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 a08953c..e1e713c 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
@@ -4,6 +4,7 @@
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
@@ -64,4 +65,16 @@
      * @return 执行结果
      */
     <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
+
+    /**
+     * 命令行执行
+     *
+     * @param req        请求体
+     * @param enums      执行命令
+     * @param <T>        请求体
+     * @param <R>        响应体
+     * @param cmdHandler 执行handler
+     * @return 执行结果
+     */
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums, IBaseCmdHandler cmdHandler);
 }

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 a08953c..e1e713c 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
@@ -4,6 +4,7 @@
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
@@ -64,4 +65,16 @@
      * @return 执行结果
      */
     <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
+
+    /**
+     * 命令行执行
+     *
+     * @param req        请求体
+     * @param enums      执行命令
+     * @param <T>        请求体
+     * @param <R>        响应体
+     * @param cmdHandler 执行handler
+     * @return 执行结果
+     */
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums, IBaseCmdHandler cmdHandler);
 }
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 737b68f..b59291b 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.util.StrUtil;
 import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.util.SpringContextHolder;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
@@ -9,6 +10,7 @@
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
@@ -166,15 +168,6 @@
         return list;
     }
 
-    @ApiOperation(value = "获取数据包列表(暂不支持)" , hidden = true)
-    @GetMapping(value = "/getDataList")
-    public ResponseDataDTO<Integer> getDataList(@RequestBody CrlNavRequest request) {
-        MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.GET_DATA_LIST, messageDTO);
-        return list;
-    }
 
     /**
      * 指令状态读取
@@ -185,18 +178,11 @@
     @ApiOperation(value = "实时状态读取接口" , notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
     @GetMapping(value = "/{cmdType}")
     public ResponseDataDTO<Integer> commCmd(@PathVariable String cmdType, @RequestBody CrlNavRequest request) {
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
         if (!InstructCodeEnums.commCmdMap.containsKey(cmdType)) {
-            return new ResponseDataDTO<Integer>(false, 500, "指令不存在" , 0);
-        }
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
+            return new ResponseDataDTO<>(false, 500, "指令不存在" , 0);
         }
         InstructCodeEnums enums = InstructCodeEnums.commCmdMap.get(cmdType);
-
-        MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, enums, messageDTO);
-        return list;
+        IBaseCmdHandler baseCmdHandler = SpringContextHolder.getBean("COMMON_CMD");
+        return baseRobotService.execCmdHandler(request, enums, baseCmdHandler);
     }
 }
\ No newline at end of file

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 a08953c..e1e713c 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
@@ -4,6 +4,7 @@
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
@@ -64,4 +65,16 @@
      * @return 执行结果
      */
     <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
+
+    /**
+     * 命令行执行
+     *
+     * @param req        请求体
+     * @param enums      执行命令
+     * @param <T>        请求体
+     * @param <R>        响应体
+     * @param cmdHandler 执行handler
+     * @return 执行结果
+     */
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums, IBaseCmdHandler cmdHandler);
 }
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 737b68f..b59291b 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.util.StrUtil;
 import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.util.SpringContextHolder;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
@@ -9,6 +10,7 @@
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
@@ -166,15 +168,6 @@
         return list;
     }
 
-    @ApiOperation(value = "获取数据包列表(暂不支持)" , hidden = true)
-    @GetMapping(value = "/getDataList")
-    public ResponseDataDTO<Integer> getDataList(@RequestBody CrlNavRequest request) {
-        MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.GET_DATA_LIST, messageDTO);
-        return list;
-    }
 
     /**
      * 指令状态读取
@@ -185,18 +178,11 @@
     @ApiOperation(value = "实时状态读取接口" , notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
     @GetMapping(value = "/{cmdType}")
     public ResponseDataDTO<Integer> commCmd(@PathVariable String cmdType, @RequestBody CrlNavRequest request) {
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
         if (!InstructCodeEnums.commCmdMap.containsKey(cmdType)) {
-            return new ResponseDataDTO<Integer>(false, 500, "指令不存在" , 0);
-        }
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
+            return new ResponseDataDTO<>(false, 500, "指令不存在" , 0);
         }
         InstructCodeEnums enums = InstructCodeEnums.commCmdMap.get(cmdType);
-
-        MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, enums, messageDTO);
-        return list;
+        IBaseCmdHandler baseCmdHandler = SpringContextHolder.getBean("COMMON_CMD");
+        return baseRobotService.execCmdHandler(request, enums, baseCmdHandler);
     }
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
index e0bda6b..bcace6a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
@@ -31,7 +31,7 @@
         if (StrUtil.isEmpty(request.getSn())) {
             request.setSn(request.getRobotId() + "");
         }
-        ResponseDataDTO<Integer> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.CHANGE_PCD, messageDTO);
+        ResponseDataDTO<Integer> list = optService.robotCmd(getRobotInfo(), enums, messageDTO);
         return list;
     }
 

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 a08953c..e1e713c 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
@@ -4,6 +4,7 @@
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
@@ -64,4 +65,16 @@
      * @return 执行结果
      */
     <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
+
+    /**
+     * 命令行执行
+     *
+     * @param req        请求体
+     * @param enums      执行命令
+     * @param <T>        请求体
+     * @param <R>        响应体
+     * @param cmdHandler 执行handler
+     * @return 执行结果
+     */
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums, IBaseCmdHandler cmdHandler);
 }
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 737b68f..b59291b 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.util.StrUtil;
 import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.util.SpringContextHolder;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
@@ -9,6 +10,7 @@
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
@@ -166,15 +168,6 @@
         return list;
     }
 
-    @ApiOperation(value = "获取数据包列表(暂不支持)" , hidden = true)
-    @GetMapping(value = "/getDataList")
-    public ResponseDataDTO<Integer> getDataList(@RequestBody CrlNavRequest request) {
-        MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.GET_DATA_LIST, messageDTO);
-        return list;
-    }
 
     /**
      * 指令状态读取
@@ -185,18 +178,11 @@
     @ApiOperation(value = "实时状态读取接口" , notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
     @GetMapping(value = "/{cmdType}")
     public ResponseDataDTO<Integer> commCmd(@PathVariable String cmdType, @RequestBody CrlNavRequest request) {
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
         if (!InstructCodeEnums.commCmdMap.containsKey(cmdType)) {
-            return new ResponseDataDTO<Integer>(false, 500, "指令不存在" , 0);
-        }
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
+            return new ResponseDataDTO<>(false, 500, "指令不存在" , 0);
         }
         InstructCodeEnums enums = InstructCodeEnums.commCmdMap.get(cmdType);
-
-        MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, enums, messageDTO);
-        return list;
+        IBaseCmdHandler baseCmdHandler = SpringContextHolder.getBean("COMMON_CMD");
+        return baseRobotService.execCmdHandler(request, enums, baseCmdHandler);
     }
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
index e0bda6b..bcace6a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
@@ -31,7 +31,7 @@
         if (StrUtil.isEmpty(request.getSn())) {
             request.setSn(request.getRobotId() + "");
         }
-        ResponseDataDTO<Integer> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.CHANGE_PCD, messageDTO);
+        ResponseDataDTO<Integer> list = optService.robotCmd(getRobotInfo(), enums, messageDTO);
         return list;
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CommonCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CommonCmdHandler.java
new file mode 100644
index 0000000..d758a6a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CommonCmdHandler.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.CrlNavRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.stereotype.Component;
+
+@Component("COMMON_CMD")
+public class CommonCmdHandler extends AbstractCmdHandler<CrlNavRequest, ResponseDataDTO<Integer>> {
+
+    protected CommonCmdHandler(IRobotRouteOptService optService, IRobotInfoService service) {
+        super(optService, service);
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(CrlNavRequest request, InstructCodeEnums enums) {
+        MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        return optService.robotCmd(getRobotInfo(), enums, messageDTO);
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(CrlNavRequest request, ResponseDataDTO response) {
+        return response;
+    }
+}

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 a08953c..e1e713c 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
@@ -4,6 +4,7 @@
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
 import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
 
@@ -64,4 +65,16 @@
      * @return 执行结果
      */
     <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums);
+
+    /**
+     * 命令行执行
+     *
+     * @param req        请求体
+     * @param enums      执行命令
+     * @param <T>        请求体
+     * @param <R>        响应体
+     * @param cmdHandler 执行handler
+     * @return 执行结果
+     */
+    <T, R> ResponseDataDTO<T> execCmdHandler(R req, InstructCodeEnums enums, IBaseCmdHandler cmdHandler);
 }
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 737b68f..b59291b 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.util.StrUtil;
 import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.util.SpringContextHolder;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
@@ -9,6 +10,7 @@
 import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
@@ -166,15 +168,6 @@
         return list;
     }
 
-    @ApiOperation(value = "获取数据包列表(暂不支持)" , hidden = true)
-    @GetMapping(value = "/getDataList")
-    public ResponseDataDTO<Integer> getDataList(@RequestBody CrlNavRequest request) {
-        MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, InstructCodeEnums.GET_DATA_LIST, messageDTO);
-        return list;
-    }
 
     /**
      * 指令状态读取
@@ -185,18 +178,11 @@
     @ApiOperation(value = "实时状态读取接口" , notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
     @GetMapping(value = "/{cmdType}")
     public ResponseDataDTO<Integer> commCmd(@PathVariable String cmdType, @RequestBody CrlNavRequest request) {
-        RobotInfo info = robotInfoService.getById(request.getRobotId());
         if (!InstructCodeEnums.commCmdMap.containsKey(cmdType)) {
-            return new ResponseDataDTO<Integer>(false, 500, "指令不存在" , 0);
-        }
-        if (StrUtil.isEmpty(request.getSn())) {
-            request.setSn(request.getRobotId() + "");
+            return new ResponseDataDTO<>(false, 500, "指令不存在" , 0);
         }
         InstructCodeEnums enums = InstructCodeEnums.commCmdMap.get(cmdType);
-
-        MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
-        messageDTO.setMsg(request);
-        ResponseDataDTO<Integer> list = baseRobotService.getRobotRouteOptService().robotCmd(info, enums, messageDTO);
-        return list;
+        IBaseCmdHandler baseCmdHandler = SpringContextHolder.getBean("COMMON_CMD");
+        return baseRobotService.execCmdHandler(request, enums, baseCmdHandler);
     }
 }
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
index e0bda6b..bcace6a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
@@ -31,7 +31,7 @@
         if (StrUtil.isEmpty(request.getSn())) {
             request.setSn(request.getRobotId() + "");
         }
-        ResponseDataDTO<Integer> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.CHANGE_PCD, messageDTO);
+        ResponseDataDTO<Integer> list = optService.robotCmd(getRobotInfo(), enums, messageDTO);
         return list;
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CommonCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CommonCmdHandler.java
new file mode 100644
index 0000000..d758a6a
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/CommonCmdHandler.java
@@ -0,0 +1,48 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.CrlNavRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import org.springframework.stereotype.Component;
+
+@Component("COMMON_CMD")
+public class CommonCmdHandler extends AbstractCmdHandler<CrlNavRequest, ResponseDataDTO<Integer>> {
+
+    protected CommonCmdHandler(IRobotRouteOptService optService, IRobotInfoService service) {
+        super(optService, service);
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO senderCmd(CrlNavRequest request, InstructCodeEnums enums) {
+        MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        return optService.robotCmd(getRobotInfo(), enums, messageDTO);
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO afterInvoke(CrlNavRequest request, ResponseDataDTO response) {
+        return response;
+    }
+}
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 370e4a1..11c4cc6 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
@@ -112,6 +112,11 @@
     @Override
     public <T, R> ResponseDataDTO<T> execCmdHandler(R request, InstructCodeEnums enums) {
         IBaseCmdHandler cmdHandler = SpringContextHolder.getBean(enums.name());
+        return execCmdHandler(request, enums, cmdHandler);
+    }
+
+    @Override
+    public <T, R> ResponseDataDTO<T> execCmdHandler(R request, InstructCodeEnums enums, IBaseCmdHandler cmdHandler) {
         cmdHandler.initHandler((BaseRobotCmdDTO) request);
         ResponseDataDTO result = (ResponseDataDTO) cmdHandler.senderCmd((BaseRobotCmdDTO) request, InstructCodeEnums.TRACK_LIST);
         result = (ResponseDataDTO) cmdHandler.afterInvoke((BaseRobotCmdDTO) request, result);