService;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.data.redis.core.RedisTemplate;
 import org.springframework.stereotype.Service;
 
 @Service
@@ -18,7 +20,8 @@
     public RobotCacheServiceImpl(IRobotInfoService robotInfoService) {
         this.robotInfoService = robotInfoService;
     }
-
+    @Autowired
+    private RedisTemplate<String, Object> redisTemplate;
     @Override
     public synchronized boolean updateTaskId(Long robotId, Long taskId) {
         //读取当前机器人任务信息
@@ -83,12 +86,14 @@
 
     @Override
     public void updateCostMap(String robotId, AppCostmapResponseDTO msg) {
-        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
+        redisTemplate.opsForValue().set(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId,msg);
+//        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId, msg);
     }
 
     @Override
     public AppCostmapResponseDTO getCostMap(String robotId) {
-        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+       return (AppCostmapResponseDTO) redisTemplate.opsForValue().get(RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
+//        return CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_COST_MAP_ID + robotId);
     }
 
     @Override
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
index fdded64..cdbbe89 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotInfoServiceImpl.java
@@ -12,11 +12,13 @@
 import com.casic.missiles.core.application.service.AbstractDictService;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dao.RobotInfoMapper;
+import com.casic.missiles.modular.robot.dto.GridPointDTO;
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.*;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.dto.CostMapResolutionRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.DataRecordRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TaskModeRequest;
 import com.casic.missiles.modular.robot.opt.instruct.response.AppCostmapResponseDTO;
 import com.casic.missiles.modular.robot.service.*;
 import com.casic.missiles.modular.robot.utils.PcdDownUtil;
@@ -51,16 +53,18 @@
     private final IDeviceInfoService deviceInfoService;
     private final IRobotPointInfoService pointInfoService;
     private final IBaseRobotService baseRobotService;
+    private final IAlgorithmService algorithmService;
     @Value("${casic.file.uploadPath}")
     private String filePath;
 
-    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService, @Lazy IBaseRobotService baseRobotService) {
+    public RobotInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService, AbstractDictService dictService, @Lazy IRouteInfoService routeInfoService, @Lazy IDeviceInfoService deviceInfoService, @Lazy IRobotPointInfoService pointInfoService, @Lazy IBaseRobotService baseRobotService, @Lazy IAlgorithmService algorithmService) {
         this.robotStatusInfoService = robotStatusInfoService;
         this.dictService = dictService;
         this.routeInfoService = routeInfoService;
         this.deviceInfoService = deviceInfoService;
         this.pointInfoService = pointInfoService;
         this.baseRobotService = baseRobotService;
+        this.algorithmService = algorithmService;
     }
 
     @Transactional
@@ -96,15 +100,30 @@
         }
         if (robotInfo.getAlarmThreshold() != null) {
             update.set(RobotInfo::getAlarmThreshold, robotInfo.getAlarmThreshold());
+            update.set(RobotInfo::getMaxThreshold, robotInfo.getAlarmThreshold());
         }
         if (robotInfo.getGridHeight() != null && robotInfo.getGridWidth() != null) {
+            RobotInfo oldRobotInfo = getById(robotInfo.getId());
             update.set(RobotInfo::getGridHeight, robotInfo.getGridHeight());
             update.set(RobotInfo::getGridWidth, robotInfo.getGridWidth());
             update.set(RobotInfo::getResolution, robotInfo.getResolution());
+            update.set(RobotInfo::getNewOriginX, robotInfo.getNewX());
+            update.set(RobotInfo::getNewOriginY, robotInfo.getNewY());
+            //计算左下原点
+            oldRobotInfo.setNewGridX(0);
+            oldRobotInfo.setNewGridY(0);
+            GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(robotInfo.getNewX(), robotInfo.getNewY(), robotInfo.getResolution(), oldRobotInfo);
+            update.set(RobotInfo::getNewGridX, gridPointDTO.getX().intValue());
+            update.set(RobotInfo::getNewGridY, gridPointDTO.getY().intValue());
+            //计算右顶点
+            Integer rightX = robotInfo.getGridWidth().divide(robotInfo.getResolution(), 0, BigDecimal.ROUND_HALF_UP).intValue();
+            Integer rightY = robotInfo.getGridHeight().divide(robotInfo.getResolution(), 0, BigDecimal.ROUND_HALF_UP).intValue();
+            update.set(RobotInfo::getRightGridX, rightX);
+            update.set(RobotInfo::getRightGridY, rightY);
+
             //下发障碍物栅格
             sendCostMapResolution(robotInfo.getResolution(), robotInfo.getId());
-            //重新生成栅格地图
-            //sendChangePcd(robotInfo.getId());
+
         }
         update.eq(RobotInfo::getId, robotInfo.getId());
         update(update);
@@ -162,6 +181,16 @@
         update(lambdaUpdateWrapper);
     }
 
+    @Override
+    public void setTaskMode(TaskModeRequest request) {
+        if (request.getRobotId() != null) {
+            LambdaUpdateWrapper<RobotInfo> lambdaUpdateWrapper = new LambdaUpdateWrapper<>();
+            lambdaUpdateWrapper.set(RobotInfo::getIsOpen, request.getIsOpen());
+            lambdaUpdateWrapper.eq(RobotInfo::getId, request.getRobotId());
+            update(lambdaUpdateWrapper);
+        }
+    }
+
     @Transactional
     @Override
     public List<RobotInfo> list(Wrapper<RobotInfo> queryWrapper) {
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 46b5c3b..f52940c 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
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.collection.CollectionUtil;
 import cn.hutool.core.convert.Convert;
+import cn.hutool.core.io.FileUtil;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.Wrapper;
@@ -13,9 +14,9 @@
 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.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgDTO;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO;
@@ -27,7 +28,6 @@
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.IRobotStatusInfoService;
 import lombok.extern.slf4j.Slf4j;
-import org.aspectj.util.FileUtil;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.context.annotation.Lazy;
@@ -38,8 +38,8 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.ArrayList;
-import java.util.Arrays;
 import java.util.List;
+import java.util.stream.Collectors;
 
 
 /**
@@ -81,6 +81,11 @@
     }
 
     private void wrapInfo(RobotStatusInfo statusInfo) {
+        // todo 报错
+        StopStateResponseDTO stopStateResponseDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.STOP_STATE + statusInfo.getRobotId());
+        if (stopStateResponseDTO != null) {
+            statusInfo.setSoft(stopStateResponseDTO.getSoft());
+        }
         statusInfo.setDiscernTypeName(getDictName("discernType", statusInfo.getDiscernType()));
 
         //暂停状态
@@ -262,6 +267,8 @@
      */
     @Value("${casic.algorithm.num:30}")
     private Integer num;
+    @Value("${casic.obstacle:60}")
+    private Integer obstacle;
 
     /**
      * 机器人栅格数据
@@ -276,7 +283,6 @@
         });
         if (responseDTO != null && responseDTO.getMsg() != null) {
             //发送栅格分辨率设定
-
             cacheService.updateCostMap(robotId, responseDTO.getMsg());
             robotInfoService.updateRobotGrid(robotId, responseDTO.getMsg());
             //log.info("--------------- json data:{}", JSON.toJSONString(responseDTO.getMsg()));
@@ -290,24 +296,102 @@
                         } else {
                             dataNums.add(1);
                         }
+                    } else {
+                        dataNums.add(-1);
                     }
                 }
-                writeCache(dataNums,responseDTO.getMsg().getWidth(),responseDTO.getMsg().getHeight(),robotId);
+                writeCache(dataNums, responseDTO.getMsg().getWidth(), responseDTO.getMsg().getHeight(), robotId);
             }
         }
     }
 
-    private void writeCache(ArrayList<Integer> integers,Integer width,Integer height,String robotId) {
-        List<List<Integer>> arrays = CollectionUtil.split(integers,width);
+    private void writeCache(ArrayList<Integer> integers, Integer width, Integer height, String robotId) {
+        List<List<Integer>> arrays = CollectionUtil.split(integers, width);
         ArrayList<ArrayList<Integer>> arrayList = new ArrayList<>();
         for (List<Integer> array : arrays) {
-            arrayList.add((ArrayList)array);
+            ArrayList list =(ArrayList)array.stream().filter(integer -> integer>=0).collect(Collectors.toList());
+            arrayList.add(list);
         }
         CollectionUtil.reverse(arrayList);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId, arrayList);
-//        FileUtil.writeAsString(new File(path + "map.txt"), CollectionUtil.join(integers, " ").replaceAll("\\[", "").replaceAll("]", ""));
+        //写入栅格宽度
+        CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId, height);
+
+        writeCost(arrayList,width,height,robotId);
+    }
+    /**
+     * slam经纬度转换为栅格
+     *
+     * @param x slam x
+     * @param y slam y
+     */
+    public GridPointDTO convertSlamToGrid(BigDecimal x, BigDecimal y, BigDecimal resolution, RobotInfo robotInfo) {
+        GridPointDTO pointDTO = new GridPointDTO();
+        BigDecimal scale = resolution;
+        //减去栅格原点坐标
+        x = x.subtract(robotInfo.getOriginX());
+        y = y.subtract(robotInfo.getOriginY());
+        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));
+
+        //todo  原点栅格转换,减去相对原点值
+        pointDTO.setX(pointDTO.getX().subtract(new BigDecimal(robotInfo.getNewGridX())));
+        pointDTO.setY(pointDTO.getY().subtract(new BigDecimal(robotInfo.getNewGridY())));
+        return pointDTO;
     }
 
+    private void writeCost(ArrayList<ArrayList<Integer>> costList,Integer width, Integer height,String robotId){
+        List<String> strs = new ArrayList<>();
+        List<String> strs2 = new ArrayList<>();
+        RobotInfo robotInfo = cacheService.getRobotInfo(Long.valueOf(robotId));
+        if(robotInfo==null||robotInfo.getGridWidth()==null||robotInfo.getResolution() ==null){
+            log.info("robot gridHeight is not found....");
+            return;
+        }
+
+        //计算左下角位置
+        Integer newX = robotInfo.getNewGridX();
+        Integer newY = height-robotInfo.getNewGridY();
+//        log.info("left point:({},{})",robotInfo.getNewGridX(),robotInfo.getNewGridY());
+        //计算右上角位置
+        Integer rightX = robotInfo.getRightGridX();
+        Integer rightY = height-robotInfo.getRightGridY();
+//        log.info("right point:({},{})",rightX,rightY);
+
+        //裁剪栅格
+        List<List<Integer>> newCostList = new ArrayList<>();
+        for (int i = 0; i < costList.size(); i++) {
+            if(i<=newY&&i>=rightY){
+                List<Integer> newList = new ArrayList<>();
+                List<Integer> sourceList= costList.get(i);
+                for (int j = 0; j < sourceList.size(); j++) {
+                    if(j>=newX&&j<=rightX){
+                        newList.add(sourceList.get(j));
+                    }
+                }
+                newCostList.add(newList);
+            }
+        }
+
+        for (List<Integer> list : newCostList) {
+            strs2.add(CollectionUtil.join(list, " "));
+        }
+
+        FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+        //行转列 为算法输入数据
+        if(CollectionUtil.isNotEmpty(newCostList)){
+            CollectionUtil.reverse(newCostList);
+            for (int i = 0; i < newCostList.get(0).size(); i++) {
+                ArrayList<Integer> ints = new ArrayList<>();
+                for (List<Integer> list : newCostList) {
+                    ints.add(list.get(i));
+                }
+                strs.add(CollectionUtil.join(ints, " "));
+            }
+        }
+
+        FileUtil.writeLines(strs, new File(path + "map3.txt"), "utf-8");
+    }
     @Override
     public void updateRobotPoint(PoseMessageResponseDTO dto, String robotId) {
         UpdateWrapper<RobotStatusInfo> query = new UpdateWrapper<>();
@@ -327,7 +411,6 @@
             json = json.substring(0, json.length() - 1);
         }
         json = json.replaceAll("\\\\", "");
-//        log.info(json);
         RobotResponseDTO<R> responseDTO = JSON.parseObject(json, cls);
         return responseDTO;
     }
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 f1262a2..cb7aa09 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
@@ -69,17 +69,6 @@
             } catch (Exception e) {
                 log.error("task error", e);
             }
-//            if (routeId != null) {
-//                RobotTrajectoryInfo info = new RobotTrajectoryInfo();
-//                info.setRobotId(Long.valueOf(robotId));
-//                info.setCreateTime(new Date());
-//                info.setPostionX(dto.getX());
-//                info.setPostionY(dto.getY());
-//                info.setPostionZ(dto.getZ());
-//                info.setTheta(dto.getTheta());
-//                save(info);
-
-//            }
         }
     }
 
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 fd49e2e..6a0e719 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
@@ -47,6 +47,7 @@
 import java.io.Serializable;
 import java.math.BigDecimal;
 import java.util.*;
+import java.util.concurrent.atomic.AtomicInteger;
 
 
 /**
@@ -81,15 +82,16 @@
     /**
      * 5000 ms
      */
-    @Value("${casic.task.duration:3000}")
+    @Value("${casic.task.duration:2000}")
     private Integer stayDuration;
     @Value("${casic.algorithm.path:-1}")
     private String path;
     /**
      * 障碍物精度
      */
-    @Value("${casic.obstacle:10}")
+    @Value("${casic.obstacle:60}")
     private Integer obstacle;
+    private volatile AtomicInteger atomicInteger = new AtomicInteger();
 
     public TaskInfoServiceImpl(@Lazy IRouteInfoService routeInfoService, IRobotStatusInfoService statusInfoService, AbstractDictService dictService, @Lazy IAlarmRecordService recordService, @Lazy ITaskHeatMapService taskHeatMapService, IAlgorithmService algorithmService, IRobotCacheService cacheService, @Lazy IBaseRobotService baseRobotService, ITaskInfoImgService imgService, ITaskGridInfoService taskGridInfoService) {
         this.routeInfoService = routeInfoService;
@@ -128,7 +130,30 @@
         } catch (Exception e) {
             log.error(e.getMessage());
         }
-
+    }
+    protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, GridPushDTO gridPushDTO) {
+        try {
+            WsMsgBaseDTO<GridPushDTO> wsMsgBaseDTO = new WsMsgBaseDTO<GridPushDTO>();
+            wsMsgBaseDTO.setMsgKey(enums.getMsgKey());
+            wsMsgBaseDTO.setData(gridPushDTO);
+            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());
+        }
+    }
+    protected void sendTaskMsg(InstructStatusMsgEnums enums, String robotId, TaskEndMsg heatMap) {
+        try {
+            WsMsgBaseDTO<TaskEndMsg> wsMsgBaseDTO = new WsMsgBaseDTO<TaskEndMsg>();
+            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());
+        }
     }
 
     @Override
@@ -187,11 +212,11 @@
 
     private void openTask(StartTrackRequest request, String robotId) {
         QueryWrapper<RouteInfo> query = new QueryWrapper<>();
-        query.eq("target_id", request.getTrack_name());
-        List<RouteInfo> routeInfos = routeInfoService.list(query);
-        if (CollectionUtil.isEmpty(routeInfos)) {
-            throw new ServiceException(500, "路线不存在,请及时更新");
-        }
+//        query.eq("target_id", request.getTrack_name());
+//        List<RouteInfo> routeInfos = routeInfoService.list(query);
+//        if (CollectionUtil.isEmpty(routeInfos)) {
+//            throw new ServiceException(500, "路线不存在,请及时更新");
+//        }
 //        RouteInfo routeInfo = routeInfos.get(0);
         Integer isTask = 0;
         //开启寻源任务
@@ -201,12 +226,12 @@
         RobotInfo robotInfo = cacheService.getRobotInfo(Convert.toLong(robotId));
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_IS_TASK + robotId, isTask);
         //添加任务记录
-        TaskInfo taskInfo = addTaskByStartTrack( robotInfo, request);
+        TaskInfo taskInfo = addTaskByStartTrack(robotInfo, request);
         //No.3 更新器人执行任务信息
 //        Long currRouteId = routeInfo.getId();
         Long currTaskId = taskInfo.getId();
 
-        statusInfoService.updateCurrTask(robotId,  currTaskId);
+        statusInfoService.updateCurrTask(robotId, currTaskId);
         //算法初始化标志创建
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_ID + robotId, currTaskId);
         CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TASK_INIT + robotId, 0);
@@ -230,7 +255,7 @@
         robotCacheClean(robotId);
         //清楚规划任务锁
         CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_PLANING_FLAG + robotId);
-        CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID+ robotId);
+        CacheUtil.remove(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId);
         //清空机器当前任务
         statusInfoService.updateCurrTask(robotId, null);
     }
@@ -304,7 +329,7 @@
         //No.1 任务初始化
         pathInit(longId, robotInfo, pointDTO, taskId, robotId, taskInfo.getStepLen());
         //No.2 路线规划
-        pathPlaning(longId, robotInfo, pointDTO, taskId, robotId, taskInfo,dto);
+        pathPlaning(longId, robotInfo, pointDTO, taskId, robotId, taskInfo, dto);
     }
 
     /**
@@ -329,7 +354,7 @@
      * @param taskId    任务ID
      * @param robotId   机器人ID
      */
-    private void pathPlaning(Long longId, RobotInfo robotInfo, GridPointDTO pointDTO, Long taskId, String robotId, TaskInfo taskInfo,PoseMessageResponseDTO curPoint) {
+    private void pathPlaning(Long longId, RobotInfo robotInfo, GridPointDTO pointDTO, Long taskId, String robotId, TaskInfo taskInfo, PoseMessageResponseDTO curPoint) {
         if (taskId != null) {
             //规划节点
             PointNextDTO pointNextDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId);
@@ -337,12 +362,24 @@
             Boolean flag = lockPlanIngFlag(robotId);
             //是否到达预期栅格
             if (!flag) {
-                log.info("未获取到规划任务,直接结束：{}",pointDTO);
                 return;
             }
+            log.info("curr point:{}", curPoint);
+            log.debug("curr pointGrid:{}", pointDTO);
+            log.debug("oldEstimateGrid:{}", oldEstimateGrid);
+
+            GridPushDTO gridPushDTO = new GridPushDTO();
+            gridPushDTO.setCurrGridX(pointDTO.getX());
+            gridPushDTO.setCurrGridY(pointDTO.getY());
+            if(oldEstimateGrid!=null){
+                gridPushDTO.setEstimateGridX(oldEstimateGrid.getX());
+                gridPushDTO.setEstimateGridY(oldEstimateGrid.getY());
+            }
+            sendWebSocket(InstructStatusMsgEnums.GRID, robotId, gridPushDTO);
+
             try {
-                log.debug("oldEstimateGrid:{}", oldEstimateGrid);
-                if (pointNextDTO == null || isEquals(pointDTO, oldEstimateGrid)) {
+                if (pointNextDTO == null || oldEstimateGrid == null || isEquals(pointDTO, oldEstimateGrid, robotInfo)) {
+                    atomicInteger = new AtomicInteger(0);
                     log.info("当前栅格变更......", pointDTO);
                     CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_POINT + robotId, pointDTO);
                     //算法调用获取热力图
@@ -358,19 +395,24 @@
                     //存储算法输出栅格信息
                     AlgorithmResponse response = algorithmService.pathPlanning(pathPlanDTO);
                     CacheUtil.put(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_ESTIMATE_GRID + robotId, response.getPointNextDTO());
-                    sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
 
-                    //存储循迹任务信息
-                    TaskGridInfo taskGridInfo = new TaskGridInfo();
-                    taskGridInfo.setCreateTime(new Date());
-                    taskGridInfo.setUpdateTime(new Date());
-                    taskGridInfo.setCurGridX(pointDTO.getX().intValue());
-                    taskGridInfo.setCurGridY(pointDTO.getY().intValue());
-                    taskGridInfo.setNeutronCount(new BigDecimal(pathPlanDTO.getZNow()));
-                    taskGridInfo.setEstimateGridX(response.getPointNextDTO().getX());
-                    taskGridInfo.setEstimateGridY(response.getPointNextDTO().getY());
-                    taskGridInfo.setTaskId(taskId);
-                    taskGridInfoService.save(taskGridInfo);
+                    new Thread() {
+                        @Override
+                        public void run() {
+                            //存储循迹任务信息
+                            TaskGridInfo taskGridInfo = new TaskGridInfo();
+                            taskGridInfo.setCreateTime(new Date());
+                            taskGridInfo.setUpdateTime(new Date());
+                            taskGridInfo.setCurGridX(pointDTO.getX().intValue());
+                            taskGridInfo.setCurGridY(pointDTO.getY().intValue());
+                            taskGridInfo.setNeutronCount(new BigDecimal(pathPlanDTO.getZNow()));
+                            taskGridInfo.setEstimateGridX(response.getPointNextDTO().getX());
+                            taskGridInfo.setEstimateGridY(response.getPointNextDTO().getY());
+                            taskGridInfo.setTaskId(taskId);
+                            taskGridInfoService.save(taskGridInfo);
+                            sendWebSocket(InstructStatusMsgEnums.HEAT_MAP, robotId, response.getTaskHeatMap());
+                        }
+                    }.start();
 
                     try {
                         //停留时间阈值
@@ -381,11 +423,13 @@
 
                     //是否触发停止状态
                     if (!response.isEnd()) {
-                        log.debug("task planning-- xun dian robotId:{},taskId:{}", robotId, taskId);
                         //机器人寻点指令下发
-                        sendTargetPoint(robotInfo, response,curPoint);
+                        if (robotInfo.getIsOpen() == null || robotInfo.getIsOpen() == 0) {
+                            sendTargetPoint(robotInfo, response, curPoint);
+                        } else {
+                            log.debug("task mode isOpen:{}", robotInfo.getIsOpen());
+                        }
                     } else {
-                        log.debug("task stop-- robotId:{},taskId:{}", robotId, taskId);
                         //机器人停止指令下发
                         SoftwareStopRequest request = new SoftwareStopRequest();
                         request.setRobotId(robotInfo.getId());
@@ -394,6 +438,15 @@
 //                        baseRobotService.execCmdHandler(request, InstructCodeEnums.SOFTWARE_STOP);
                         //循迹任务结束
                         closeTask(null, robotId);
+                        TaskEndMsg endMsg = new TaskEndMsg();
+                        endMsg.setCode(1);
+                        endMsg.setRobotId(robotId);
+                        endMsg.setMessage("寻源结束");
+                        sendTaskMsg(InstructStatusMsgEnums.TASK_END, robotId, endMsg);
+                    }
+                } else {
+                    if (!isChange(pointDTO, oldEstimateGrid)) {
+                        atomicInteger.incrementAndGet();
                     }
                 }
             } catch (Exception e) {
@@ -429,37 +482,56 @@
         Integer initValue = cacheService.readTaskInit(longId);
         //No.1 任务初始化
         if (initValue != 1) {
-
             //执行初始化操作
             if (cacheService.updateTaskInit(longId, 1)) {
-
                 List<List<Integer>> costList = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP + robotId);
                 List<String> strs = new ArrayList<>();
                 List<String> strs2 = new ArrayList<>();
-                for (List<Integer> list : costList) {
+                Integer height = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_COST_MAP_HEIGHT + robotId);
+                if (height == null) {
+                    throw new ServiceException(500, "未获取到栅格宽度信息");
+                }
+                Integer newX = robotInfo.getNewGridX();
+                Integer newY = height - robotInfo.getNewGridY();
+
+                //裁剪栅格
+                List<List<Integer>> newCostList = new ArrayList<>();
+                for (int i = 0; i < costList.size(); i++) {
+                    if (i <= newY) {
+                        List<Integer> newList = new ArrayList<>();
+                        List<Integer> sourceList = costList.get(i);
+                        for (int j = 0; j < sourceList.size(); j++) {
+                            if (j >= newX) {
+                                newList.add(sourceList.get(j));
+                            }
+                        }
+                        newCostList.add(newList);
+                    }
+                }
+                //数组转换
+                for (List<Integer> list : newCostList) {
                     strs2.add(CollectionUtil.join(list, " "));
                 }
                 FileUtil.writeLines(strs2, new File(path + "map2.txt"), "utf-8");
+
                 //行转列 为算法输入数据
-                if(CollectionUtil.isNotEmpty(costList)){
-                    CollectionUtil.reverse(costList);
-                    for (int i = 0; i < costList.get(0).size(); i++) {
+                if (CollectionUtil.isNotEmpty(newCostList)) {
+                    CollectionUtil.reverse(newCostList);
+                    for (int i = 0; i < newCostList.get(0).size(); i++) {
                         ArrayList<Integer> ints = new ArrayList<>();
-                        for (List<Integer> list : costList) {
+                        for (List<Integer> list : newCostList) {
                             ints.add(list.get(i));
                         }
                         strs.add(CollectionUtil.join(ints, " "));
                     }
-//                    CollectionUtil.reverse(strs);
                 }
-
-
                 FileUtil.writeLines(strs, new File(path + "map.txt"), "utf-8");
 
-                PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId, stepLen);
                 //中子源计数率读取
+                PathInitDTO pathInitDTO = createInitDTO(robotInfo, pointDTO, taskId, robotId, stepLen);
                 pathInitDTO.setZNow(cacheService.getNeutronCount(longId));
                 log.info("init params:{}", JSON.toJSONString(pathInitDTO));
+
                 //执行1次算法 初始化操作
                 algorithmService.pathPlanningInit(pathInitDTO);
             }
@@ -551,7 +623,7 @@
      * @param robotInfo 机器人信息
      * @param response  算法输出数据
      */
-    private void sendTargetPoint(RobotInfo robotInfo, AlgorithmResponse response,PoseMessageResponseDTO curPoint) {
+    private void sendTargetPoint(RobotInfo robotInfo, AlgorithmResponse response, PoseMessageResponseDTO curPoint) {
         //读取已设置巡点目标信息
         PointNextDTO nextDTO = CacheUtil.get(RobotDictConstants.CACHE_SCHEMA, RobotDictConstants.KEY_CUR_TARGET_POINT_ID + robotInfo.getId());
         //巡点
@@ -565,6 +637,7 @@
             request.setZ(curPoint.getZ().toString());
             request.setTheta(curPoint.getTheta().toString());
             request.setRobotId(robotInfo.getId());
+            log.info("下发寻源点位:{}", request);
             //执行巡点指令
             baseRobotService.execCmdHandler(request, InstructCodeEnums.SET_TARGETPOINT);
             //重设寻点点位
@@ -632,7 +705,7 @@
         //读取
         Integer index = 1;
         LambdaQueryWrapper<TaskGridInfo> taskGridQuery = new LambdaQueryWrapper<>();
-        taskGridQuery.eq(TaskGridInfo::getTaskId,info.getId());
+        taskGridQuery.eq(TaskGridInfo::getTaskId, info.getId());
         taskGridQuery.orderByAsc(TaskGridInfo::getCreateTime);
         List<TaskGridInfo> taskGridInfos = taskGridInfoService.list(taskGridQuery);
         if (CollectionUtil.isNotEmpty(taskGridInfos)) {
@@ -735,12 +808,29 @@
         return true;
     }
 
-    private boolean isEquals(GridPointDTO pointDTO, GridPointDTO oldPointDTO) {
-        if(oldPointDTO==null||oldPointDTO.getX()==null){
+    /**
+     * 栅格判定方法
+     *
+     * @param pointDTO    当前栅格
+     * @param oldPointDTO 预期栅格
+     * @param robotInfo   机器信息
+     * @return
+     */
+    private boolean isEquals(GridPointDTO pointDTO, GridPointDTO oldPointDTO, RobotInfo robotInfo) {
+        if (oldPointDTO == null || oldPointDTO.getX() == null) {
             return false;
         }
-        if (pointDTO.getX().compareTo(oldPointDTO.getX()) == 0 && pointDTO.getY().compareTo(oldPointDTO.getY()) == 0) {
-            return true;
+        if (robotInfo.getResolution().compareTo(new BigDecimal(0.21)) > 0) {
+            //大于0.2则默认该点
+            if (pointDTO.getX().compareTo(oldPointDTO.getX()) == 0 && pointDTO.getY().compareTo(oldPointDTO.getY()) == 0) {
+                return true;
+            }
+        } else {
+            //小于0.2则可判定相邻栅格
+            if (pointDTO.getX().subtract(oldPointDTO.getX()).abs().intValue() <= 1 && pointDTO.getY().subtract(oldPointDTO.getY()).abs().intValue() <= 1) {
+                return true;
+            }
+
         }
         return false;
     }
@@ -756,7 +846,7 @@
         return pathInitDTO;
     }
 
-    private TaskInfo addTaskByStartTrack( RobotInfo robotInfo, StartTrackRequest request) {
+    private TaskInfo addTaskByStartTrack(RobotInfo robotInfo, StartTrackRequest request) {
         //No.2 新增任务信息
         TaskInfo taskInfo = new TaskInfo();
         String currDate = DateUtil.format(new Date(), "yyyyMMdd");
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
index 467b9c2..b8eebf0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/utils/AlgorithmUtils.java
@@ -44,8 +44,8 @@
 
         ArrayList<String> invocation = new ArrayList<String>();
         invocation.add(exePath);
-        invocation.add("10");
-        invocation.add("10");
+        invocation.add("36");
+        invocation.add("18");
         invocation.add("5");
         invocation.add("0.16");
         invocation.add("Mission1");
@@ -58,8 +58,8 @@
         String planning = path + "search.exe";
         ArrayList<String> planInvocation = new ArrayList<String>();
         planInvocation.add(planning);
-        planInvocation.add("10");
-        planInvocation.add("1.0");
+        planInvocation.add("19");
+        planInvocation.add("8");
         planInvocation.add("0.2");
         planInvocation.add("Mission1");
         List<String> res = invokeJob(planInvocation);
diff --git a/casic-web/pom.xml b/casic-web/pom.xml
index 937b695..c793209 100644
--- a/casic-web/pom.xml
+++ b/casic-web/pom.xml
@@ -48,6 +48,11 @@
             <artifactId>spring-boot-starter-web</artifactId>
         </dependency>
         <dependency>
+            <groupId>com.casic</groupId>
+            <artifactId>casic-cache-redis</artifactId>
+            <version>${extension.version}</version>
+        </dependency>
+        <dependency>
             <groupId>org.springframework.boot</groupId>
             <artifactId>spring-boot-starter-actuator</artifactId>
             <exclusions>
diff --git a/casic-web/src/main/resources/config/application-dev.yml b/casic-web/src/main/resources/config/application-dev.yml
index c122d8d..455c4bf 100644
--- a/casic-web/src/main/resources/config/application-dev.yml
+++ b/casic-web/src/main/resources/config/application-dev.yml
@@ -4,9 +4,9 @@
 spring:
   datasource:
     driver-class-name: com.mysql.cj.jdbc.Driver
-    url: jdbc:mysql://111.198.10.15:11336/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
+    url: jdbc:mysql://localhost:3306/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
     username: root
-    password: Casic203
+    password: 123456
     druid:
       max-active: 50
       min-idle: 20
diff --git a/casic-web/src/main/resources/config/application-test.yml b/casic-web/src/main/resources/config/application-test.yml
index 534e2fb..67a0241 100644
--- a/casic-web/src/main/resources/config/application-test.yml
+++ b/casic-web/src/main/resources/config/application-test.yml
@@ -1,30 +1,48 @@
 server:
-  port: 11307
+  port: 8083
 ###################  spring配置  ###################
 spring:
   datasource:
-    url: jdbc:mysql://localhost:3306/casic_template?autoReconnect=true&useUnicode=true&characterEncoding=utf8&useSSL=false&allowMultiQueries=true&zeroDateTimeBehavior=convertToNull
+    driver-class-name: com.mysql.cj.jdbc.Driver
+    url: jdbc:mysql://localhost:3306/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
     username: root
-    password: Casic203!
-    initial-size: 2
-    min-idle: 1
-  jms:
-    pub-sub-domain: true
-#  session:
+    password: 123456
+    druid:
+      max-active: 50
+      min-idle: 20
+jms:
+  pub-sub-domain: true
+# session:
 #   store-type: redis
+# redis:
+#   host: 111.198.10.15
+#   port: 11412
+#   password: ew5T4K3#203lwh
+#   serializer: org.springframework.data.redis.serializer.StringRedisSerializer
+#   redisValueSerializer: org.springframework.data.redis.serializer.JdkSerializationRedisSerializer
 casic:
-  #  kaptcha-open: false #是否开启登录时验证码 (true/false)
-  nologin-urls: /user/login,/user/appLogin,/kaptcha/base64,/config/baseConfig,/route/mockToken,/workflow/**
+  #kaptcha-open: false #是否开启登录时验证码 (true/false)
+  no-login-urls: ${casic.sysUrl}/user/login,${casic.sysUrl}/user/appLogin,${casic.sysUrl}/kaptcha/base64,${casic.sysUrl}/config/baseConfig,/route/mockToken,/websocket/*,/webjars/**,/v2/api-docs,/v2/api-docs-ext,/doc.html,/v2/api-docs/swagger-ui.html,/swagger-resources
   #flowable数据源和多数据源配置
-  flowable:
-    datasource:
-      url: jdbc:mysql://localhost:3306/template_flowable?autoReconnect=true&useUnicode=true&characterEncoding=utf8&useSSL=false&allowMultiQueries=true&zeroDateTimeBehavior=convertToNull
-      username: root
-      password: Casic203!
-flowable:
-  checkProcessDefinitions: false #不校验process文件
+  db:
+    init:
+      enable: false
+  hikSdk: D:\robot\hiklib\HCNetSDK.dll
+  hikPlay: D:\robot\hiklib\PlayCtrl.dll
+  algorithm:
+    path:  D:\robot\path\
+    initPathName: init.exe
+    planPathName: search.exe
+  doc:
+    temp: D:\robot\path\report.docx
+  config:
+    export-path: D:\java\boot\guns-web-1.0.0-SNAPSHOT\export\
+    config-path: E:\Develop\IdeaProject\smartcity\casic-smartcity-dcms\casic-web\src\main\resources\config\
 logging:
   level.root: info
   level.com.casic: debug
+  level.com.casic.missiles.netty: error
+  level.com.casic.missiles.modular.neutron: error
+  level.org.springframework.web: info
   file:
-    path: logs/
\ No newline at end of file
+    path: D:\\robot\\logs
\ No newline at end of file
diff --git a/casic-web/src/main/resources/config/application.yml b/casic-web/src/main/resources/config/application.yml
index 035cb1f..d3833ab 100644
--- a/casic-web/src/main/resources/config/application.yml
+++ b/casic-web/src/main/resources/config/application.yml
@@ -20,7 +20,7 @@
     topic: /sensor_status,get_speed,/get_speed,/get_track_list_response,/get_track_response,/get_navigation_response
     completionTimeout: 2000
   redis:
-    host: 192.168.1.20
+    host: localhost
     port: 6379
     #    password: ew5T4K3#203lwh
     database: 3
diff --git a/casic-web/src/main/resources/config/path/Mission1/admatrix.txt b/casic-web/src/main/resources/config/path/Mission1/admatrix.txt
new file mode 100644
index 0000000..ce6f742
--- /dev/null
+++ b/casic-web/src/main/resources/config/path/Mission1/admatrix.txt
@@ -0,0 +1,2 @@
+0.000000000000000000e+00 0.000000000000000000e+00
+0.000000000000000000e+00 0.000000000000000000e+00
diff --git a/casic-web/src/main/resources/config/path/Mission1/expandmap.txt b/casic-web/src/main/resources/config/path/Mission1/expandmap.txt
new file mode 100644
index 0000000..647a4b8
--- /dev/null
+++ b/casic-web/src/main/resources/config/path/Mission1/expandmap.txt
@@ -0,0 +1,36 @@
+0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00
+0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00
+0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00
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diff --git a/casic-web/src/main/resources/config/path/Mission1/separate_img.png b/casic-web/src/main/resources/config/path/Mission1/separate_img.png
new file mode 100644
index 0000000..8fc19f9
--- /dev/null
+++ b/casic-web/src/main/resources/config/path/Mission1/separate_img.png
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diff --git a/casic-web/src/main/resources/config/path/Mission1/separate_img.txt b/casic-web/src/main/resources/config/path/Mission1/separate_img.txt
new file mode 100644
index 0000000..e00f995
--- /dev/null
+++ b/casic-web/src/main/resources/config/path/Mission1/separate_img.txt
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diff --git a/casic-web/src/main/resources/config/path/map.txt b/casic-web/src/main/resources/config/path/map.txt
index 61e2959..f44820b 100644
--- a/casic-web/src/main/resources/config/path/map.txt
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